Kilobot - K-Team
Contents
1. KILOBOT User manual version 1 0 DECEMBER 2011 Documentation Author Julien Tharin K Team S A Rue Galil e 9 Y Parc 1400 Yverdon les Bains Switzerland Url www k team com Bess Documentation version Version Author Description 12 12 2011 J Tharin First draft Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp Webots Cyberbotics Ltd Logitech Logitech Int SA Gumstix Gumstix Inc Khepera K Team SA LEGAL NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual TABLE OF CONTENTS 1 INTRODUCTION 1 INTRODUCTION Thank you for buying the Kilobot collective algorithms on hundreds or thousands of robots accessible to robotics researchers Though the Kilobots are low cost they maintain abilities similar to other collective robots These abilities include differential drive locomotion on board computation power neighbor to neighbor communication neighbor to neighbor distance sensing and ambient light sensing Additionally they are designed to operate such2. 5 Annexes clock 0 reset clock neighbor 0 reset neighbor count 24 Kilobot User Manual 6 6 WARRANTY WARRANTY K TEAM warrants that the Korebot II is free from defects in materials and workmanship and in conformity with the respective specifications of the product for the minimal legal duration respectively one year from the date of delivery Upon discovery of a defect in materials workmanship or failure to meet the specifications in the Product during the afore mentioned period Customer must request e the type of Korebot II used version e the kernel version of the Korebot II e the programming environment of the Korebot robot standard version OS e the standard use of Product before the appearance of the problem e the description of the problem If no answers have been received within two working days Customer can contact K TEAM support by phone or by electronic mail with the full reference of its order and Korebot II serial number K TEAM shall then at K TEAM s sole discretion either repair such Product or replace it with the equivalent product without charging any technical labor fee and repair parts cost to Customer on the condition that Customer brings such Product to K TEAM within the period mentioned before In case of repair or replacement K TEAM may own all the parts removed from the defective Product K TEAM may use new and or reconditioned parts made by various manufacturers in perf
3. the open source development software WinAVR combined with AvrStudio from Amtel gives a C programming environment An API with basic functions such as motor speed led control distance measurement is available and some examples are provided A serial output header is available on each robot for debugging via computer terminal The diameter is 33 mm and the height is 34mm including the legs Kilobot User Manual 3 2 UNPACKING AND INSPECTION 2 UNPACKING AND INSPECTION 2 1 Package Contents Figure 2 1 Contents of the Kilobot Pack Your package should contain the following items 1 DVD Rom with software 2 Kilobot robot 4 Kilobot User Manual 2 UNPACKING AND INSPECTION 2 2 Inspection To be continued Kilobot User Manual 3 Description 3 1 Overview 3 Description 3 a D KOADRO OD 3 7 Volt Battery Q Power jumper GQ Vibration motors LED Red Green Blue 6 Ambient light sensor Serial output header Figure 3 1 Kilobot overview Direct programming socket Charging Tab 9 IR Transmitter IR Receiver Kilobot User Manual 3 Description 3 2 Kilobot Hardware The hardware of the Kilobot is described in the sub chapters thereafter To be continued Kilobot User Manual 4 Usage 4 Usage 4 1 Required hardware software The required hardware and software to use the board and develop programs are described below 4 1 1 Requi
4. connected to the pc or not fig 4 5 4 Below in figure 4 5 5 is the Button Panel with a description of the buttons functionality Kilobot User Manual File 4 Usage Advanced Help Programming Program file C KilobotController Program hex Program Flash USB port configured Connected Figure 4 5 5 Button Panel Bootload transmit the kilobot user program from the OHC to the Kilobots which takes about 30 seconds Ensure all robots are in pause mode before bootloading Sleep put Kilobots in low power SLEEP mode They will wake up briefly every 60 seconds to check if a wakeup message is being sent The robots conserve energy in this mode and can stay in sleep for months without recharging Pause put Kilobots in idle PAUSE mode and is also used to prepares robots to be reprogrammed 4 Run initiates Kilobots user program 10 11 Battery Voltage instructs Kilobots to indicate their battery voltage through the LED where green indicates a battery voltage over 4V blue indicates a voltage between 3 75 and 4 yellow indicates a voltage between 3 5 and 3 75 and red indicates a voltage under 3 5 volts Bootloader msg sends a message for all robots to exit their program and jump to the bootloader Wakeup take Kilobots out of low power SLEEP mode This message will transmit untill stop is pressed It will take a minute or two for all the robots to wake up Reset restarts the Kilobot
5. indirect or consequential damages resulting therefore IF DURING THE REPAIR OF THE PRODUCT THE CONTENTS OF THE FLASH MEMORY ARE ALTERED DELETED OR IN ANY WAY MODIFIED K TEAM IS NOT RESPONSIBLE WHATEVER CUSTOMER S PRODUCT WILL BE RETURNED TO CUSTOMER CONFIGURED AS ORIGINALLY PURCHASED SUBJECT TO AVAILABILITY OF SOFTWARE Be sure to remove all third parties hardware software features parts options alterations and attachments not warranted by K TEAM prior to Product service K TEAM is not responsible for any loss or damage to these items This warranty is limited as set out herein and does not cover any consumable items such as batteries supplied with the Product any accessory products which is not contained in the Product cosmetic damages damage or loss to any software programs data or removable storage media or damage due to 1 acts of God accident misuse abuse negligence commercial use or modifications of the Product 2 improper operation or maintenance of the Product 3 connection to improper voltage supply or 4 attempted repair by any party other than a K TEAM authorized module service facility This limited warranty does not apply when the malfunction results from the use of the Product in conjunction with any accessories products or ancillary or peripheral equipment or where it is determined by K Team that there is no fault with the Product itself Kilobot User Manual 6 WARRANTY K TEAM EXPRESSLY DI
6. mode 2 move forward set_motor 0xa0 0xa0 spin up both motors to overcome friction _delay_ms 30 set_motor ccw_in_straight cw_in_straight set both motor to calibrated value for good forward movement mode 2 else if clock lt 160000 if mode 3 set_motor 0x00 0x00 turn off motors mode 3 else if clock lt 200000 mode 5 clock 0 reset clock to start cycle over agian Kilobot User Manual 21 5 Annexes 5 1 3 Random move in see neighbors stop else static int one_time 0 if one_time 0 if this is the start of the program only run this if statement once for int i 0 1 lt 30 i randseed measure_voltage generate some random sensor data one_time 1 indicate that the first time if statement has now run srand randseed seed random variable with some sensor data static int neighbor 0 1 if i ve seen any neighbors 0 if not static int movement 0 1 if moving 0 if stopped static int start_move 0 1 if the movement has changed 0 if not check to see if i have received any new messages if so then i have seen neighbors get_message if message_rx 5 1 neighbor 1 Af iam currently not moving and want to start moving if start_move 1 if movement 0 set_motor 0xa0 0xa0 spin up motors _delay_ms 30 set motor ccw in straight cw in straight set to move straight else if movement 1 set motor 0xa0 0 spin up motor _delay_ms 30 set
7. Print string up to 10 characters be careful can effect timing Example kprints HelloWorld message_out tx0 tx Set message values to be sent over IR every 2 seconds 2 bytes tx0 tx1 Example message out 0x01 0xFF Kilobot User Manual 4 Usage e get_message Take oldest message off of rx buffer message It is only new if message_rx 5 1 If so message is in message rx 0 and message_rx 1 distance to transmitting robot in mm is in message_rx 3 Example get_message if message_rx 5 1 data message_rx 0 distance message_rx 3 e enable tx to turn off the transmitter set enable tx 0 to turn on the transmitter set enable tx 1 Example if Want To Transmit TRUE enable tx 1 else enable tx 0 e measure charge status Measure if battery is charging returns 0 if no 1 if yes Example if measure charge status charging TRUE else charging FALSE e measure voltage Measure battery voltage returns voltage in 01 volt units for example if 394 is returned then the voltage is 3 94 volts Example current voltage measure voltage e get ambient light Returns the value of ambient light note will return 1 if there is an incoming message which also uses a d note turns off interrupts for a short while to sample a d Example local brightness get ambient light Numerous other functions and AVR C programming examples can be found on the web Kilobo
8. SCLAIMS ALL OTHER WARRANTIES THAN STATED HEREINBEFORE EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TO THE FULLEST EXTENT PERMITTED BY LAW Limitation of Liability IN NO EVENT SHALL EITHER PARTY BE LIABLE TO THE OTHER FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES RESULTING FROM PERFORMANCE OR FAILURE TO PERFORM UNDER THE CONTRACT OR FROM THE FURNISHING PERFORMANCE OR USE OF ANY GOODS OR SERVICE SOLD OR PROVIDED PURSUANT HERETO WHETHER DUE TO A BREACH OF CONTRACT BREACH OF WARRANTY NEGLIGENCE OR OTHERWISE SAVE THAT NOTHING HEREIN SHALL LIMIT EITHER PARTY S LIABILITY FOR DEATH OR PERSONAL INJURY ARISING FROM ITS NEGLIGENCE NEITHER PARTY SHALL HAVE ANY LIABILITY TO THE OTHER FOR INDIRECT OR PUNITIVE DAMAGES OR FOR ANY CLAIM BY ANY THIRD PARTY EXCEPT AS EXPRESSLY PROVIDED HEREIN Kilobot User Manual 27 Kream K TEAM S A RUE GaALILSE 9 1400 TVErDON LES BalNs SWITZErLAND
9. _motor ccw_in_place 0 set to move ccw else set_motor 0 0xa0 spin up motor _delay_ms 30 set_motor 0 cw_in_place set to move cw start_move 2 mark that i am currently moving else if start_move 0 i do not want to move set_motor 0 0 stop motors every 2000 counts of clock check to see if i ve seen any neighbors if i have there is a 20 chance i will change my movement such as straight to cew if clock gt 2000 22 Kilobot User Manual 5 Annexes if rand 100 lt 20 update robot movement 20 of the time int rand_d rand 100 if rand_d lt 25 if updating robot movement 25 of the time move ccw if movement 1 movement 1 if start_move 2 start_move 1 else if rand_d lt 50 if updating robot movement 25 of the time move cw if movement 2 movement 2 if start_move 2 start_move 1 else if updating robot movement 50 of the time move straight if movement 0 movement 0 if start_move 2 start_move 1 if i ve received a message from a neighbor in the last 2000 counts of clock and i am not moving start moving and turn my rgb led red if neighbor 1 set_color 1 0 0 if start_move 0 start_move 1 else hf i have not received a message from a neighbor in the last 2000 counts of clock stop moving and turn my RGB led off set_color 0 0 0 start_move 0 Kilobot User Manual 23
10. ect 4 In the window that pops up under the program tab in the flash category select the input hex file to be KilobotFirstFirmware hex 5 Turn on the robot by adding the power jumper as shown in figure 4 4 3 12 Kilobot User Manual 4 Usage Figure 4 4 3 power jumper Connect the AVRisp programmer to the robot as shown in figure 4 4 4 Make sure that the programmer pins do not touch the motor on the back side Gently press the program cable to the side to ensure a good connection Figure 4 4 4 communication connector Set robot fuses In Avr studio AVRISP programming window go to the fuses tab Select only the following fuses spien EESAVE BOOTSZ boot flash size 2048 word start address 3800 SUT CKSEL int RC Osc 8 MHz start up time PWRDWN RESET 6 CK 14CK 65 ms This should result in the following fuse values extended 0xFF high 0xD1 low 0xE2 Kilobot User Manual 13 4 5 1 2 In UserProgramSkeleton c locate the following section 4 Usage In the Autoconnect pop up window in AVRstudio press program It should take a few seconds to program the robot and the robot may vibrate Usage 4 5 1 Programming a kilobot group with a new program In AVRstudio open the Kilobot project LLL fuser program code goes here this code needs to exit in a reasonable amount of time so the special message controller can also run LLL 3 Immediately after this is where the user code is written Some exa
11. ifications 1 INTRODUCTION The main specifications of the Kilobot robot are listed below Processor Memory Battery Charging Communication Sensing Movement Light Software Programming Debug Dimensions ATmega 328 8bit 8MHz o 32 KB Flash used for both user program and bootloader o IKB EEPROM for storing calibration values and other non volatile data and 2KB SRAM Rechargeable Li Ion 3 7V for a 3 months autonomy in sleep mode Each Kilobot has a built in charger which charges the onboard battery when 6 volts is applied to any of the legs and GND is applied to the charging tab Kilobot charger optional Kilobots can communicate with neighbors up to 7 cm away by reflecting infrared IR light off the ground surface o When receiving a message distance to the transmitting Kilobot can be determined using received signal strength o The brightness of the ambient light shining on a Kilobot can be detected o A Kilobot can sense its own battery voltage Each Kilobot has 2 vibration motors which are independently controllable allowing for differential drive of the robot Each motor can be set to 255 different power levels Each Kilobot has a red green blue RGB LED pointed upward and each color has 3 levels of brightness control The Kilobot Controller software is available for controlling the controller board sending program files to the robots and controlling them For programming
12. ler exe The new program should execute 9 Press the Pause button in KilobotController exe to stop the program Note the robot needs to be in pause mode before programming can begin Ee You can find in annex 5 1 an example code 4 5 2 OHC Use System Setup Kilobots should be operated on a smooth flat surface to ensure proper robot mobility To aid communication the surface should be glossy or reflective A mirror or dry erase whiteboard oriented horizontally is recommended The overhead controller should be hung above the Kilobots at a distance of about one meter The robots beneath the OHC in a about a one meter diameter region will be able to receive communication from the OHC as shown in figure 4 5 2 im Pr un E au 2 a a a a a S a u a a a a a a a N Ss im Figure 4 5 2 System setup Kilobot User Manual 15 4 Usage Overhead Controller OHC Interface Overview File Advanced Help Programming Programfile _C KilobotController Program hex Cm Wee Ret Figure 4 5 3 Programming Panel USB port configured 1 Program file browse for the compiled Kilobot user program hex file to be sent to the Kilobots 2 Program Flash send the program and controller files to the OHC File Advanced Help Programming Programfle _ C K obotController Program hex Sa ae ee ee ee ee Tn Figure 4 5 4 Connection Status USB port configured You can see the OHC is
13. mples of the API are given in comments Note that the user code should not contain long blocking functions otherwise the robot may not respond to the overhead controller properly 4 Once program is written in AVRstudio select Build gt build 5 Run KilobotController exe click the button to browse for a program file as shown and select the program hex file you just built located at kilobot default UserProgramSkeleton hex File Advanced Help Programming Program file C KilobotController Program hex Bootload Sleep Pause Run Battery voltage Bootioadermsg Wakeup Reset ame Toggle LEDs Stop USB port configured Connected Figure 4 5 1 Kilobot Controller software 6 Press the Program Flash button to program the OHC a black window will pop up 7 Place ALL Kilobot robot in PAUSE mode LED flashing yellow underneath the OHC and press the Bootload button in KilobotController exe The Kilobot will first quickly flash red gt green gt blue to indicate it is now in the PROGRAMMING mode Within 5 seconds the LED will begin to flash blue and continue flashing while it is receiving the Kilobot User Manual 4 Usage new program Once the LED has stopped flashing blue and switch to the flashing yellow of pause mode approximately 30 seconds press the Stop button in KilobotController exe 8 To run the program on the robot press the Run button in KilobotControl
14. orming warranty repairs and replacement of the Product Even if K TEAM repairs or replaces the Product its original warranty term is not extended This limited warranty is invalid if the factory applied serial number has been altered or removed from the Product Kilobot User Manual 25 26 6 WARRANTY This limited warranty covers only the hardware and software components contained in the Product It does not cover technical assistance for hardware or software usage and it does not cover any software products contained in the Product K TEAM excludes all warranties expressed or implied in respect of any additional software provided with Product and any such software is provided AS IS unless expressly provided for in any enclosed software limited warranty Please refer to the End User License Agreements included with the Product for your rights with regard to the licensor or supplier of the software parts of the Product and the parties respective obligations with respect to the software This limited warranty is non transferable It is likely that the contents of Customer s flash memory will be lost or reformatted in the course of the service and K TEAM will not be responsible for any damage to or loss of any programs data or other information stored on any media or any part of the Product serviced hereunder or damage or loss arising from the Product not being available for use before during or after the period of service provided or any
15. program Charge instructs Kilobots to enter CHARGE mode for battery recharging The robots will stop the user program and blink red if they are actively charging if not the RGB led will turn off Toggle LEDs flashes the LEDs on the OHC Stop stops whatever the OHC is doing This can be used to stop functions that are continuous such as wakeup or bootloading Kilobot User Manual 17 4 Usage 4 5 3 Kilobots API The different functions specialy developed for the Kilobot are explained below set_motor cw_motor ccw_motor Set motor speed PWM values for motors between 0 off and 255 full on for cw motor and ccw_motor Example set_motor 00 00 note that there are 4 calibration values used with the motors cw_in_place value for cw motor to turn the robot cw in place note ccw motor should be off ccw in place value for ccw motor to turn the robot ccw in place note cw motor should be off cw_in_straight value for the cw motor to move the robot in the forward direction ccw in straight value for the ccw motor to move the robot in the forward direction _delay_ms x Busy wait for x milliseconds interrupts can still trigger max value for milliseconds 4000 Example _delay_ms 250 set_color r g b Set LED color values can be from O off 3 brightest Example set_color kprinti int Print integer over serial port be careful can effect timing Example kprinti 2 kprints string
16. red hardware e Computer with Microsoft Windows with USB port not included e Kilobot Robot e over head controller OHC 4 1 2 Required software Required files 1 The compiler WINAVR from here ubfamily d 760 amp fn dl AvrStudie4Setup exe Kilobot User Manual 4 Usage 4 2 Connections To be continued Kilobot User Manual 4 Usage 4 3 Power up Kilobots should be operated on a smooth flat level surface to ensure proper robot mobility To aid communication the surface should be glossy or reflective A dry erase whiteboard oriented horizontally is recommended To prevent communication interference Kilobots should be operated in a location out of direct sunlight or other bright sources of Infra red light The overhead controller should be hung above the Kilobots at a distance of about one meter The robots beneath the OHC in a about a one meter diameter region will be able to receive messages from the OHC as shown below im PS eee eq 2 22 28 2 8 8 a a a rr im 10 Kilobot User Manual 4 Usage 4 4 Installation The following sub chapters explain the software installation and the application development with the board 4 4 1 Overhead Controller OHC Software Installation 1 Place KilobotController folder in C so the location is C KilobotController 2 Open KilobotController exe 3 In the Help menu of KilobotController exe select Installation and programming and follo
17. t User Manual 19 5 Annexes 5 Annexes 5 1 Examples code These examples of code have different purposes described in there titles 5 1 1 Transmits data to neighbors and blinks led when the message is received message_out 255 255 set message to be sent over IR enable_tx 1 enable transmission of message every 2 seconds check for message get_message if message_rx 5 1 new message has been received set_color 1 1 1 turn RGB LED white kprinti message_rx 0 send first byte of received message over serial debug cable kprinti message_rx 1 send second byte of received message over serial debug cable kprinti message_rx 3 send measured distance from transmitting robot over serial debug cable kprints _delay_ms 10 wait 10 ms set_color 0 0 0 turn RGB LED off 5 1 2 Non blocking timed movement static int mode 0 mode represents state if clock lt 40000 clockwise rotation if mode 0 20 Kilobot User Manual 5 Annexes set_motor 0 0xa0 spin up cw motor to overcome friction _delay_ms 30 set_motor 0 cw_in_place set cw motor to calibrated value for good cw rotation mode 0 else if clock lt 80000 if mode 1 counter clockwise rotation set_motor 0xa0 0 spin up ccw motor to overcome friction _delay_ms 30 set_motor ccw_in_place 0 set ccw motor to calibrated value for good cw rotation mode 1 else if clock lt 120000 if
18. that no robot requires any individual attention by a human operator This makes controlling a group of Kilobots easy whether there are 10 or 1000 in the group 1 1 How to use this handbook This handbook introduces the Kilobot and its various operating modes For a quick start e Unpacking and Inspection Kilobot package description and first use e Description Kilobot description Usage Kilobot usage descriptions Annexes Examples of source code Kilobot User Manual 1 1 INTRODUCTION 1 2 Safety precautions Here are some recommendations on how to correctly use the Kilobot e Keep the board away from wet area Contact with water could cause malfunction and or breakdown e Store your board in a stable position This will avoid the risks of falling which could break it or cause damage to a person e Do not plug any connectors while the board is powered on To avoid any damage make all connections when the board power is off 1 3 Recycling Think about the end of life of your product Parts of the board can be recycled and it is important to do so By recycling you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your product at the end of its life cycle for instance sending back the product to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment 2 Kilobot User Manual 1 4 Spec
19. w the instructions to install the software and drivers Fig 4 4 1 File Advanced Help Installation and programming About Kilobot Controller Program file C KilobotController Program hex cl ERE Programming Bootoad Sep Pause Run Battery voltage Bootioadermsg Wakeup Reset Charge Toggle LEDs No port available Disconneted Fig 4 4 1 OHC software 4 4 2 Overhead Controller OHC Hardware Installation 1 Connect both USB cables to the PC 2 Toggle the OHC power switch to turn it on 3 Run the KilobotController exe program and click the Toggle LEDs button to test that a connection is made Fig 4 4 2 This should blink the blue LEDs on the controller Kilobot User Manual 11 4 Usage File Advanced Help Programming Program file C KilobotController Program hex Program Flash Bootload Sep Pause Run Battery voltage Bootloadermsg Wakeup Reset Charge Toggle LEDs Stop USB port configured Connected Fig 4 4 2 OHC software buttons 4 4 3 Kilobot bootloader programming The Kilobot is delivered with a bootloader already installed Therefore this step can be skipped But If you would like to reinstall the bootloader or install a newer one follow the instructions below 1 Install WINAVR found here amp subfamily id 760 amp fn dl AveS tudio4 Setup exe 3 In AVR Studio select Tools gt ProgramA VR gt Autoconn
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