USER MANUAL - K
Contents
1. Sona USER MANUAL Version 1 0 K Team S A Lausanne 28 February 2001 Documentation author K Team S A Chemin du Vuasset CP 111 1028 Pr verenges Switzerland info k team com http www k team com Trademark Acknowledgements MUST00a Plug n Play Ultrasonic Sensor Mr Robot Matlab The Mathworks LabView National Instruments Koala K Team S A NOTICE e The contents of this manual are subject to change without notice e The information contained in this manual is to the best of our knowledge complete accurate and up to date However K Team can assume no responsibility or liability for any inaccuracies or omissions Should any errors be detected please inform K Team S A SONAR USER MANUAL 2 Contents TiTINPRODUCT ION sicsscocsscessescdtasesssecesescsvosssonsnestessovteseonsncesescsvasesoaspesneossvasseessncesesassasseoasnsesesasba ndeseodondesssaodavesoasvsssessocsesebaovs 3 TA GENERALITIES n a aE E AEST O eaa E AEE E aE secs ES E AES OEN AE oE E AES E a EE EASES ER OEE 4 2 SONAR SPECIFICATIONS sesesesesesessssssssssssssssssssosososososososososososososososesesesesesesesesesesesesesesesesesesesososososososososososososssosssosososs 5 Dells SONAR PINOUT sneren a Er EErEE E AE EEE AEAEE E EE EAEE i 3 3 GETTING STARTED urcra ERENER 6 DM TESTING ana E E E E E E E E EE 6 Ded CALIBRATION si E E E E E E E E E E E S 7 4 USING THE SONAR SENSORS e ssesssersrerososesseesecsosceoscsosceoscsoscsosc2. The sensors are numbered 0 to 5 from left to right from the robot s perspective To read the rightmost sensor for example type I 5 and you will receive a reply of the form i 1023 where the value given is in the range 0 to 1023 A zero corresponds to 0 volts minimum distance and 1023 corresponds to 4 096 volts maximum distance You can simply scale the value by your sonar range to obtain the effective distance This simple serial protocol is very flexible and lets you write control routines using any application that supports serial port communication e g Matlab LabView etc You do of course need a serial cable connected to the robot at all times or you may use a radio modem to transmit the commands to the host computer 4 2 Using a Custom C Program For the ultimate in speed and flexibility you can write a custom C application compiled for the Koala and stored in its onboard flash memory To read the analog inputs you must use the command sens_get_ana_value input which returns a value in the range O to 1023 as explained in section 4 1 Note that to access the analog input numbers 0 to 5 you must read the inputs 4 to 9 i e you must add 4 to your desired input number Please see the example file sonar c given in section 5 for more details For information on how to compile programs for Koala please see the K Team website www k team com for more information SONAR USER MANUAL 8 5 Software Example son
3. Team products please visit http www k team com Safety Precautions e Check the operating voltage of all components before operation It must correspond to your local power supply The operating voltage is indicated on the nameplate of the power supply Don t plug or unplug any connector when the system is switched ON e All connections including adding or disconnecting extensions must be made when the robot and the interface are switched OFF otherwise damage can occur e Switch OFF the robot and any additional power supplies if you will not use them for more than a day e Do not open the robot unless explicitly directed to do so by K Team technicians Perform this operation by carefully following the instructions given in appendix C e Do not manually force any mechanical parts such as pushing the robot and forcing its wheels If you have any questions or problems concerning the robot please contact your Koala dealer Recycling Think about the end of life of your robot Parts of the robot can be recycled and it is important to do so It is for instance important to keep batteries out of the solid waste stream When you throw away a battery it eventually ends up in a landfill or municipal incinerator These batteries can contribute to the toxicity levels of landfills or incinerator ash By recycling the batteries through battery recycling programs you can help to create a cleaner and safer environment for generations to come For the
4. 0 i lt 6 i printf S4ld _dist i deltaSpeed gainSign i MAX_DIST _dist i SO NAR USER MANUAL speed 0 MEAN_SPEED deltaSpeed INV_GAIN speed 1 MEAN_SPEED deltaSpeed INV_GAIN printf S3ld speed 0 printf 3ld speed 1 printf r fflush stdout mot_new_speed_2m speed 1 speed 0 tim_suspend_task 100 felse void procMainTask just print the sonar values don t move uint32 i printf Testing sonar sensors r n printf 0 1 2 3 4 5 NENT printf r n for for i 0 i lt 6 i printf 4lda _dist i printi r fflush stdout tim_suspend_task 100 endif int main sens_reset mot_reset install_task procUpdateSonar r n 800 procUpdateSonar install_task procMainTask r n 800 procMainTask return 0 SONAR USER MANUAL
5. ar c Test and Braitenberg obstacle avoidance using MUSTO0a ultrasonic sensors Author Skye Legon 27 02 01 slegon k team com Modifs This program reads 6 ultrasonic distance sensors and reports their distance calibrated such that Ov gt 4v corresponds to 150mm gt 3000mm or performs a simple Braitenberg type obstacle avoidance define BRAITENBERG 1 set this to 1 to compile the Braitenberg version include lt sys kos h gt include lt stdlib h gt include lt stdio h gt define MAX_DIST 3000 max distance mm of sonar define MIN_DIST 150 min distance mm of sonar define MEAN_SPEED 50 mean speed of Koala define INV_GAIN 100 Braitenberg inverse gain value int32 _dist 6 int32 SonarDistance uint32 sensor int32 value note sensor 0 is analog input 4 etc if value sens_get_ana_value sensor 4 lt 0 return value return value MAX_DIST MIN_DIST MIN_DIST 1023 1023 void procUpdateSonar uint32 i for 77 for i 0 i lt 6 i _dist i SonarDistance i tim_suspend_task 100 if BRAITENBERG void procMainTask simple Braitenberg obstacle avoidance moves uint32 i int32 speed 2 int32 deltaSpeed int32 gainSign 6 1 1 1 1 1 1 printf Using sonar sensors to avoid obstacles r n printf 0 1 2 3 4 5 L RENNEND PEINER Te epe EN ENA E 7 for deltaSpeed 0 for i
6. hen send the pre compiled example file sonarnav s37 to the robot using a simple ASCII text transfer consult your terminal program documentation if you are unsure of how to do this 4 When the download is finished erase the flash memory by typing flash E and wait for the confirmation 5 Now write the program into the flash memory by typing flash W and wait for the confirmation 6 Turn off the robot disconnect your serial cable and then follow the instructions marked above 3 1 Testing An example program sonar c is shipped with the sonar modules to help test the sonar modules It is set to map a sonar output of 0 4 096 volts to a distance of 15cm to 3m but can be used for other ranges either by modifying the software or simply by scaling its output to your desired range To test the output of your sensors please use the following procedure 1 Connect to the Koala serial port using a terminal program set to 38400 N81 2 Ensure the Koala is in mode 3 and then turn on the robot A startup message should appear on the terminal screen see Koala documentation for more details 3 Type run sloader then return and then send the pre compiled example file sonartst s37 to the robot using a simple ASCII text transfer consult your terminal program documentation if you are unsure of how to do this SONAR USER MANUAL 6 Once the download has finished the following text should appear on your screen the numbers will vary Test
7. ing sonar sensors O 1 2 3 4 5 3000 3000 963 994 3000 3000 The distances are shown in millimetres and the example above shows that the left hand sensors 0 and 1 are both at their maximum limit of 3000mm i e they see nothing as are the right hand sensors 4 and 5 The two central sensors 2 and 3 however both indicate an obstacle at a distance of roughly 1m 1000mm 3 2 Calibration All sonar modules are shipped pre calibrated to a range of 15cm to 3m but if you prefer to use another range or if any of the modules become decalibrated you will need to repeat the calibration procedure Please note that the default range of 15cm to 3m is the maximum range possible but you can reduce this To calibrate the sensors it is recommended you use both the test program described above in section 3 1 and a voltmeter connected between ground and the analog output of the sensor being calibrated The following calibration procedure has been empirically tested here at K Team you may find another procedure works best for you 1 Turn the ZERO pot counter clockwise CCW a lot at least 12 turns 2 Place the sonar to be tested in front of a large planar obstacle a wall for example at the maximum desired distance e g 3m In our tests the voltmeter read approximately 4 4 volts 3 Turn the FULL SCALE pot clockwise CW until the voltage suddenly drops Back off CCW a bit until the voltage is around 4 1 volts and the test software just begi
8. mple program loaded in its memory This program demonstrates a simple Braitenberg obstacle avoidance program example using the sonar sensors and the source code is provided sonar c to help you develop your own applications WARNING This example program will move the robot Make sure the robot is on the floor in an open space and NOT ON A TABLE To activate the example program put the Koala in mode 9 and then start the robot see Koala documentation for more details on operating the Koala The sonar sensors should start clicking and after a short pause the Koala will begin to move As the sonar sensors have a relatively long range this program works best in wide open spaces If the environment is too cluttered the robot gets easily claustrophobic and has trouble avoiding obstacles An interesting solution would be to use the sonar sensors in open spaces but to switch to using infrared sensors once obstacles get too close We leave this as an exercise to the reader If you bought the sonar modules to use with an existing Koala or if your new Koala does not seem to have the program pre loaded please use the following procedure to download the test software to the robot 1 Connect to the Koala serial port using a terminal program set to 38400 N81 2 Ensure the Koala is in mode 3 and then turn on the robot A startup message should appear on the terminal screen see Koala documentation for more details 3 Type sfill then return and t
9. ns to read 3000mm 4 Place an obstacle at the minimum distance from the sensor e g 15cm In our tests the voltage read around 0 33 volts 5 Turn the ZERO pot CW until the voltage drops to 0 03 volts Back off CCW a bit until you are just at the point where the voltage drops to 0 03 volts 6 Put the sonar again at maximum distance the distances should read just slightly less than 3000mm Now reduce the GAIN pot CCW to minimum The distances shown by the software should now saturate to 3000mm Now mount the gain slowly CW until the distance just drops below 3000mm and then turn the pot CW another 1 16 of a turn more SONAR USER MANUAL 7 4 Using the Sonar Sensors To use the sonar sensors simply read the 6 analog inputs of the Koala The Koala analog inputs have a range of 0 to 4 096 volts and you must calibrate your sensors so that the minimum and maximum desired distances of the sonar produce voltages in this range see section 3 2 for details There are two ways you can read the analog inputs via a serial line using the Koala SerCom protocol or by writing a custom C program loaded into the robot s memory 4 1 Using the Serial Port Simply connect to the Koala s serial port with a terminal program set to 38400 N81 Make sure the Koala is in mode 3 and turn on the robot see the Koala documentation for more details After the startup message is displayed you can read the 6 analog inputs directly using the command I
10. se reasons please take care to recycle your robot and robot accessories at the end of its life cycle by for instance sending back the old equipment to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment SONAR USER MANUAL 4 2 Sonar Specifications The Koala sonar module uses a MUSTO0a Plug n Play Ultrasonic Sonar Transducer with analog voltage output that permits easy integration with a wide variety of systems Technical Aspect Details Power supply 8 16 VDC 30mA 0 5 VDC analog output max 4 096V for Koala 15cm to 3m 0 1 accuracy Beam Angle 15 degree nominal 80cm at 3m Refresh Rate 10Hz using IIR filter with 10 feedback Operating Range 40 C to 85 C Module Weight Approx 55g each M3 threaded hole 2 1 Sonar Pinout The transducer pinout is as follows only the pins in bold are used on the Koala Pin Function 8 16 VDC regulated power supply 30mA Ground External TTL trigger unused Trigger enable unused Clock out TTL unused Oo 0 5 VDC analog distance output 4 096 V max for Koala unused RANGE SET 2 FULL SCALE RANGE SET 1 CERO 1 700 1 525 TAIG sI ER COMMON 5 0 VDC MINILA j 0 950 ANALOG OU Figure 2 Sonar transducer pinout courtesy www mrrobot com SONAR USER MANUAL 5 3 Getting Started If your sonar sensors were shipped with a Koala robot the robot should already have an exa
11. soscsosososcsoscsoscsososesesesssesesesesesesosososososososossscsssesssesosess 8 4 USING THE SERIAL PORT ey sicesegoscwaitcesscnensececactacteancnsucennensessenessecuancuaeshupevasguaguueevoopsnes dacetees tgepunge EEEE AEE E AR ERS 8 4 2 USING A CUSTOM C PROGRAM scoiscesseasusscstactesctupevsncaigeviendeneues cadpsuiendupivaveongubeendestne sougsbaectepstessodaateondeades sdauends canadvse deeds 8 5 SORT WARE EXAMPLE isscssescssenctedasonesaessvnscasaconsoadsevnsvesacoseseesconstesacnaseadadeneosdasosessessnsssesadonsssdsscosesesasosesoesseessusasnseondsiesetes 9 1 Introduction Thanks for choosing the ultrasonic sonar extension for Koala The sonar extension for Koala greatly expands the obstacle detection capability of the Koala The Koala sonar package includes 6 ultrasonic sonar transducers as shown in figure 1 These sensors can detect obstacles over a wide range from 15cm to 3m and complement nicely the Koala s 16 built in infrared proximity sensors which have a range from 5cm to 20cm The Koala can thus use the sonar sensors for exploring wide open areas while using the infrared sensors as a virtual bumper and for negotiating tight spaces In addition the independent sonar modules can be oriented in any direction and mounted in any desired configuration or even used for other applications Figure 1 Koala equipped with 6 sonar sensors SONAR USER MANUAL 3 1 1 Generalities For the latest information on K
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