WiRobot X80 User Manual

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WiRobot X80 USER MANUAL

WiFi 802.11 Wireless Mobile System

Version: 1.0.4 Oct. 2005

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Table of Contents

Chapter I.

WiRobot Getting Start Guide........................................................................................... 4

I. Preface............................................................................................................................................................... 5

I.1 Audience.................................................................................................................................................... 5

I.2 Feedback................................................................................................................................................... 5

II. WiRobot Overview..........................................................................................................................................6

II.1 Software Components ........................................................................................................................... 7

III. Software (WiRobot SDK) Installation ........................................................................................................8

III.1 System Requirements ............................................................................................................................ 8

III.2 WiRobot System Installation................................................................................................................ 8

IV. Connecting to WiRobot System...................................................................................................................9

IV.1 WiFi Wireless Connecting......................................................................................................................9

IV.2 Serial Cable Connecting .......................................................................................................................10

V. Building PC Applications Using SDK......................................................................................................... 12

V.1 Using WiRobot SDK Component ActiveX Control ........................................................................ 12

V.2 Sample Application 1 – WiRobot X80 Controller (VB) ................................................................ 14

V.3 Sample Application 2 - WiRobot DRK8000 Controller (VB)..................................................... 16

V.4 Sample Application 3- WiRobot DRK6000/8000 Controller (VC++).....................................16

V.5 Other Sample Applications.................................................................................................................. 17

VI. Miscellaneous................................................................................................................................................. 17

VI.1 System Update ...................................................................................................................................... 17

Chapter II. X80 System Specification.............................................................................................. 18

I. WiRobot X80 Overview ..............................................................................................................................19

Standard Electronics components and Operation Detail......................................................................... 21

I.1 Mechanical Specification.....................................................................................................................23

I.2 Electrical..................................................................................................................................................23

I.3 Other Specification ...............................................................................................................................25

II. Miscellaneous ................................................................................................................................................ 25

II.1 Battery Recharging...............................................................................................................................25

II.2 Sensor Location.....................................................................................................................................25

II.3 Known Issues..........................................................................................................................................25

Chapter III. WiRobot SDK Application Programming Interface (API) (For MS Windows) ........26

I. Convention ..................................................................................................................................................... 27

II. WiRobot SDK Overview .............................................................................................................................28

III. WiRobot SDK API Reference for PMS5005 ........................................................................................ 30

III.1 Sensor Peripherals............................................................................................................................... 30

III.2 Motion Control ......................................................................................................................................44

III.3 Multimedia Control ...............................................................................................................................60

III.4 Events .....................................................................................................................................................60

IV. WiRobot SDK API Reference for PMB5010 .........................................................................................61

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Multimedia Control................................................................................................................................ 61

IV.1

IV.2 Events .....................................................................................................................................................64

V. WiRobot DRK6080/6000/8080/8000 Specific APIs ..................................................................65

V.1 Low Level Protection.......................................................................................................................... 65

Chapter IV. WiRobot Module ..............................................................................................................66

I. PMS5005 Sensing and Motion Controller............................................................................................. 67

I.1 Introduction ............................................................................................................................................67

I.2 Operations ............................................................................................................................................. 69

I.3 Procedure to upgrade the PMS5005 firmware ............................................................................76

II. PMB5010 Multimedia Controller .............................................................................................................80

II.1 Introduction ...........................................................................................................................................80

II.2 Operations .............................................................................................................................................. 81

II.3 Procedure to upgrade the PMB5010 firmware ............................................................................ 85

III. MDM5253 DC Motor Driver Module with Position and Current Feedback.................................... 88

III.1 Introduction ...........................................................................................................................................88

III.2 Operations ............................................................................................................................................. 88

III.3 Connections ...........................................................................................................................................90

III.4 Specifications ......................................................................................................................................... 91

IV. WFS802b WiFI 802.11 Serial Module with antenna .......................................................................... 93

IV.1 Introduction ........................................................................................................................................... 93

IV.2 Operations ............................................................................................................................................. 93

IV.3 Connections ........................................................................................................................................... 93

IV.4 Specifications........................................................................................................................................ 95

IV.5 Configuration via Serial Mode or Telnet Port................................................................................ 96

IV.6

Configuration using Web- Manager

................................................................................................... 116

V. MCB3100 WiRobot Serial Bluetooth Wireless Module.................................................................... 128

V.1 Introduction ......................................................................................................................................... 128

V.2 Operations ........................................................................................................................................... 128

V.3 Connections ......................................................................................................................................... 129

V.4 Specifications...................................................................................................................................... 130

VI. MAC5310 Audio Codec and Audio Power Amplifier Module............................................................ 131

VI.1 Introduction .......................................................................................................................................... 131

VI.2 Operations ............................................................................................................................................ 131

VI.3 Connections .......................................................................................................................................... 131

VI.4 Specifications.......................................................................................................................................132

VII. DUR5200 Ultrasonic Range Sensor Module...................................................................................... 134

VII.1 Introduction ......................................................................................................................................... 134

VII.2 Operations ........................................................................................................................................... 134

VII.3 Connections ..........................................................................................................................................135

VII.4 Specifications.......................................................................................................................................136

VIII. DTA5102 Two-Axis Tilt and Acceleration Sensor Module ...............................................................137

VIII.1 Introduction .......................................................................................................................................... 137

VIII.2 Operations ............................................................................................................................................137

VIII.3 Connections ..........................................................................................................................................139

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Specifications...................................................................................................................................... 140

VIII.4

IX. DHM5150 Human Motion Sensor Module............................................................................................141

IX.1 Introduction .......................................................................................................................................... 141

IX.2 Operations ............................................................................................................................................ 141

IX.3 Connections ......................................................................................................................................... 142

IX.4 Specifications...................................................................................................................................... 143

IX.5 Fresnel Lens ........................................................................................................................................ 143

X. DAT5280 Ambient Temperature Sensor Module.............................................................................. 144

X.1 Introduction .........................................................................................................................................144

X.2 Operations ........................................................................................................................................... 144

X.3 Connections......................................................................................................................................... 145

X.4 Specifications...................................................................................................................................... 146

Chapter V. TROUBLE SHOOTING ................................................................................................. 147

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Chapter I. WiRobot Getting Start Guide

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I. Preface

I.1 Audience

This document is written for robot developers in using WiRobot systems. It provides the initial product information as well as a guide in helping users to understand how to use this system. The developers should have basic knowledge in Microsoft Visual C++ or VB. Detail programming information can be found in Chapter III.

I.2 Feedback

If you find any problems in this document, please send us your feedback to [email protected].

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II. WiRobot Overview

WiRobotTM is an integrated electronic and software robotic system extended from Dr Robot’s comprehensive humanoid robot, which has demonstrated its interactive capabilities in the public and the media. Each WiRobot development system is designed to provide a user-friendly programming environment for hobbyists, students in robotic areas and researchers to develop their robot programs and applications at an affordable cost.

The power of WiRobot mobile robot system comes from the Dr Robot’s Distributed Computation Robotic Architecture and System (DIRAS) technology, which offloads most of the computation and storage intensive tasks to a home PC. Through a digital wireless connection supporting over 100kbps data communication rate, user programs running on PC are virtually connected directly to the WiRobot development system. Data such as image, audio, sensor information, and etc. are available to the user through a set of ActiveX control components (SDK) developed for MS VC++ and VB programming environment. Multiple PC programs are also allowed to access the data information obtained from the sensors simultaneously. High level schemes such as tele-operation, navigation, reasoning, learning, recognition, and image processing routines are programmed and executed on the PC remotely. Multi-robot coordination is also feasible for applications like soccer game. Microsoft Visual Studio programming environment is chosen as the development platform due to its popularity and ease-of-use than the non-user friendly embedded programming interface. Note that communication protocol for WiRobot system is also available for developers/researchers who prefer to use different platform or operating systems to communicate and control the WiRobot system. But this document focuses on how to use the WiRobot system using the SDK under Microsoft platform.

As well, WiRobot system already comes with low-level drivers for all its electronic modules and can provide a flexible way for users to control the robot. For instance, it allows user to control standard servo motors and DC motors by using the built-in commands available in the control command library, which offers several types of DC motor control method including open-loop PWM, closed-loop position control, closed-loop velocity control, and closed-loop current control. Control parameters are also configurable.

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II.1 Software Components

The WiRobot system comes with a CD containing the following software components and documents:

. “WiRobot Gateway” which is used to connect the PC to the robot and show the connection

status,

. An ActiveX control, called WiRobot SDK ActiveX Module, with a set of APIs is provided for

user to access the robot when developing his/her own applications in MS VC++ or VB,

. Several PC sample applications with source code is provided to demonstrate the capabilities

of the WiRobot system, and

. WiRobot documents. (The latest documents can be found on www.drrobot.com

In the WiRobot system, low level electronic drivers are pre-programmed and embedded in the WiRobot controllers (PMS5005 and PMB5010). Data information such as image, audio, sensor information, and etc. are available to the user via the WiRobot ActiveX control developed for MS VC++ and VB program environment or by using the WiRobot communication protocol. Using this ActiveX control, user can also send various control commands to the robot. A general connection architecture of the WiRobot system is shown as follows:

)

Figure II.1 WiRobot System Communication Architecture

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III. Software (WiRobot SDK) Installation

III.1 System Requirements

The PC requirements in using the WiRobot system are:

. PIII 550MHz or faster CPU . 64 MB RAM or more . 20 MB hard disk free space . Microsoft Windows 2000 or XP operating system

As well as, Microsoft Visual VB or VC++ 6.0 (with Service Pack 5) is required for users to develop their own applications.

III.2 WiRobot System Installation

Insert the WiRobot System CD into the CD ROM and the auto run menu will guide you through the installation process.

Figure III.1 WiRobot Installation Step 1

Figure III.2 WiRobot Installation Step 2

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By default, all these components will be installed under the directory “C:\Program Files\DrRobot\WiRobot-System” unless user specifies another location during the installation.

Figure III.3 WiRobot Installation Step 3

IV. Connecting to WiRobot System

IV.1 WiFi Wireless Connecting

IV.1.1 Configuration your 802.11b (or 802.11b compatible) wireless access point/router

Configuration your 802.11b (or 802.11b compatible) wireless access point/router with following default settings:

SSID: dri SSID BROADCAST: Enable AUTHENTICATION: SHARED KEY WEP 128 bit key: 112233445566778899AABBCCDD Router IP: 192.168.0.200

If you prefer to change the router setting, such as SSID, router IP and/or key, you have to configure the WiFi module (see Chapter IV, session IV. WFS802b WiFi 802.11 Serial Module with Antenna) on the robot to match your changed settings.

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IV.1.2 Run the WiRobot Gateway

Figure IV.2 WiFi Gateway

Check the WiFi Connection and input the IP of the robot which you want to connect, and input the Port with 10001, and then click the Connect button. You can find the robot IP under the robot.

IV.2 Serial Cable Connecting

The user can also connect the WiRobot system to a PC through a null modem cable (RS232 Crossover Serial Cable) as follows:

Figure IV.3 WiRobot System Setup without Wireless Connection

IV.2.1 Connecting the cable and module

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. Connect Serial cable, make sure the serial cable is connected to the COM1 socket of your PC

at one end, and the other end should be connected to the RS232 interface module.

RS232

Figure IV.4 Connection of RS232 with Serial Cable

. Unplug the serial WIFI (or Bluetooth) wireless module which had already plugged in the lower

socket board PMB5010 of the robot.

Figure IV.5 Upper reach SCI0 of Lower Socket Board PMB5010

. Then plug the RS232 interface module in Upper Reach SCI0 on the PMB5010 which is the

lower socket board of the robot. (Picture available in the PMB5010 Multimedia Controller User Manual, Page 94)

IV.2.2 Turn on the robot

Check the LED lights on the socket board, and find out if they are flashing on the socket board. There should be 2 LED lights keep flashing fast on the upper board PMS5005 in the right rear corner of the robot and 1 LED light keep flashing on the lower board in the right front corner of the robot. If these 3 LED lights are flashing, the robot is started completely.

IV.2.3 Run the WiRobot Gateway

. Select COM1 and Serial Cable . Click the "Connect" button when you are sure that the robot is completely started. . Wait 1 to 3 seconds, the WiRobot Gateway will minimize automatically when connected. . If it is not connected, close the WiRobot Gateway and turn off the robot try it again 10

seconds later.

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Figure IV.6 GUI of WiRobot Gateway on PC

The “WiRobot Gateway” will provide connection status information between the PC and the robot. This program is required to keep running as long as the user wants to access and control the robot through the sample applications or their custom programs. Robot data acquisitions including human sensor, ultrasonic sensor, Infrared distance sensor, tilting sensor, potentiometer, color CMOS image sensor, microphone, and etc. and motion control can be done by making function calls offered by the “WiRobot SDK ActiveX Module”. Details of this ActiveX control component can be found in the Chapter III. WiRobot SDK API Reference.

After the connection is established between the robot and the PC, user can start to use the WiRobot system by running the sample applications offered in the WiRobot software package.

V. Building PC Applications Using SDK

This section will discuss how to program user’s applications. Several sample applications with source code are provided to help user kick start in using the WiRobot system. All these source code will be stored in the “SampleApps” folder under the WiRobot SDK installation location.

V.1 Using WiRobot SDK Component ActiveX Control

When user starts to write an application, he/she first adds the WiRobot SDK Component in your VB or VC++ project. The ActiveX object is installed during the installation process and the following is a step to step guideline showing how to incorporate the ActiveX Control into a VB 6.0 project:

. Create a new VB project

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. Click “Project” in the menu and choose the “Components”

Figure V.1 Using ActiveX module under VB Step 1

. Uncheck the “Selected Items Only” box to show all components, choose the “WiRobot SDK

ActiveX Module” and click “OK”

Figure V.2 Using ActiveX module under VB Step 2

. A new icon on the left menu bar will appear and user can simply drag and drop this icon to the

Project’s Form and start using the APIs offered by this ActiveX control. By default the variable name of this component is “WiRobotSDK1”.

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Figure V.3 Using ActiveX module under VB Step 3

V.2 Sample Application 1 – WiRobot X80 Controller (VB)

This sample application demonstrates the basic capabilities of the WiRobot X80 using Microsoft VB with source code provided. This program can read sensor data, obtain image and audio, play wave file, and control the robot movement with command or joystick. The GUI of this program is shown as follows:

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Figure V.4 GUI of the WiRobot X80 Controller (VB)

User can click the button on the interface to control the robot as long as the “WiRobot Gateway” is connected to the robot.

The following are some functions used in this sample application for controlling the servos mounted on the head:

WiRobotSDK1.EnableServo 0 WiRobotSDK1.ServoTimeCtr 0, 3800, 1000

The

WiRobotSDK1is the WiRobot SDK Component ActiveX control. The first line will enable the channel

0 servo. The second line will control the servo to take 1000ms to the target position of 3800.

User can also obtain and control the multimedia information of the robot simply by calling the following functions

WiRobotSDK1.PlayAudioFile sourceFileName

The function will play the wave file to the robot with the sound file stored in the “sourceFileName” which is in .WAV format.

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V.3 Sample Application 2 - WiRobot DRK8000 Controller (VB)

This sample application demonstrates the basic capabilities of the WiRobot DRK8000 using Microsoft VB with source code provided. This program can read sensor data, obtain image and audio, play wave file, set the LCD display image, and control the robot movement. The GUI of this program is shown as follows:

Figure V.5 GUI of the WiRobot DRK8000 Controller (VB)

User can click the button on the interface to control the robot as long as the “WiRobot Gateway” is connected to the robot.

The following are some functions used in this sample application for controlling the servos mounted on the head:

WiRobotSDK1.EnableServo 0 WiRobotSDK1.ServoTimeCtr 0, 3800, 1000

WiRobotSDK1is the WiRobot SDK Component ActiveX control. The first line will enable the channel

The 0 servo. The second line will control the servo to take 1000ms to the target position of 3800.

User can also obtain and control the multimedia information of the robot simply by calling the following functions

WiRobotSDK1.LcdDisplayPMS sourceFileName WiRobotSDK1.TakePhoto WiRobotSDK1.SavePhotoAsBMP destinationfileName

The first function will change the LCD display on the robot to the image stored in the “sourceFileName” which is in bitmap format. The second function will request the robot to take a picture and an “ImageEvent” will be triggered when this image is ready for pickup. The third function will save the image to the file with “destinationfileName” in bitmap format.

V.4 Sample Application 3- WiRobot DRK6000/8000 Controller (VC++)

The second sample application demonstrates how to program a VC++ application using the WiRobot system. The GUI of this program interface is shown as follows:

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Figure V.6 GUI of the WiRobot DRK6000/8000 Controller (VC++)

To obtain an image from the robot, user can call the following function where m_ctlSDK is a member variable of the class CWiRobotSDK imported from the “WiRobot SDK ActiveX Module”

m_ctlSDK.TakePhoto ();

To control the robot to move forward continuously, user can call the following functions

m_ctlSDK.SetDcMotorControlMode (0, 0); m_ctlSDK.SetDcMotorControlMode (1, 0); m_ctlSDK.DcMotorPwmTimeCtrAll (32066, 32066, -32768, -32768, -32768, -32768, 800);

To stop the robot, the following commands can be used:

m_ctlSDK.SuspendDcMotor (1);

m_ctlSDK.SuspendDcMotor (0);

For details on how to control the robot using Microsoft Visual C++, please refer to the sample C++ source code and Chapter III. WiRobot SDK API (Page 26).

V.5 Other Sample Applications

More sample applications are available in the “SampleApps” folder for reference.

VI. Miscellaneous

VI.1 System Update

Dr Robot will provide software update for both the PC software as well as the DSP software to enhance the existing features. User can visit www.DrRobot.com available for the existing system.

to check for any new updates

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Chapter II. X80 System Specification

-X80 Wireless Mobile System

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I. WiRobot X80 Overview

WiRobot is an integrated electronic and software robotic system extended from Dr Robot’s comprehensive humanoid robot. Each WiRobot development system is designed to provide a userfriendly programming environment for hobbyists, students and researchers to develop their advanced robot programs and applications at an affordable cost. The X80 development system includes the respective mechanical structure, electronic modules as well as the software development kit (SDK). The mechanical structure is already pre-built and the electronic system is setup with a Multimedia Controller (PMB5010), a Sensing-Motion Controller (PMS5005) and various peripheral electronic modules. The software component will be installed on a PC and is responsible to establish a wireless connection and exchange data with the robot. User can develop their own applications in VC++ or VB using the APIs offered in “WiRobot SDK ActiveX Module” which accesses the sensor information, sends control command and configures the system setting.

This ready to use mobile robot platform is designed for researchers developing advanced robot applications such as remote monitoring, telepresence and autonomous navigation/patrol.

Mechanics

The X80 is the result of extensive efforts to develop a robot that would be fast and strong, while itself remaining lightweight and nimble. The wheel-based platform’s two 12V DC motors each supply 300 oz.-inches of torque to the X80’s 18 cm (7 in.) wheels, yielding a top speed in excess of 1 m/s (3.3 ft/s). Two high-resolution (1200 count per wheel cycle) quadrature encoders mounted on each wheel provide high-precision measurement and control of wheel movement. Weighing only 3.5 kg (7.7 lb.), the system is light, but it can carry an additional payload of 10 kg (22 lb.).

Sensors

X80 offers full WiFi (802.11b) wireless, multimedia, sensing and motion capabilities and comes with a wide range of sensor, camera, and audio modules, sufficient to serve in any variety of applications. The X80 offers broad expandability as well for projects that may require additional sensors, even specialized modules. Powered by separate RC servo motors, the integrated camera head can pan and tilt independently.

Architecture

The X80’s underlying technology evolved from Dr Robot’s Distributed Computation Robotic Architecture, originally developed for Dr Robot’s Humanoid (HR) Robot. Using this approach, high-level control of the robot is maintained by a remote or local PC/server communicating by a secure wireless link. Low-level functionality is managed by an onboard digital signal processor (DSP) while computationally intensive operations are performed offboard. The result is a robot that’s lighter, draws less power, runs longer and is dramatically less expensive than a fully bundled or self-contained system. Moreover, since primary processing resides in a server, any hardware upgrades to the central unit are shared by all the robots it controls.

With its integrated high bandwidth (11Mbps) WiFi 802.11 wireless module, the system can upload all sensor data (including encoder sensor readings) to a PC or server at rates in excess of 10Hz. Similarly, streaming audio (8Hz x 8bits) and video (up to 4 fps) either for direct monitoring or for processing by high-level AI schemes is a snap. Commands and instructions sent to the X80 via the same wireless link also pass at rates exceeding 10Hz, providing realtime control and access.

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The X80 includes all WiRobot development software components (for MS Windows 2000 and up), enabling easy access to all data and information in a standard Microsoft Windows programming environment (e.g., MS VB and VC++). Under the approach of using a separate PC for high-level control, there are no longer onboard restrictions on a mobile system’s processing power, memory and storage.

With the X80 system, researchers can develop a specialized intelligent robotic assistant, security robot or simply use it as a platform for a variety of projects built around applications such as human-machine interaction, mobile system navigation, robot behavior, image processing, object recognition, voice recognition, teleoperation, remote sensing, map building and localization etc.

The X80 system is fully integrated and each robot is fully assembled and tested prior to shipping so that it arrives ready for use.

Mechanical and Control Highlights

. Two 12V motors with over 300oz.-inch torque each . 7 inch driving wheel . Max speed of 1 m/sec . Dimensions:

o 38.0 cm (15.0 inch) diameter

o 25.5 cm (10.0 inch) height . Weight: 3.5 kg . Large top mounting deck for additional devices such as a notebook computer . Additional carrying payload: 10 kg . Pre-programmed fine speed and position control achieved by an integrated PMS5005

module employing two 1200 count per wheel-cycle quadrature encoders.

Electronic System Highlights

. Fully integrated WiFi (802.11b) system with dual serial communication channels (max of

912.6 Kbps per channel), supporting both UDP and TCP/IP protocol.

. Full color video and two-way audio capability. (CMOS color image module and audio module

are fully integrated.)

. Battery: 3700mAh with over 3 hours for nominal operation. . Collision detection sensors include 3 sonar range sensors and 7 IR range sensors . Two pyroelectric sensors for human motion detection . Additional sensors such as supplementary sonar sensors, temperature sensors, acceleration /

tilting sensor, or customized sensors can be added.

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Standard Electronics components and Operation Detail

WiRobot X80 Specifications

On-Board CPUs TI 120MIPS & Motorola 40MIPS 16-bit fix-point DSP

On-Board Storage 1M x 16-bit words flash, Up to 256K x 16-bit words SRAM

Degree of Freedom 2 x wheel motion, 2 x camera motion (Pan + Tilt) , up to 6 servos and 3 DC motors) Built-in Peripheral Interface

and Modules

Wireless Operation Range >25 meter indoor

Power Supply 7.2V Ni-MH 3700mAh

Operation Time Nominal usage with 3700mAh battery

Maximum Moving Speed Approx. 1 meter per second Additional/Optional

Peripheral Modules

Table I.1 WiRobot X80 Specifications

8-bit CIF (352 x 288) Color CMOS Camera Module Audio codec and amplifier module with mic. and speakers WiFI 802.11b wireless module General-purpose PWM DC motor control DC motors (up to 3) Servo motors (up to 6) Quadrature Encoder Inputs Ultrasonic sensor modules (up to 6) Human sensor module (up to 2) Infrared range sensor input Digital inputs Digital outputs

>100 meter line of sight

Smart fast charger

Ambient temperature sensor modules Tilt/acceleration sensor modules DC motor driver module (3 DC motors) Servo Ultrasonic sensor module 128 x 64 graphic LCD display module Potentiometer position feedback sensor (up to 6) Full duplex infrared remote control and communication interface

X 1 X 1 X 1 X 6 X 2 X 2 X 2 X 3 X 2 X 7 X 8 X 8

X 1 X 1

> 3hr

X 1 X 1 X 1 X 4 X 1 X 1 X 6 X 1

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The standard WiRobot DRK series system electronic modules

Table I.2 Standard WiRobot DRK Series System Electronic Modules

Part Number Name X80

PMS5005 Robot Sensing and Motion Controller 1

PMS5010 Multimedia Controller 1

MDM5253 DC Motor Driver Module with Position and Current

Feedback

MCI3908 Color Image Module With Camera 1

DUR5200 Ultrasonic Range Sensor Module 3

DHM5150 Pyroelectric Human Motion Sensor Module 2

GP2Y0A21YK Sharp IR Distance Measuring Sensor Module 7

MCR3210 RS232 Interface Module 1

WFS802b WiFi802.11b Wireless Serial Module 1

BAS8100 8Ohm 1W Speaker 1

MAC5310 Audio Codec and Audio Power Amplifier Module 1

SAM5247 Uni-directional Electret Microphone 1

CCR2150 RS232 Cross-over Serial Cable 1

N/A Servo 2

N/A 12V DC Motor 2

BPN7240 7.2V Ni-MH 3700mAh Battery Pack 1

2300333 7.2V/9.6V NI-CD/NI-MH R/C PACK CHARGER 1

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I.1 Mechanical Specification

The following diagram illustrates the mechanical structure of the WiRobot X80 system:

Figure I.1 WiRobot X80

I.2 Electrical

I.2.1 Power

The X80 is powered by a single 7.2V battery pack. This battery pack is connected to both PMS5005 and PMB5010 through a switch. User can turn on or turn off the system (both PMS5005 and PMB5010) by pressing the switch next to the head base.

I.2.2 Communication

In the X80 system, PMS5005 and PMB5010 are connected together between PMB5010’s Lower Reach SCI1 and PMS5005’s Upper reach SCI0. A wireless module is placed on PMB5010’s Upper Reach SCI0 in order to communicate with a PC.

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I.2.3 Electrical Modules

In this system, all electrical modules are located and connected as followed:

Table I.3 Electrical Modules Located and Connection

Electrical Module X80 Location / Setting

Ultrasonic #1

Ultrasonic #2

Ultrasonic #3

Human Sensor #1

Human Sensor #2

Infrared Range Sensor #1

Infrared Range Sensor #2

Infrared Range Sensor #3

Infrared Range Sensor #4

Infrared Range Sensor #5

Infrared Range Sensor #6

Infrared Range Sensor #7

Servo #1

Servo #2

DC Motor #1 with quadrature encoder

DC Motor #2 with quadrature encoder

Camera

Speaker

Microphone

○

Left front

○

Middle front

○

Right front

○

Left front, upper lever

○

Right front, upper lever

○

Front

○

Front

○

Front

○

Front

○

Right side

○

Rear

○

Left side

○

To control the left/right movement of the neck (use

channel 1)

○

To control the up/down movement of the neck (use

channel 2)

○

Left , use channel 1

○

Right, use channel 2

○

Middle front

○

Middle front, under the camera

○

Beside the speaker

Figure I.2 Electrical Modules Located

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Please refer to Chapter IV.I PMS5005 (Page 67) for details on how to connect different sensors, DC motors, servos, and LCD display to the system. For camera, speaker and microphone, please refer to Chapter IV.II PMB5010 (Page 82).

I.3 Other Specification

Table I.4 Other Specification

X80

Weight (including one battery pack) ~3.5kg Recommended Maximum payload ~10kg

II. Miscellaneous

II.1 Battery Recharging

User can simply take out the battery at the lowest deck of the robot to recharge. It will normally take about 20 hours to fully recharge the 3700mAh battery if slow charging is chosen. Fast charge would take about 1-2 hours.

II.2 Sensor Location

User can change the sensor mounted on the robot to different location to suit his/her needs. As well, user can add new sensors to the systems by making use of the available I/Os on the Sensing and Motion Controller (PMS5005). Driver for these I/Os have been pre-programmed, data will be sent to the PC for processing.

II.3 Known Issues

. When the power level is low, the robot’s electrical system will become unstable. User has to

monitor the power level and recharge the battery when it is low.

. The initialization of the robot (when powering on) will take about 3-10 seconds. . Please make sure that the robot finished its initialization stage before WiRobot Gateway

software (on PC) starts to connect to the robot. This may lead to failure connection between

PC and the robot

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Chapter III. WiRobot SDK Application Programming

Interface (API) (For MS Windows)

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I. Convention

Data Type int: 16 bit signed interger UWord16: 16 bit unsigned interger short: 16 bit signed interger

Syntax Syntax under each API reference is based on the C/C++ calling convention. Corresponding Visual

Basic calling convention can be found in relevant VB reference book, or from the WiRobot VB code examples.

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II. WiRobot SDK Overview

WiRobot Software Development Kit (SDK) is a part of the WiRobot development system. Being a PCbased software framework for robotic system development, the SDK contains the facilities for memory management, system communication and user interface, and the utilities for audio, video input/output, sensor data acquisition and motion control. Please refer to the Chapter IV.I PMS5005, Chapter IV.II PMB5010, or Chapter II X80 for the detailed information on the SDK architecture, organization and system programming.

Under the WiRobot system architecture, all the controllers are connected in a chain. Programs developed using WiRobot SDK runs on the Host as the central controller of each chain. All the embedded controllers have at least two SCI ports for the system communications: upper-reach port and lower-reach port, with the direction respect to the central controller. The WiRobot system controller-level connection architecture is shown as Figure II.1.

Figure II.1 WiRobot System Architecture

The APIs described in this manual are the interface between the application-level software and the WiRobot hardware system. Programs developed using WiRobot SDK runs on the PC sending and receiving data to and from the WiRobot hardware via wire or wireless connection. The firmware on the embedded controllers take care of all the low level operations of the system functional modules, such as data acquisition, fast-loop low level motion control, image and audio capture and compression, audio playback and wireless communication. They are transparent to the high level software system running on the central PC controller. All the system software development can be carried on solely under user-friendly PC system. WiRobot SDK for Windows is available for MS Visual C++ and MS Visual Basic environment.

API exists as a MS ActiveX component, called “WiRobot SDK ActiveX Module”. User program uses this component in VB or VC++ program to communicate with the WiRobot PMS5005 or/and

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PMB5010 controllers. Data in between WiRobot hardware and the “WiRobot SDK ActiveX Module” is managed and transferred by the supplied WiRobot Gateway Program (WiRobotGateway.exe) with the shared memory as shown in Figure II.2.

Figure II.2 WiRobot Software Architecture

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III. WiRobot SDK API Reference for PMS5005

WiRobot SDK APIs for PMS5005 are grouped under the categories of Sensor Peripherals, Motion Control, Multimedia Control and Events

III.1 Sensor Peripherals

This section contains the APIs for the operations of different sensor peripherals.

III.1.1 Batch Sensor Data Updating API

Standard Sensors: Sonar, human, infrared range, tilt/acceleration, temperature, battery voltage and

infrared remote control receiver Motor Sensors: Potentiometers, current feedback sensors and encoders. Custom Sensors: Custom expansion A/D inputs and digital inputs.

1 void SystemMotorSensorRequest(int PacketNumber); 2 void SystemStandardSensorRequest(int PacketNumber); 3 void SystemCustomSensorRequest(int PacketNumber); 4 void SystemAllSensorRequest(int PacketNumber);

Description: SystemMotorSensorRequest sends a request command to the WiRobot Sensing and

Motion Controller (PMS5005) in order to get the sensor data related to motor control. SystemStandardSensorRequest sends a request command to the WiRobot Sensing and

Motion Controller (PMS5005) in order to get all the WiRobot standard sensor data. SystemCustomSensorRequest sends a request command to the WiRobot Sensing and

Motion Controller (PMS5005) in order to get all custom-sensor data, SystemAllSensorRequest sends a request command to the WiRobot Sensing and Motion

Controller (PMS5005) in order to get all the sensor data.

Syntax: SystemMotorSensorRequest (PacketNumber); // motor related sensors SystemStandardSensorRequest (PacketNumber); // standard sensors SystemCustomSensorRequest (PacketNumber); // custom sensors

SystemAllSensorRequest (PacketNumber); // all the sensors

Parameter: short PacketNumber; The meanings of PacketNumber as follows:

PacketNumber = 0 Stop sending the sensor data packets

PacketNumber = -1

PacketNumber > 0

Table III.1 Meanings of PacketNumber

Parameter Action Requested

Send sensor data packet continuously until being asked to stop

Send n = PacketNumber packet(s) of sensor data and then

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Return value: void

Remarks:

(1) The default update rate is 20Hz. User can set up the data refresh rate according

to real system requirements.

(2) System is default to continuously sending all data when bootup.

See Also: SetSysMotorSensorPeriod, SetSysStandardSensorPeriod, SetSysCustomSensorPeriod, SetSysAllSensorPeriod.

5 void EnableMotorSensorSending (); 6 void EnableStandardSensorSending (); 7 void EnableCustomSensorSending (); 8 void EnableAllSensorSending ();

Description: EnableMotorSensorSending enables batch updating motor-related sensor packets. EnableStandardSensorSending enables batch updating standard sensor packets.

EnableCustomSensorSending enables batch updating custom sensor packets. EnableAllSensorSending enables batch updating all the sensor packets.

Syntax: EnableMotorSensorSending(); // motor related sensors EnableStandardSensorSending (); // standard sensors EnableCustomSensorSending (); // custom sensors

EnableAllSensorSending (); // all the sensors

Parameter: void Return value: void

Remarks:

1. The latest request setting of the packet number and the update rate are used.

2. By default, “all sensor data sending” is enabled.

3. Please refer to the remarks under SystemMotorSensorRequest, SystemSatndardSensorRequest, SystemCustomSensorRequest, SystemAllSensorRequest

stop sending

9 void DisableMotorSensorSending ();

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10 void DisableStandardSensorSending (); 11 void DisableCustomSensorSending (); 12 void DisableAllSensorSending ();

Description: DisableMotorSensorSending disables batch updating motor-related sensor packets. DisableStandardSensorSending disables batch updating standard sensor packets. DisableCustomSensorSending disables batch updating custom sensor packets. DisableAllSensorSending disables batch updating all the sensor packets.

Syntax: DisableMotorSensorSending(); // motor related sensors DisableStandardSensorSending (); // standard sensors DisableCustomSensorSending (); // custom sensors

DisableAllSensorSending (); // all the sensors

Parameter: void Return value: void

See Alao: SystemMotorSensorRequest, SystemStandardSensorRequest, SystemCustomSensorRequest, SystemAllSensorRequest.

13 void SetSysMotorSensorPeriod(short PeriodTime) ; 14 void SetSysStandardSensorPeriod(short PeriodTime); 15 void SetSysCustomSensorPeriod(short PeriodTime) ; 16 void SetSysAllSensorPeriod(short PeriodTime) ;

Description: SetSysMotorSensorPeriod sets refresh rate of batch updating motor-related sensor

packets. SetSysStandardSensorPeriod sets refresh rate of batch updating standard sensor

packets. SetSysCustomSensorPeriod sets refresh rate of batch updating custom sensor packets. SetSysAllSensorPeriod sets refresh rate of batch updating all the sensor packets.

Syntax: SetSysMotorSensorPeriod (); // motor related sensors SetSysStandardSensorPeriod (); // standard sensors SetSysCustomSensorPeriod (); // custom sensors

SetSysAllSensorPeriod (); // all the sensors

Parameter: short PeriodTime; /* Update period (in ms) for batch sensing

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Return value: void

Remarks: The default PeriodTime = 50 (ms), i.e. update rate is 20Hz. PeriodTime should be bigger

than 50 (ms), i.e. the system data fastest refresh rate is 20Hz.

See Also: SystemMotorSensorRequest, SystemStandardSensorRequest, SystemCustomSensorRequest, SystemAllSensorRequest.

III.1.2 Range and Distance Sensors

17 short GetSensorSonar1 (); 18 short GetSensorSonar2 (); 19 short GetSensorSonar3 (); 20 short GetSensorSonar4 (); 21 short GetSensorSonar5 ();

packets to PC central controller */

22 short GetSensorSonar6 (); 23 short GetSensorSonar (short channel);

Description: GetSonarSensorX returns the current distance value between the relevant ultrasonic

range sensor module (DUR5200) and the object in front of it. The unit is cm. Syntax: ival = GetSensorSonar1 (); // Sonar #1 ival = GetSensorSonar2 (); // Sonar #2 ival = GetSensorSonar3 (); // Sonar #3 ival = GetSensorSonar4 (); // Sonar #4 ival = GetSensorSonar5 (); // Sonar #5 ival = GetSensorSonar6 (); // Sonar #6

ival = GetSensorSonar (short channel); // Sonar #1, 2, 3, 4, 5, or 6

Parameter: void

short channel; // 0, 1, 2, 3, 4, or 5 for Sonar #1, 2, 3, 4, 5, 6

Return value: short ival;

Return data interpretation:

Table III.2 Meanings of PacketNumber

Return Value Distance to Object

4 0 to 4 cm 4 to 254 4 to 254 cm

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255 255 cm or longer

24 short GetSensorIRRange ();

Description: GetSensorIRRange returns the current distance measurement value between the infrared

range sensor and the object in front of it.

Syntax: ival = GetSensorIRRange ();

Parameter: void Return value: short ival;

Return data interpretation when using Sharp GP2Y0A21YK:

Return Value Distance to Object

<=585 80 cm or longer 585 to 3446 80 to 8 cm >=3446 0 to 8 cm

Remarks: The relationship between the return data and the distance is not linear. Please refer to the

sensor’s datasheet for distance-voltage curve. The data returned is the raw data of the analog to digital converter. The output voltage of the sensor can be calculated from the following equation:

Sensor output voltage = (ival) * 3.0 / 4095 (V)

(e.g. Sharp GP2Y0A21YK “http://sharp-world.com/products/device/lineup/data/pdf/datasheet/gp2y0a_d_e.pdf”)

Table III.3 Return data interpretation

III.1.3 Human Sensors

25 short GetSensorHumanAlarm1 (); 26 short GetSensorHumanAlarm2 ();

Description: GetSensorHumanAlarm returns the current human alarm data from DHM5150 Human

Motion Sensor Module. Please refer to the Chapter IV.VIII DHM5150 (Page 106) for detailed information.

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Syntax: ival = GetSensorHumanAlarm1(); //1 ival = GetSensorHumanAlarm2 (); // 2

Parameter: void Return value: short ival;

Return data interpretation: The return data is the raw value of the analog to digital converter indicating the amplified (x

5 times) output voltage of the sensor device. The data range is between 0 and 4095. When there is no human present, the module output voltage is about 1.5 V and return value is about 2047.

Remarks: To detect human presence, the application should compare the difference of two samples

(to detect the change from “absence” to “presence”), and also compare the sample data to a user defined threshold (to determine whether to report an alarm or not). The threshold determines the sensitivity of sensor. The higher the threshold is the lower the sensitivity will be.

27 short GetSensorHumanMotion1 ();

human alarm

28 short GetSensorHumanMotion2 ();

Description: GetSensorHumanMotion returns the current human motion value from DHM5150 Human

Motion Sensor Module. Please refer to the Chapter IV.VIII DHM5150 (Page 106) for detailed information.

Syntax: ival = GetSensorHumanMotion1 (); // Human direction data #1 ival = GetSensorHumanMotion2 (); // Human direction data #2

Parameter: void Return value: short ival;

Return data interpretation: The return data is the un-amplified raw value of the analog to digital converter indicating

the output voltage of the sensor device. The data range is between 0 and 4095.

Remarks: To detect human motion direction, the application should compare the difference of two

samples of each sensor module’s output (to detect the change from “absence” to “presence”), and then compare the sample data of the two sensor modules. For a single source of human motion, the different patterns of the two sensor modules manifest the directions of the motion. The relationship can be obtained from the experiments.

III.1.4 Tilt and Acceleration Sensor

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29 short GetSensorTiltingX (); 30 short GetSensorTiltingY ();

Description: GetSensorTiltingX, GetSensorTiltingY, return the current tilt angle values in the relevant

directions from DTA5102 Tilting and Acceleration Sensor Module.

Syntax: ival = GetSensorTiltingX (); // X direction ival = GetSensorTiltingY (); // Y direction

Parameter: void Return value: short ival;

Return data interpretation:

Tilting Angle = ArcSin ((ival- ZeroGValue) / abs(90DegreeGValue-ZeroGValue));

Remarks: Where 90DegreeGValue and ZeroGValue are module-specific values that can be measured

by experiment:

1. Place the sensor level, so that the gravity vector is perpendicular to the measured sensor axis

2. Take the measurement and this value would be the ZeroGValue

3. Rotate the sensor so that the gravity vector is parallel with the measured axis

4. Take the measurement and this value would be the 90DegreeGValue

5. Repeat this step for the other direction

Typical value of ZeroGValue is about 2048 and abs(90DegreeGValue-ZeroGValue) is about 1250.

III.1.5 Temperature Sensors

31 short GetSensorOverheatAD1 (); 32 short GetSensorOverheatAD2 ();

Description: GetSensorOverheatADX returns the current air temperature values near the relevant DC

motor drive modules (MDM5253), which could be used for monitoring whether the motor drivers are overheating or not. This situation usually occurs if the motor currents are kept high (but still lower than the current limit of the motor driver module) for significant amount of time, which may result from some unfavorable inner or external system conditions and is not recommended for regular system operations.

Syntax: ival = GetSensorOverheatAD1(); //1

overheating sensor

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ival = GetSensorOverheatAD2(); //2

Parameter: void Return value: short ival;

Return data interpretation: The return data is the raw value of the analog to digital converter indicating the output

voltage of the sensor. The data range of the return value is between 0 and 4095. The output voltage of the sensor can be calculated from the following equation:

Temperature (˚C) = 100- (ival – 980) / 11.6

33 short GetSensorTemperature ();

Description: GetSensorTemperature returns the current temperature value from DAT5280 Ambient

Temperature Sensor Module.

Syntax: ival = GetSensorTemperature ();

Parameter: void Return value: short ival;

Return data interpretation:

Temperature (˚C) = (ival – 1256) / 34.8

overheating sensor

III.1.6 Infrared Remote Control Handling

34 short GetSensorIRCode1(); 35 short GetSensorIRCode2(); 36 short GetSensorIRCode3(); 37 short GetSensorIRCode4();

Description: GetSensorIRCodeX returns the four parts of a two-16-bit-code infrared remote control

command captured by the Sensing and Motion Controller (PMS5005) through the Infrared Remote Controller Module (MIR5500).

Syntax: ival = GetSensorIRCode1 (); // the first code ival = GetSensorIRCode2 (); // the second code

ival = GetSensorIRCode3 (); // the third code

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ival = GetSensorIRCode4 (); // the fourth code

Parameter: void Return value: short ival

Return data interpretation: The recovered infrared remote control command (4 bytes code) is as follows:

Key Code: [the third byte] [the second byte] [the first byte] Repeat Code: [the fourth byte]

where the repeat code would be 255 if button is pressed continuously.

38 void SetInfraredControlOutput (UWord16 LowWord, UWord16 HighWord);

Description: SetInfraredControlOutput sends two 16-bit words infrared communication output data to

the Sensing and Motion Controller (PMS5005). The PMS5005 will then send the data out through the infrared Remote Controller Module (MIR5500). In the case of being used for infrared remote control, the output data serves as the remote control command.

Syntax: SetInfraredControlOutput (LowWord, HighWord);

Parameter: UWord16 LowWord; // 1

UWord16 HighWord; // 2

word

Return value: void

Remarks:

1. In infrared communication application, the data format and the interpretation can be defined by the user at the application level.

2. In infrared remote control application, the control command should be compatible to the device to which the command is sent.

3. This API function is under development and will be available shortly.

III.1.7 Battery Voltage Monitors

39 short GetSensorBatteryAD1 (); 40 short GetSensorBatteryAD2 (); 41 short GetSensorBatteryAD3 ();

Description:

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GetSensorBatteryADX returns the current value of the relevant power supply voltage if the battery voltage monitor is enabled (default), or returns the relevant custom A/D inputs, if the custom A/D input is enabled which is configured by the jumpers on PMS5005. Please refer to Chapter IV.I PMS5005 Robot Sensing and Motion Controller (Page 67) for detailed information on hardware setting.

Syntax: ival = GetSensorBatteryAD1(); /* for battery of DSP circuits, or custom A/D channel #1 */

ival = GetSensorBatteryAD2(); /* for battery of DC motors, or custom A/D channel #2 */ ival = GetSensorBatteryAD3(); /* battery for servo motors, or custom A/D channel #3 */

Parameter: void Return value: short ival;

Return data interpretation: The return data is the raw value of the analog to digital converter indicating the output

voltage of the monitor. The data range is between 0 and 4095.

When monitoring the voltage of the power supply, following equations can be used to calculate the real voltage values.

(1) Power supply voltage of DSP circuits = (ival / 4095) * 9 (V) (2) Power supply voltage of DC motors = (ival / 4095) * 24 (V) (3) Power supply voltage of servo motors = (ival / 4095) * 9 (V)

42 short GetSensorRefVoltage (); 43 short GetSensorPotVoltage ();

Description: GetSensorRefVoltage returns the current value of the reference voltage of the A/D

converter of the controller DSP. GetSensorPotVoltage returns the current value of the power supply voltage of the

potentiometer position sensors.

Syntax: ival = GetSensorRefVoltage ();

ival = GetSensorPotVoltage ();

Parameter: void Return value: short ival;

Return data interpretation:

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The return data is the raw value of the analog to digital converter indicating the output voltage of the monitor. The data range is between 0 and 4095. The following equation can be used to calculate the real voltage values.

Voltage = (ival / 4095) * 6 (V)

III.1.8 Potentiometer Position Sensors

44 short GetSensorPot1 (); 45 short GetSensorPot2 (); 46 short GetSensorPot3 (); 47 short GetSensorPot4 (); 48 short GetSensorPot5 (); 49 short GetSensorPot6 (); 50 short GetSensorPot (short channel);

Description: GetSensorPotX returns the current value of the relevant potentiometer position sensors. GetSensorPot (short channel) returns the current value of the specified potentiometer

position sensor.

Syntax: ival = GetSensorPot1 (); // Potentiometer sensor #1 ival = GetSensorPot2 (); // Potentiometer sensor #2 ival = GetSensorPot3 (); // Potentiometer sensor #3 ival = GetSensorPot4 (); // Potentiometer sensor #4 ival = GetSensorPot5 (); // Potentiometer sensor #5 ival = GetSensorPot6 (); // Potentiometer sensor #6

ival = GetSensorPot (channel); /* Potentiometer sensor

Parameter: void // for GetSensorPotX

short channel; /* 0, 1, 2, 3, 4, or 5 for Potentiometer #

Return value: short ival;

Return data interpretation and Remark:

1. The return data is the raw value of the analog to digital converter indicating the output

voltage of the sensor. The data range is between 0 and 4095. The angular position can be calculated as follows, with the 180˚ position defined at sensor’s physical middle position. Single sensor or dual sensor can be used for rotation measurement.

#1, 2, 3, 4, 5, or 6 */

1, 2, 3, 4, 5, 6 */

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2. Single sensor is mainly used for the control of robot joint with limited rotation range.

The effective mechanical rotation range is 14˚ to 346˚, corresponding to the effective electrical rotation range 0˚ to 332˚.

Angle position (˚) = (ival - 2048)/4095*333 + 180

3. Dual-sensor configuration is mainly used for continuous rotating joint control (such as

wheels). The effective rotation range is 0˚ to 360˚. Dual sensor configuration is only available for channel 0 and 1. By connecting two potentiometers to potentiometer channel 0 and channel 5, and specify the sensor type with command SetDCMotorSensorUsage() to “Dual potentiometer sensor”, the channel 0 reading will combine these two sensor readings into 0˚ to 360˚ range. For channel 1, you should connect the two potentiometers to channel 1 and 4.

Angle position (˚) = (ival - 2214)/2214*180 + 180

See Also: GetVoiceSegment

119 void StartRecord(short voiceSegment);

Description: StartRecord sends start-recording command to the Multimedia Controller (PMB5010).

The recorded voice data in length specified by voiceSegment will be stored in the shared memory segment.

Syntax: StartRecord(voiceSegment);

Parameter: short voiceSegment; // segment number for voice data, range 1 -10

Return value: void

Remarks: The parameter voiceSegment specify the time of voice segment, unit is 256 millisecond

(about 1/4 sec). Value could be 1- 10. For example, if voiceSegment is 4, 1.024 second voice will be recorded.

VoiceSegmentEvent

event will fired when the data is ready.

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120 void StopRecord();

Description: StopRecord sends stop-recording command to the Multimedia Controller (PMB5010).

SDK will not send recorded voice data to PC any more.

Syntax: StopRecord();

Parameter: void Return value: void

Remarks: There will be no effect if the Multimedia Controller is not recording.

IV.1.2 Image Capturing

121 void TakePhoto();

Description: TakePhoto sends image capturing command to the Multimedia Controller (PMB5010). The

Multimedia Controller will send back the latest frame of the image data to the WiRobot shared memory after receiving TakePhoto command. Use SavePhotoAsBMP to obtain the image.

Syntax: TakePhoto();

Parameter: void Return value: void

Remarks: Each TakePhoto command will get one frame of image.

122 BOOL SavePhotoAsBMP(LPCTSTR FileName);

Description: SavePhotoAsBMP saves current frame of image data into BMP format file

Syntax: bVal = SavePhotoAsBMP (FileName);

Parameter: LPCTSTR FileName; // the file name with full path, for saving image data in bmp format. Return value: BOOL bVal; // True: success // False: failure to save.

FileName.

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Remarks:

1. Before calling SavePhotoAsBMP, the TakePhoto command needs to be called to request image taken.

2. When the image data arrive, the call back event “ImageEvent” will be fired

3. The cause of “failure to save” could be caused because the TakePhoto command was not sent or the file name / path is invalid.

IV.1.3 LCD Display

123 void LcdDisplayPMB(LPCTSTR bmpFileName);

Description: LcdDisplayPMB displays the image data in the file

graphic LCD connected to the Multimedia Controller (PMB5010).

Syntax: LcdDisplayPMB (bmpFileName);

Parameter: LPCTSTR bmpFileName; // Full path of the BMP file for displaying Return value: void

Remarks: The graphic LCD display is mono with dimension of 128 pixels by 64 pixels. The bmp image

must be 128x64 pixels in mono.

bmpFileName

(BMP format) on the

IV.2 Events

This section documents the two Event mechanisms. When the relevant data arrive from the WiRobot PMB5010 system, relevant event will be fired, user could write his / her periodic data processing routine in the relevant event call back function.

124 ImageEvent

Description: When the image data arrive, this event will be triggered.

125 VoiceSegmentEvent

Description: When the audio data arrive, this event will be triggered.

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V. WiRobot DRK6080/6000/8080/8000 Specific APIs

V.1 Low Level Protection

When bumpers (optional) are installed on WiRobot RDK6080/6000/8080/8000 with the connection configuration shown on the right, a build-in low-level bumper collision protection scheme can be enabled or disabled with the next two commands. When this bumper protection feature is enabled:

. The wheels will stop moving forward when either

bumper 0 or 1 is engaged, there will be not affect if the wheels are moving backward.

. The wheels will stop moving backward when either

bumper 2 or 3 is engaged, there will be not affect if the wheels are moving forward.

. The bumpers are connected to custom digital I/O

0, 1, 2, and 3.

126 void EnableBumperProtection();

Description: This will enable the low level bumper protection feature. EnableBumperProtection xxxx.

Syntax: EnableBumperProtection ();

Parameter: void; Return value: void Remarks: By default, the bumper protection feature is disabled when system is booted up.

Bumper_0 Bumper_1

D_IN0 D_IN1

Left Wheel

D_IN2 D_IN3

Bumper_2 Bumper_3

Figure V.1 WiRobot RDK6080 / 6000 / 8080 / 8000 Bumper Connection Configuration

Front

Right Wheel

127 void DisableBumperProtection();

Description: This will disable the low level bumper protection feature. DisableBumperProtection xxxx.

Syntax: DisableBumperProtection ();

Parameter: void; Return value: void

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Chapter IV. WiRobot Module

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I. PMS5005 Sensing and Motion Controller

I.1 Introduction

The PMS5005 Robot Sensing/Motion Controller can be used as sensing, control, motion execution, LCD display and wireless communication processing unit for various robotic applications. Its onboard firmware makes the low level function modules such as motor driver module and wireless communication module transparent to the users. A host (e.g. PC, DSP, or processor) will be used to communicate and control the PMS5005 for different applications through the UART (serial) interface. The system can help robotic and AI researchers and developers focus on the high level logic and algorithm design, and avoid the hassle of writing low level device drivers, standard control schemes and troubleshooting the electronic circuits. The ease of use, powerful functionality and onboard intelligence can eliminate design risk, streamline hardware and software development, and significantly shorten the time to delivery while effectively reducing the cost. Typical applications include humanoid robot, legged robot, wheel-based robot, robot head, robot arm and robot hand.

I.1.1 PMS5005 Robot Sensing/Motion Controller Architecture

As shown in Figure I.1, the PMS5005 features functionalities required by most of the robotic applications, such as sensing, motion control, and data communication.

The PMS5005 contains the following features and capabilities:

- 40MIPS 16-bit fix-point hybrid DSP/MCU

- 36K x 16-bit words flash

- 2.5K x 16-bit words SRAM

- Build-in

. A/D reference voltage monitoring . Over-heating sensor (x2) . System voltage monitoring (x1) . Watchdog timer (x1) . Full duplex UART (x2)

- Embedded firmware for configurable closed loop position, velocity, various sensor data acquisition,

LCD graphic display, wired and wireless communication

- Interfaces to

. MDM5253 DC motor driver module with position and current feedback (x2), which includes

o General-purpose PWM DC motor interface (x6) o Motor current feedback interface (x6)

o Potentiometer position feedback sensor interface (x6) . Quadrature encoder (x2) . Standard RC servo motor (x6) . DUR5200 Ultrasonic range sensor module (x6) . DHM5150 Human sensor module (x2) . DAT5280 Ambient temperature sensor module (x1) . GP2Y0A21YK Infrared range sensor (x1) . DTA5102 2 axis tilt/acceleration sensor module (x1) . Custom A/D (x 8 including 3 channels of optional battery voltage monitoring). It can connect to

MSA3502 if signal amplifying is needed.

. Custom digital input (x8) . Custom digital output (x8) . MGL5128 Graphic LCD display module (128 x 64) (x1) . MIR5538/5540 Full duplex infrared remote control and communication module (x1)

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. PMB5010 Multimedia controller (x1) . MCB3100 Serial Bluetooth wireless module or MCR3210 RS232 interface module (x1) or

WFS802b WiFi802.11b Serial wireless module

Figure I.1 Block Diagram of the PMS5005

I.1.2 PMS5005 Connectors and Jumpers

Figure I.2 shows the function and location of the connectors and jumpers on the PMS5005.

Figure I.2 PMS5005 Connector and Jumper Locations

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* Note that the size of the PCB board of PMS5005 is about 14.5cm x 10.2cm.

I.2 Operations

The PMS5005 Robot Sensing/Motion Controller is designed to be running as part of the WiRobot system. The hardware preparation when using the PMS5005 is just simply connecting the relevant WiRobot modules to the relevant connectors on the PMS5005 board and setting the proper jumper configurations. Lower device-level operations are handled by the firmware embedded in PMS5005 controller with the following functions:

. Control 6 RC servos . Driver for LCD display, 6 ultrasonic sensors, 2 human sensors, 1 infrared distance sensor, 1

temperature sensor, 1 tilt/acceleration sensor and 1 infrared remote sensor

. Can interface with different digital devices through the general digital input and output ports . Can interface with different analog devices through the A/D ports . Built-in voltage monitoring capability . Built-in 3 DC motor control schemes, including open-loop PWM control, closed-loop position

control, and closed-loop velocity control. Closed-loop position and velocity control required the use of encoder or rotary sensor as the feedback device

Users can physically connect the PMS5005 to a host (e.g. PC, processor, or DSP) through null modem cable or serial wireless modules. By default, the PMS5005’s UART setting is 115200, 8, N, 1 with hardware flow control. With this connection, there are two ways to communicate with the PMS5005:

1. Using WiRobot SDK Software (requires Microsoft platform): High level programs running on PC can communicate with the PMS5005 firmware using WiRobot SDK Component and supplied WiRobot Gateway program. Users simply need to make a function call in their programs to obtain sensor information or to control different devices (e.g. servos, DC motors, and etc.) without the needs to understand the communication details between PC and PMS5005. Please refer to the Chapter III. WiRobot SDK API (Page 26) for further information on programming.

2. Using PMS5005 Communication Protocol: A device (e.g. PC, processor, or DSP) can communicate with PMS5005 directly using packet-level commands. Such option has no requirement on the host and provides the freedom for users to choose their development platform.

I.2.1 PMS5005 Power Supplies and Consumption

Up to three independent groups of power supply can be connected to the PMS5005 supporting board system circuits (System Power Supply), DC Motor Power Supply and Servo Motor Power Supply respectively. These power supplies could be connected to the PMS5005 either through the screw terminals or through the power jacks. Near each screw terminal, there is a connector port for connecting the power switch or emergency button for each power supply. By default, all three connector ports are connected together. If power switches are needed, you could disconnect the connection and add a switch in between for each connector port.

Table I.1 shows the specification of the power supplies. Refer to Section II.2.5 for the connections of the power jacks and terminals.

Table I.1 Specification of Power Supplies

Power Supply Power

Jack

Screw

Terminals

Switch

Connector

Voltage

Range (V)

Current Capacity

(mA)

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System J1 PSY S1-0 5.5 – 7.2 500 DC Motor J2 PDM S1-1 6.0 – 25.0 System Specific Servo Motor J3 PSM S2-1 5.0 – 7.2 System Specific

The system power supply is required at all time for the operation of this board and the power consumption of PMS5005 without connecting any peripheral modules is about 350mA using a 7.2V battery pack. We also recommend the use of three different power sources in powering the PMS5005 (System Power Supply, DC Motor Power Supply and Servo Motor Power Supply) since high power consumption devices (e.g. high torque servos) may affect the operation of voltage sensitive devices (e.g. sensors) due to voltage frustration.

Note: Please make sure that the DC motor power supply voltage does not exceed the maximum allowable voltage for the DC motors.

I.2.2 PMS5005 Jumper Settings

The board address jumpers can be set to any value between 0 and 15. The board address is currently reserved for future use.

Table I.2 Board Address Jumpers B_ADDR

Bit Pin Value 1 Value 0

0 (LSB) 1, 2 open 1-2 short 1 3, 4 open 3-4 short 2 5, 6 open 5-6 short 3 (MSB) 7, 8 open 7-8 short

JP_AD1, JP_AD2 and JP_AD3 are used for enabling and disabling battery voltage monitoring. If the jumper is removed, the corresponding power supply monitoring and custom AD_IN will be disabled.

Table I.3 Battery Voltage Monitoring Jumpers

Jumper Position Battery Voltage Monitoring

1-2 Enable system power supply monitoring JP_AD1 2-3 Disable system power monitoring and connect Custom AD_IN1 1-2 Enable DC motor power supply monitoring JP_AD2 2-3 Disable DC motor power and connect Custom AD_IN2 1-2 Enable servo motor power supply monitoring JP_AD3 2-3 Disable servo motor power monitoring and connect Custom

AD_IN3

I.2.3 PMS5005 System Communication Connections

Under the WiRobot system architecture, all controllers are connected in a chain. There is one and only one host serving as the central controller. All other embedded controllers have at least two SCI ports for the system communications: upper-reach port and lower-reach port, with the direction respect to the central controller.

The system communication connection structure of the PMS5005 in the WiRobot system is shown in Figure I.1. PMS5005 can work solely in the WiRobot system or together with WiRobot Multimedia Controller PMB5010 when multimedia data (video and audio) is required in the system.

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Figure I.3 WiRobot System Communication Architecture

The system communication connectors on the PMS5005 are described in Table I.4. Refer to Section I.2.5 for the definitions of the signals attached to the connector BTOOTH and SCI.

Table I.4 System Communication Connectors

Connector Type Description

BTOOTH Upper Reach SCI port with handshaking and control signals for

both wired and wireless modules

SCI Lower Reach Two-wire serial communication interface (reserved

for future use)

I.2.4 Connecting Peripheral Modules Supported by PMS5005

Table I.5 lists the WiRobot peripheral modules that can be directly connected to the PMS5005 board and supported by the firmware embedded in PMS5005. Refer to the relevant chapter of these peripheral modules for the detailed technical information.

Table I.5 Peripheral Modules Supported by PMS5005

Peripheral

Module

WFS802b BTOOTH 1 WiFi802.11 wireless communication

MCB3100 BTOOTH 1 Bluetooth wireless communication

MCR3210 BTOOTH 1 RS232 interface module DUR5200 US_1 – 6 6 Ultrasonic range sensor

Connector Max

No.

module

Description

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DTA5102 TILT 1 2-Axis tilting and acceleration sensor DHM5150 HUMAN1 – 2 2 Human motion sensor DAT5280 TEMPERATURE 1 Ambient temperature sensor MIR5538/5540 INFRAR 1 Infrared remote controller module MDM5253 MOTOR1_IN, _OUT

MOTOR2_IN, _OUT 3rd party SM1 - 6 6 3rd party servo motor 3rd party ENCODER1 - 2 2 3rd party quadrature encoder GP2Y0A21YK RANGE 1 Infrared range sensor MGL5128 LCD 1 Mono Graphic LCD display module,

2 3-channel DC motor driver module with

position and current feedback

128x64

I.2.5 Connecting DC Motors and Potentiometers to PMS5005

In order to connect DC motors and potentiometers to the PMS5005, MDM5253 (DC Motor Driver Module with Position and Current Feedback) is required. Each MDM5253 can control up to 3 DC motors and 3 potentiometers; and each PMS5005 can connect up to 2 MDM5253. The potentiometer can be used as the position feedback of the DC motor for precise position and velocity control. Connector MOTOR1-IN and MOTOR1-OUT on PMS5005 are used to connect to a MDM5253 for DC Motor 1, 2, 3 and Potentiometer 1, 2, 3; and connector MOTOR2-IN and MOTOR2OUT are used to connect to a MDM5253 for DC Motor 4, 5, 6 and Potentiometer 4, 5, 6. For details on how to connect DC motors and potentiometers to the MDM5253, please refer to the Chapter IV.III MDM5253 (Page 89).

I.2.6 Connecting Custom Sensors/Devices to PMS5005

The PMS5005 has 8 digital inputs, 8 digital outputs and 8 custom A/D extensions. These ports can all be used to connect to different sensors or output devices. For example, user can connect gyroscope, more infrared distance sensors or other analog signal devices to PMS5005 by making use of the available A/D extensions. If a user just wants to have better infrared sensing capabilities in his / her robot, the PMS5005 can support up to 9 infrared distance sensors (GP2Y0A21YK) through its IR range sensor port and the 8 custom A/D expansions.

I.2.7 Sample WiRobot Connection Using PMS5005

The following figure illustrates a simple way in using the PMS5005. Note that only a single 7.2V power source is used to supply power to the system and not all peripheral modules are connected to the PMS5005 in this figure.

Figure I.4 Sample Connection of WiRobot PMS5005 with Different Peripheral Modules

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I.2.8 PMS5005 Connections

The definitions of the connector signals of the power supplies and the supported PMS5005 peripheral modules are listed in the following tables.

Table I.6 Connections of the Power Jacks and Terminals

Power Connection Power Jack J1, J2, J3 Screw Terminal PSY, PDM, PSM

Positive Power Source Center Pin 1 Power Supply Ground Circle 2

Table I.7 Upper Reach Communication Port BTOOTH

Pin Name Signal Description

1 VCC +3.3 V 2 RXD Data receiving 3 TXD Data transmitting 4 RTS Request to send 5 CTS Clear to send 6 GND Power supply ground 7 COMRST Reserved 8 BTIN Reserved

Table I.8 Lower Reach Communication Port SCI

Pin Name Signal Description

1 VCC +3.3 V 2 RXD Data receiving 3 TXD Data transmitting 4 GND Power supply ground

Table I.9 Ultrasonic Range Sensor Connectors US_1 - 6

Pin Name Signal Description

1 VCCA +5.0 V 2 URS Ultrasonic echo receiving signal, active rising edge 3 UTE Ultrasonic transmitting enable, active high 4 GND Power supply ground

Table I.10 Tilt and Acceleration Sensor Connector TILT

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Pin Name Signal Description

1 VCCA +5.0 V 2 AYD Y direction signal, analog 0 – 3.0V 3 AXD X direction signal, analog 0 – 3.0V 4 GND Analog ground

Table I.11 Human Motion Sensor Connectors HUMAN1 - 2

Pin Name Signal Description

1 VCCA +3.0 V 2 HMS Human motion signal, analog 0 – 3.0V 3 HAS Human presence alarm, analog 0 – 3.0V 4 GND Analog ground

Table I.12 Temperature Sensor Connector TEMPERATURE

Pin Name Signal Description

1 VCCA +5.0 V 2 TVS Temperature Data, analog 0 – 3.0V 3 GND Analog ground

Table I.13 Infrared Remote Controller Connector INFRAR

Pin Name Signal Description

1 VCC +3.3 V 2 IRX Receiving from external device, digital 3 ITX Transmitting to external device, digital 4 GND Power supply ground

Table I.14 Servo Motor Connectors SM1 - 6

Pin Name Signal Description

1 SCL Servo motor control 2 VSM Positive servo motor power supply 3 GND Servo motor power supply ground

Table I.15 Quadrature Encoder Connector ENCODER1 - 2

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Pin Name Signal Description

1 ENCB Channel B signal 2 VCC +3.3V 3 ENCA Channel A signal 4 ENCI Index signal (reserved for future use) 5 GND Power supply ground

Table I.16 Infrared Range Sensor Connector RANGE

Pin Name Signal Description

1 VCC +5.0 V 2 RVS Range data, analog 0 – 3.0V 3 GND Analog ground

Table I.17 LCD Display Connector LCD

Pin Signal Description

1 VDD +5.0V, power supply for logic 2 VSS Power supply ground 3 Vo LCD operating voltage 4 D0 Data bit 0 5 D1 Data bit 1 6 D2 Data bit 2 7 D3 Data bit 3 8 D4 Data bit 4 9 D5 Data bit 5 10 D6 Data bit 6 11 D7 Data bit 7 12 CS1 Column select 1 ~ 64 13 CS2 Column select 65 ~ 128 14 RESET Reset input 15 R/W Read/write 16 D/I Data/Instruction indication 17 E Enable 18 VEE Negative voltage output 19 A Power supply for LED backlight (+) 20 K Power supply for LED backlight (-)

Table I.18 Custom A/D Expansion Connector EXP-AD

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Pin Signal Description

1, 2, 3, 4 + 3.0 V Analog power supply, max. 40mA 5, 6, 15, 16 Ground Analog ground 7 AD_IN1* Analog 0 – 3.0V 8 AD_IN2* Analog 0 – 3.0V 9 AD_IN3* Analog 0 – 3.0V 10 AD_IN4 Analog 0 – 3.0V 11 AD_IN5 Analog 0 – 3.0V 12 AD_IN6 Analog 0 – 3.0V 13 AD_IN7 Analog 0 – 3.0V 14 AD_IN8 Analog 0 – 3.0V

*Note (Table I.18): When the relevant power supply voltage monitoring is enabled, AD_IN1, AD_IN2, AD_IN3 will be not available to the custom A/D expansions.

Table I.19 Custom Digital I/O Expansion Connector EXP-GPIO

Pin Signal Description

1, 2, 3, 4 + 3.3 V Positive power source, max. 100mA 5 D_OUT0 Digital out 6 D_OUT1 Digital out 7 D_OUT2 Digital out 8 D_OUT3 Digital out 9 D_OUT4 Digital out 10 D_OUT5 Digital out 11 D_OUT6 Digital out 12 D_OUT7 Digital out 13, 14, 15, 16 Ground Power supply ground 17* D_IN0 Digital in 18* D_IN1 Digital in 19* D_IN2 Digital in 20* D_IN3 Digital in 21* D_IN4 Digital in 22* D_IN5 Digital in 23* D_IN6 Digital in 24* D_IN7 Digital in

* NOTE (Table I.19): These pins have been pulled-up to logic high (+ 3.3V) internally.

I.3 Procedure to upgrade the PMS5005 firmware

1. Download and save the latest PMS5005 firmware from www.DrRobot.com

2. Turn off PMS5005 and keep it off until step 9

3. Use a null modem cable to connect the PC to PMS5005 with a RS232 Interface Module (MCR3210) as shown in Figure I.5. All peripheral modules (e.g. sensors, motors, LCD and etc.) can still be plugged to the PMS5005 without affecting the upgrade process

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Figure I.5 Physical Connection

4. Close all WiRobot software on PC (e.g. WiRobot Gateway and all sample applications)

5. Start the hyper-terminal (which comes with MS Windows OS), give a name to this new connection and choose the COM port that is connected to the PMS5005 (normally COM1 or COM2) as shown in the following figure:

Figure I.6 Choosing COM Port Connection

6. Configure the COM port with the setting 115200, 8, N, 1, Xon/Xoff and turn on the “Echo typed characters locally” under Properties - > Settings -> ASCII Setup. If your PC is slow, you can turn off this “echo” option for shorter download time but you will not see the download process during the upgrade.

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Figure I.7 COM Port Setting

7. The lower left corner of the hyper-terminal will show the connection status. If the hyperterminal is still not connected, click the connect icon on the hyper-terminal to establish the connection (don’t turn on the PMS5005 yet!).

8. Choose “Transfer -> Send Text File” from the toolbar and set “files of type” to ALL. Locate the PMS5005 firmware HEX file only by HIGHLIGHTING the file (e.g. PMS5005_v11.dri). Please make sure that you DON’T double click the file or click the “Open” button

Figure I.8 Locating the HEX File

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9. Please read step 10-13 ahead before turning on the PMS5005 in this step

10. After you turn on the PMS5005 (by connecting power to the system power), you should see the text “(c) 2000-2001 Motorola Inc. S-Record loader. Version 1.1” in the hyper-terminal as shown in the following figure:

Figure I.9 Status after Turning on the PMS5005

11. Within 5 seconds (start counting when you turn on the PMS5005), you should click the “Open” button on the Hyper-terminal popup window. Firmware download will then start. If you fail to start the download within this period of time, the original firmware on PMS5005 will automatically start. You have to turn off the PMS5005, and repeat the download procedure again from Step 2

12. When the download is started, hex numbers will appear on the screen if you have turned on the “echo” option as described in step 6. Otherwise, you will not see anything but the download is still running. When the firmware download is completed (takes about 20-60 seconds, depending on the speed of your PC), you will see the “Application Started” keyword as shown in Figure I.10 no matter the “echo” option is turned on or off. The new downloaded firmware will automatically start in few seconds and you should see some un-recognized characters

Figure I.10 Successful PMS5005 Firmware Upgrade

13. When the download is finished, you could disconnect the COM connection in the hyperterminal, and re-start your PMS5005

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II. PMB5010 Multimedia Controller

II.1 Introduction

The PMB5010 Robot Multimedia Controller can be used as audio, video and wireless communication processing unit for various robotic applications. Its onboard firmware makes the low level function modules such wireless communication module transparent to the users. A host (e.g. PC, DSP, or processor) will be used to communicate and control the PMS5005 for different applications through the UART (serial) interface. The system can help robotic and AI researchers and developers focus on the high level logic and algorithm designs, and avoid the hassle of writing low level device drivers, standard control schemes and troubleshooting the electronic circuits. The ease of use, powerful functionality and onboard intelligence can eliminate design risk, streamline hardware and software development, and significantly shorten the time to delivery while effectively reducing the cost. Typical applications include humanoid robot, legged robot, wheel-based robot, robot head and intelligent home device.

II.1.1 PMB5010 Multimedia Controller Architecture

The PMB5010 offers multimedia functionalities that are required by most intelligent robotic applications. Figure II.1 shows the system blocks of the PMB5010.

The key features and capabilities are:

- 120MIPS 16-bit fix-point DSP

- 1M x 16-bit words flash

- Up to 256K x 16-bit words SRAM

- Build-in

. Real-time clock . Full duplex UART (x2)

- Embedded firmware for image capturing, audio recording and playback, and wired and

wireless communication

- Interfaces to

. MAC5310 Audio codec and amplifier module (x1) . MCI3908 CMOS image sensor module (352 x 288) (x1) . MCB3100 Serial Bluetooth wireless module or MCR3210 RS232 interface module (x1)

or WFS802b WiFi802.11b serial wireless module

Figure II.1 Block Diagram of the PMB5010

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II.1.2 PMB5010 Connectors and Jumpers

Figure II.2 shows the function and location of the connectors and jumpers on the PMB5010.

Figure II.2 PMB5010 Connectors and Jumpers

II.2 Operations

The PMB5010 Robot Multimedia Controller is designed to be running as part of the WiRobot system. The hardware preparation when using PMB5010 is just simply connecting the relevant peripheral modules to the relevant connectors on the PMB5010 board and setting the proper jumper configurations. Lower device-level operations are handled by the firmware embedded in PMS5010 controller. High level programs running on PC or other processors are virtually communicating with the PMB5010 firmware using either WiRobot SDK Component and supplied WiRobot Gateway program or packet-level commands. Please refer to the Chapter III. WiRobot SDK API (Page 26) for using WiRobot SDK and WiRobot Communication Protocol for using packet-level commands.

II.2.1 PMB5010 Power Supplies

Up to two power supplies can be connected to the PMB5010 board supporting board system circuits (System Power Supply) and Parallel Expansion Module (Expansion Power Supply) (reserved) respectively. These power supplies can be connected to the board either through the screw terminals or the power jacks. Near each screw terminal, there are two connector ports for connecting power switches or emergency buttons. By default, these two ports are connectors together. If the power switches are needed, you could place a switch for each connector port.

Table II.1 Specification of Power Supplies

Power

Supply

System JT1 PDMT SW1 5.5 – 7.0 500 Expansion JT2 PSYT SW2 5.0 – 7.2 System Specific

Power

Jack

Screw

Terminals

Switch

Connector

Voltage

Range (V)

Current

Capacity (mA)

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II.2.2 PMB5010 Jumper Settings

The board address can be set to any value between 0 and 15. Please refer to the Table II.2 for the setting values.

Table II.2 Board Address Jumpers B_ADDR

Bit Pin Value 1 Value 0

0 (LSB) 1, 2 open 1-2 short 1 3, 4 open 3-4 short 2 5, 6 open 5-6 short 3 (MSB) 7, 8 open 7-8 short

II.2.3 PMB5010 System Communication Connections

Under the WiRobot system architecture, all the controllers are connected in a chain. There is one and only one host serving as the central controller. All other embedded controllers have at least two SCI ports for the system communications: upper-reach port and lower-reach port, with the direction respect to the central controller.

The system communication connection structure of the PMS5010 in the WiRobot RDK is shown in Figure II.3. PMB5010 can work solely in the WiRobot system or together with a WiRobot Sensing and Motion controller PMS5005.

Figure II.3 WiRobot System Communication Architecture

The system communication connectors on the PMB5010 are described in Table II.3. Refer to Section II.2.5 for the definitions of the signals attached to the connector BLUETOOTHT and SCIT.

Table II.3 System Communication Connectors

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Connector Type Description

BLUETOOTHT Upper Reach SCI port with handshaking and control signals for

both wired and wireless modules

SCIT Lower Reach Two-wire serial communication interface

II.2.4 Peripheral Modules Supported by PMB5010

Table II.4 lists the WiRobot peripheral modules that can be directly connected to the PMB5010 board and supported by the firmware embedded in PMB5010. Refer to the relevant chapter of these peripheral modules for the detailed technical information.

Table II.4 Sub-modules Supported by PMB5010

Sub-module Connector Max No. Description

WFS802b BLUETOOTHT 1 WiFi802.11b wireless communication

module

MCB3100 BLUETOOTHT 1 Bluetooth wireless communication

module MCR3210 BLUETOOTHT 1 RS232 interface module MAC5310 CODEC0 1 Audio codec and amplifier module,

which can be used to connect to

microphone and speaker MCI3908 IMAGE 1 CIF CMOS image sensor module

II.2.5 PMB5010 Peripheral Module Connections

The definitions of the connector signals of the power supplies and the PMB5010 peripheral modules are listed in the following tables.

Table II.5 Connections of the Power Jacks and Terminals

Power Connection Power Jack JT1, JT2 Screw Terminal PDMT, PSYT

Positive Power Source Center 1 Power Supply Ground Circle 2

Table II.6 Upper Reach Communication Port BLUETOOTHT

Pin Name Signal Description

1 VCC +3.3 V 2 RXD Data receiving 3 TXD Data transmitting 4 RTS Request to send 5 CTS Clear to send 6 GND Power supply ground 7 COMRST Reserved 8 BTIN Reserved

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Table II.7 Lower Reach Communication Port SCIT

Pin Name Signal Description

1 VCC +3.3 V 2 RXD Data receiving 3 TXD Data transmitting 4 GND Power supply ground

Table II.8 Audio Codec and Amplifier Module Connector CODEC0

Pin Signal Description

1 ADIN Data input 2 VCC5 + 5.0V 3 AFS Frame sync 4, 6 GND Power supply ground 5 ADOUT Data output 7 ASCK Shift clock 8 AMCK NC 9 RESET Reset output 10 APDN Power down output 11 AFC Request output for secondary communication 12 AVC3 + 3.3V

Table II.9 CMOS Image Sensor Connector IMAGE

Pin Signal Description

1 VCC5 + 5.0V 2 D0 Image data bit 0 3 ISCL I2C Clock 4 D1 Image data bit 1 5 ISDA I2C data 6 D2 Image data bit 2 7 VS Digital image vertical blank pulse input 8 D3 Image data bit 3 9 HREF Digital image horizontal blank pulse input 10 D4 Image data bit 4 11 RCLK Digital YUV signal synchronized clock input 12 D5 Image data bit 5 13 RESET Reset output 14 D6 Image data bit 6 15 GND Power supply ground

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16 D7 Image data bit 7

II.3 Procedure to upgrade the PMB5010 firmware

1. Download and save the latest PMB5010 firmware from www.DrRobot.com

2. Turn off PMB5010 and keep it off until step 9

3. Use a null modem cable to connect the PC to PMB5010. All peripheral modules (e.g. LCD and etc.) can still be plugged to the PMB5010 without affecting the upgrade process

4. Close all WiRobot software on PC (e.g. WiRobot Gateway and all sample applications)

5. Start the hyper-terminal (which come with MS Windows OS), give a name to this new connection and choose the COM port that is connected to the PMS5005 (normally COM1 or COM2) as shown in the following figure:

Figure II.4 Choosing COM Port Connection

6. Configure the COM port with the setting 115200, 8, N, 1, Hardware and turn on “Send line ends with line feeds” under Properties - > Settings -> ASCII Setup,

Figure II.5 COM Port Setting

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8. Choose “Transfer -> Send Text File” from the toolbar and set “files of type” to ALL. Locate the PMB5010 firmware HEX file only by HIGHLIGHTING the file (e.g. robot.hex). Please make sure that you DON’T double click the file or click the “Open” button

Figure II.6 Locating the HEX File

9. Please read step 10-13 ahead before turning on the PMB5010 in this step

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Figure II.7 Status after Turning on the PMB5010

11. Within 5 seconds (start counting when you turn on the PMB5010), you should click the “Open” button on the Hyper-terminal popup window. Firmware download will then start. If you fail to start the download within this period of time, the original firmware on PMB5010 will automatically start. You have to turn off the PMB5010, and repeat the download procedure again from Step 2

12. When the download is started, you will see the following text. At the end, “Firmware Update Successfully!” will be shown if the download succeeds. The whole process will take about 1 minute

Figure II.8 Successful PMB5010 Firmware Upgrade

13. When the download is finished, you could disconnect the COM connection in the hyperterminal, and re-start your PMB5010

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III. MDM5253 DC Motor Driver Module with Position and Current

Feedback

III.1 Introduction

The MDM5253 DC Motor Driver Module with Position and Current Feedback is a three-channel Hbridge switching power amplifier board. It can be directly controlled by motion controller’s logic level PWM driving signals at a frequency up to 20 KHz. For each of the three independent channels, the MDM5253 also provides the current feedbacks and connectors for position sensors such as potentiometers. Each channel is able to drive inductive DC load with current up to 5.0 A and operating voltage ranging from 5.0 V to 28.0 V.

III.1.1 Features

. 3 Independent channels . Output 5.0 V to 28.0 V operations . Up to 5.0 A inductive DC load current capability . 5.0 V TTL/CMOS compatible Inputs . PWM Frequencies up to 20 kHz . Automatic PWM over-current limiting . Output short circuit protection . Over-temperature output current reduction and shutdown . Under-voltage shutdown . Analog output current feedback . 3 Connectors for position feedbacks . Directly plug-on to the WiRobot PMS5005 sensing and motion controller board

III.1.2 Applications

. DC motor and stepper motor control . Permanent magnet solenoid control . Robotic systems . General PWM power amplifier

III.2 Operations

III.2.1 Theory of Operation

When four switches configured as that in Figure III.1, the whole circuit is called an H-bridge. By controlling the on/off of four switches in certain patterns, the polarity of the supply power on the control output can be changed. For example, when Control Input 1 and 4 are ON while the Control Input 2 and 3 are OFF, the controlled load is supplied by power with + on the left and – on the right. When Control Input 1 and 4 are OFF while the Control Input 2 and 3 are ON, the controlled load is supplied by power with - on the left and + on the right.

When applying the H-bridge output to a DC motor or other inductive loads with PWM controlled switching command based on certain algorithms and the feedback signals, full bidirectional magnitude control, including speed, position and torque control, can be achievable.

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Figure III.1 H-Bridge Switching Device

In the design of the MDM5253, only one PWM control signal is required to control both the direction and the magnitude of the output for each channel. The H-bridge’s diametrical opposite pairs (control input 1 and 4, control input 2 and 3) are connected and driven HIGH and LOW together, and the two pairs are controlled with strictly inverted signals.

Figure III.2 shows the relationship between the PWM duty cycle and system output. The zero average output occurs when the duty circle is 50%. The direction of the output (in speed control, for example, the direction of rotation) depends on whether the duty circle is larger than 50% or lower. The magnitude of the output (rotation speed in speed control) depends on the absolute difference between the duty circle and 50%.

Figure III.2 Theoretic waveforms of PWM control for the MDM5253

In addition to the PWM control, the MDM5253 can connect up to 3 sensing feedback devices (e.g. MRS3302). DC motor control schemes, such as position and velocity control, can be implemented by installing feedback device on DC motor and connecting these devices to MDM5253.

III.2.2 Running as Part of WiRobot System

When using the MDM5253 with the WiRobot system, users simply plug the module onto one of the DC motor drive expansion connector sets on the PMS5005 Sensing and Motion Controller board (maximum of 2 MDM5253 modules are supported) and the PMS5005 on-board firmware and device driver will take care of the motor control and sensing feedback. Since PMS5005 can support 2 MDM5253, it is able to connect and control up to 6 DC motors and have 6 position sensor channels (POT1-POT6).

Users have an option to use single rotary sensor (e.g. MRS3302 on the Position Sensor Connector), dual rotary sensor (e.g. 2 MRS3302 on 2 Position Sensor Connectors), or single encoder (Encoder port on PMS5005) as the feedback device to control each DC motor, if needed. PMS5005 already has built-in DC motor control schemes and users simply need to select the type of the feedback device for each DC motor. Note that for single rotary sensor setting, DC motor 1 must use POT1, DC motor 2 must use POT2 and etc.; for dual rotary sensor setting, DC motor 1 must use POT1 and POT6, DC motor 2 must use POT2 and POT5 and DC motor 3 must use POT3 and POT4; for encoder setting, DC motor 1 must use ENCODER1 and DC motor 2 must use ENCODER2.

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By working with the PMS5005, users can simply call a function offered by the WiRobot SDK software on PC (requires Microsoft platform) or send a data packet (platform independent) to control the DC motors or to obtain the sensor feedback. Please refer to Chapter III. WiRobot SDK API (Page

26) and Chapter IV.I PMS5005 (Page 67) for the available motor control algorithms and schemes.

III.2.3 Running as a General Purpose DC Motor Driver Module

When using the MDM5253 with third party controllers, the power supply and the input/output signals should be connected properly (please refer to Section III.3 for connection setting). The controller sends control commands to the enable pins and the PWM input pins based on your own control schemes and get current and position feedback data via an analog to digital converter.

III.3 Connections

III.3.1 Board Structure

Figure III.3 shows the structure, locations and functions of the connectors on the MDM5253 module board.

Figure III.3 MDM5253 Connector Locations

III.3.2 Connector Description

The definitions of the MDM5253 connector signals are listed in the following tables.

Table III.1 Connections of the Load Screw Terminals MOTOR

Terminals Name Description

1 OUT1A Channel #1 output A 2 OUT1B Channel #1 output B 3 OUT2A Channel #2 output A 4 OUT2B Channel #2 output B 5 OUT3A Channel #3 output A 6 OUT3B Channel #3 output B

Table III.2 Position Sensor Connectors POT1 - 3

Pin Name Function

1 VCC3 + 3.0 V 2 PVS Position data, analog 0 – 3.0 V

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3 GND3 Signal ground

Table III.3 Control Signal Connector MOTOROUT

Pin Name Function

1 CTL1 Channel #1 PWM control signal 2 CTL2 Channel #2 PWM control signal 3 CTL3 Channel #3 PWM control signal 4 ENA Output enable for all channels:

High: enable; Low: disable 5, 6 GND5 Power supply ground for VCC5 7, 8 VCC5 + 5.0 V 9, 10, 11, 12 GNDM Power supply ground for VCCM 13, 14, 15, 16 VCCM Positive load power source

Table III.4 Feedback Signal Connector MOTORIN

Pin Name Function

1, 2 VCC3 + 3.0 V, positive power source for position sensors 3, 4 GND3 Power supply ground for VCC3 5 CFB1 Channel #1 current feedback data, , analog 0 – 3.0 V 6 CFB2 Channel #2 current feedback data, , analog 0 – 3.0 V 7 CFB3 Channel #3 current feedback data, , analog 0 – 3.0 V 8 PFB1 Channel #1 position feedback data, , analog 0 – 3.0 V 9 PFB2 Channel #2 position feedback data, , analog 0 – 3.0 V 10 PFB3 Channel #3 position feedback data, , analog 0 – 3.0 V

III.4 Specifications

Table III.5 MDM5253 Specification

Parameter Conditions MIN TYP MAX Unit

Power Operating Voltage VCCM 5.0 28.0 V

UnderVoltage Shutdown

Logic Operating Voltage VCC5 4.5 5.0 5.5 V Position Sensor Power Supply VCC3 3.0 3.3 V Standby Supply Current VENA = 0V, IOUT = 0A 65 mA Control Input HIGH VENA, VCTL 3.5 V Control Input LOW VENA, VCTL 1.4 V Enable Input Current IENA 25 100

Switch-off VCCM 4.15 4.4 4.65 V Switch-on VCCM 4.5 4.75 5.0 V Hysteresis 150 mV

μA

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PWM Input Current ICTL ± 1 Output-on Resistance

DC Load Current

ROUT

T < 150 ˚C

T = 25 ˚C T = 150 ˚C

120 300

5.0 A

μA

mOhm

Over-current Protection 7.0 A

Over-temperature Protection

Thermal shutdown 175 Hysteresis 10 30

˚C

PWM Frequency 20 KHz Output ON Delay VCCM = 14V 18 Output OFF Delay VCCM = 14V 18 Output Rise Time VCCM = 14V, IOUT = 3A 2.0 8.0 Output Fall Time VCCM = 14V, IOUT = 3A 2.0 8.0 Disable Delay Time 8.0 Protection Turn-off Time 4.0 Power-off Delay Time 1.0 5.0 Position Sensor Input Range With PMS5005

0.0 3.0 V

μS μS μS μS μS μS μS

controller board

Current Feedback Sensitivity 533 mV/A

IOUT > 1.5 A ± 10 Current Feedback Accuracy IOUT < 1.5 A ± 20

Board Size 30 x 58 mm x mm

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IV. WFS802b WiFI 802.11 Serial Module with antenna

IV.1 Introduction

The WFS802b WiFi (802.11b) serial module is the most compact, integrated solution available to add

802.11b wireless networking to your robots with a serial interface. To enable access to a local network or the internet, the WFS802b integrates a fully developed

TCP/IP network stack and OS. The WFS802b also includes an embedded web server that can be used to remotely configure, monitor, or troubleshoot the attached device.

The WFS802b is the most compact, integrated solution available to add 802.11b wireless networking to any device with a serial interface. Using our highly integrated hardware and software platform, you will add to your bottom line by significantly reducing product development time, risk, and cost.

IV.1.1 Features

. Serial to 802.11b conversion . Dual serial ports up to 921.6kbps per port . Integrated industry standard 802.11b wireless interface . 128bit WEP Encryption for security . Connect any serial device to a wireless network . Stable, field proven TCP/IP protocol suite and Web-based application framework . Easy configuration through a web interface . Embedded web server . High performance throughput

IV.1.2 Applications

. Robotic systems: both run-time and development-stage communication . General-purpose wireless data communication

IV.2 Operations

IV.2.1 Protocol Support

The WFS802b uses the widely accepted 802.11b protocol to connect to a wireless access point or an ad hoc network. It uses the Transmission Control Protocol (TCP) to ensure that no data is lost or duplicated and everything sent to the connection arrives correctly at the target.

The WFS802b also supports User Datagram Protocol (UDP) for typical datagram applications in which devices interact with other devices without maintaining a point-to-point connection.

IV.3 Connections

IV.3.1 Board Structure

Figure IV.1 illustrates the structure of the board

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Figure IV.1 WFS802bStructure

IV.3.2 Connector Description

The WFS802b is connected to WiRobot system via an 8-pin 2.54 mm-pitch single row connector1 (COM1):

Table IV.1 Connector1 (COM1)

Pin Name Function

1 VCC +3.3 V 2 RXD Data receiving 3 TXD Data transmitting 4 RTS Request to send 5 CRTS Clear to send 6 GND Power supply ground 7 NC Reserved 8 NC Reserved

Table IV.2 Connector2 (COM2)

Pin Name Function

1 NC Reserved 2 RXD Data receiving 3 TXD Data transmitting 4 RTS Request to send 5 CRTS Clear to send 6 GND Power supply ground 7 NC Reserved 8 NC Reserved

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IV.4 Specifications

Network Standard IEEE 802.11b Frequency Range 2.412 – 2.484 GHz Radio # of Selectable Channels 14 Channels Security Password protection, locking features, WEP 64/128 Maximum Receive Level -10dBm (with PER < 8%) Receiver Sensitivity . -82dBm for 11Mbps

WLAN Power and Link LED Current Max: 4mA Firmware Upgradeable via serial port Serial Interface CMOS (Asynchronous) 3.3V-level signals

Serial Line Formats 7 or 8 data bits, 1-2 Stop bits,

Modem Control DTR, DCD Flow Control XON/XOFF (software), CTS/RTS (hardware), none Network Interface Wireless 802.11b Protocols Supported 802.11b, UDP, TCP, DHCP

Table IV.3 WFS802b Specification

. -87dBm for 5.5Mbps . -89dBm for 2.0Mbps . -93dBm for 1.0Mbps

Rate is software selectable (300 bps to 921600 bps)

Parity: odd, even, none

Data Rates With Automatic Fallback . 11Mbps

. 5.5Mbps . 2Mbps . 1Mbps

Media Access Control CSMA/CA with ACK Frequency Range 2.412 – 2.484 GHz Range Up to 328 feet indoors Modulation Techniques . CCK (11Mbps)

. CCK (5.5 Mbps) . DQPSK (2 Mbps) . DBPSK (1 Mbps)

Transmit Output Power 14dBm ± 1dBm Average Power Consumption . 1280 mW (WLAN mode; maximum data rate)

. 820 mW (WLAN mode; idle) . 710 mW (Ethernet mode)

Peak Supply Current 460 mA Management Internal web server Weight with antenna 50 grams Temperature Operating range, WLAN: -40°C to +70°C Size (w/o antenna) 50 mm x 40 mm x 15 mm

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IV.5 Configuration via Serial Mode or Telnet Port

Configure the unit so that it can communicate on a network with your serial device.

The WFS802b unit is configurable using a terminal program to access the serial port locally. Using this terminal program to respond to prompts is referred to as the Setup Mode. A Telnet connection may also be used to configure the unit over the network.

The unit’s configuration is stored in nonvolatile memory and is retained without power. You can change the configuration at any time. The unit performs a reset after the configuration has been changed and stored.

Note: The menus in this section show a typical device. Not all devices display information in the same

manner.

This chapter includes the following topics:

. Accessi . Server . Ch . Email

WLAN Settings

. . Ex . Securi

Factory Defaults

. . Exit

ng Setup Mode

Configuration

annel 1 and Channel 2 Configuration

Configuration

pert Settings

ty Settings

Configuration Mode

Figure IV.1 Connection WFS802b with MCR3210P RS232 Interface Module

Accessing Setup Mode

IV.5.1

Telnet Access

To configure the unit over the network, establish a Telnet connection to port 9999:

1. From the Windows Start menu, click Run.

2. From the Run dialogue box, type the following command (where x.x.x.x is the IP

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address and 9999 is the unit’s fixed network configuration port number):

Windows: telnet x.x.x.x 9999

UNIX: telnet x.x.x.x:9999

3. Click OK. The following information displays: Figure IV.1 MAC Address

MAC address 00204AFFFF30

Software version 05.3(040129)WPT

Press Enter to go into Setup Mode

4. To enter the Setup Mode, press Enter within 5 seconds.

Note: Connection fails if Enter is not pressed within 5 seconds.

The configuration settings display, followed by the setup menu options:

Figure IV.2 Setup Menu Options

Change Setup: 0 Server 1 Channel 1 2 Channel 2 3 Email 4 WLAN 5 Expert 6 Security 7 Factory defaults 8 Exit without save 9 Save and exit Your choice ?

5. Select an option on the menu by entering the number of the option in the Your

choice ? field and pressing Enter.

View the current configuration by pressing Enter from the Change Setup menu. To enter a value for a parameter, type the value and press Enter. To confirm a current value, press Enter (without inputted parameters).

6. When finished, save the new configurations (9 Save and exit). The unit reboots.

Serial Port Access

To configure the unit through a serial connection:

1. Connect a console terminal or PC running a terminal emulation program to your unit's serial port. The default serial port settings are 9600 baud, 8 bits, no parity, 1 stop bit, no flow control.

2. Reset the WFS802b unit by cycling the unit's power (turning the power off and

back on). Immediately upon resetting the device, enter three lowercase x characters

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(xxx).

Note: The easiest way to enter Setup Mode is to hold down the x key at the terminal

(or emulation) while resetting the unit. This must be done within three seconds of resetting the WFS802b.

3. Upon connection, the following information displays:

Figure IV.3 MAC Address

MAC address 00204AFFFF30 Software version 05.3 (040129) WPT

Press Enter to go into Setup Mode

4. To enter the Setup Mode, press Enter within 5 seconds

Note: Connection fails if Enter is not pressed within 5 seconds.

The configuration settings display, followed by the setup menu options:

Figure IV.4 Setup Menu Options

Change Setup: 0 Server 1 Channel 1 2 Channel 2 3 Email 4 WLAN 5 Expert 6 Security 7 Factory defaults 8 Exit without save 9 Save and exit Your choice ?

5. Select an option on the menu by entering the number of the option in the Your choice ?

field and pressing Enter.

6. When finished, save the new configurations (9 Save and exit). The unit reboots

Server Configuration

IV.5.2

The unit’s basic server (i.e. network) values display upon selecting Server (option 0 from the Change Setup menu). The following sections describe the configurable parameters within the

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Server configuration menu.

Set the IP Address

If DHCP is not used to assign IP addresses, enter it manually. The IP address must be set to a unique value in the network. Enter each octet and press Enter between each section inputted. The current value is displayed in parentheses.

IP Address : ( 0) ( 0) ( 0) ( 0)

Set the Gateway IP Address

The gateway address, or router, allows communication to other LAN segments. The gateway address should be the IP address of the router connected to the same LAN segment as the unit. The gateway address must be within the local network.

The default is N (No), indicating the gateway address has not been set. To set the gateway address, type Y. At the prompt, enter the gateway address.

Set Gateway IP Address (N) ? Y

Gateway IP addr ( 0) ( 0) ( 0) ( 0)

Set the Netmask

A netmask defines the number of bits taken from the IP address that are assigned for the host part.

Netmask: Number of Bits for Host Part (0=default) (0)

The unit prompts for the number of host bits to be entered, then calculates the netmask, which displays in standard decimal-dot notation when the saved parameters are displayed (for example, 255.255.255.0).

Table IV.4 Standard IP Network Netmasks Representing Host Bits

Network Class Host Bits Netmask

A 24 255.0.0.0

B 16 255.255.0.0

C 8 255.255.255.0

Change Telnet Configuration Password

Setting the Telnet configuration password prevents unauthorized access to the setup menu via a Telnet connection to port 9999 or via web pages. The password must have 4 characters.

Change telnet config password (N) ?

An enhanced password setting (for Telnet access only) of 16 characters is available under

option 6 Security from the Change Setup menu.

Note: A password is not required to access the Setup Mode window via a serial