K-Junior User Manual - K
Contents
1. _ K Junior ege User manual JUNE 2011 K Junior User Manual rev 1 2 Documentation Author Frederic Lambercy K Team S A Rue Galilee 9 Y Park 1400 Yverdon les Bains Switzerland Email Url Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp Khepera K Team and LAMI 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 K Junior User Manual rev 1 2 3 TABLE OF CONTENTS K Junior User Manual rev 1 2 K Junior User Manual rev 1 2 5 1 INTRODUCTION iba Thank you for buying K Junior K Junior will initiate your experience to the extraordinary world of mobile robotics Thanks to its wealth of sensors motors and its software openness you will be able to create complex behaviour making you an expert of this promising technology 1 1 The K Junior Story K Junior was developed to replace the actual Hemisson robot which was based on a result from extra curricular activities of students at the Swiss Institute of Technology EPFL The K Junior is essentially for the education and to le2. Floppy disk drives gig Human Interface Devices LE IDE ATAJATAPI controllers C9 Keyboards Mice and other pointing devices Monitors Network adapters avance Param tres par d faut a P riph riques Bluetooth 7 Ports COM amp LPT 7 Communications Port 27 ECP Printer Port LPT1 Bits de donn es 8 v Parit Aucune Bits d arr t 1 i Contrale de flux Aucun FFF FEE EH RE 8 Processors Sound video and game controllers 3 System devices Figure 4 6 USB driver settings Note This configuration must be done only at the first start up K Junior User Manual rev 1 2 24 e To communicate with the Robot you have to open a terminal software like HyperTerminal or TeraTerm e Select the correct COM port see in the hardware Device manager to know the K Junior s allocated COM port and the correct settings 57600 Bits per second 8 Data bits No Parity bit Stop bit No Flow Control e Reset the K Junior by pressing the reset button see element 8 at Figure 3 1 e You should see a boot message similar as in figure 4 8 If not verify that your K Junior is correctly powered power On Led blinks that the settings of the terminal and the USB driver are correct E COM28 Tera Term VT File Edit Setup Control Window Help Junior perat ing Systen Jos R 03 510 0018 SA IE Hail infolk tean con
3. 3 4 5 HemGripper If you want to transport object with your K Junior the Gripper allows grabbing object up to 30g with different shape and size Imm to 70mm The Gripper movement is made by two servo DC motors which are controlled by a local microcontroller PIC16F690 Because this extension uses high current two versions are available The Deluxe version with an additional battery to keep the 3 4 hours of K Junior s autonomy or the Gripper LE with only the electronic and the mechanic which will decrease the K Junior s autonomy to 1 2 hours Figure 3 8 Hem Gripper 3 4 6 HemWirelessCam The HemWirelessCam extension is a small colour camera which allows you to watch what the K Junior see on a TV without any cable You can increase this functionality by connecting the receiver to a frame grabber to make image processing and use Bluetooth communication to remote control your K Junior Figure 3 9 HemWirelessCam K Junior User Manual rev 1 2 20 4 RUNNING MODES E The K Junior starts in the run modes selected by the position of the Dip Switch see figure 2 2 This value will be read continuously when the K Junior is powered but the choice of which modes must be run is made only after the boot If you want to change the running modes you must reset the K Junior For all operations described in this section the KJ Firmware must be installed by default in the Robot If you have changed the program with one
4. Figure 4 8 K Junior boot message and commands on a terminal Now you can send command to test your K Junior see Annexe A Serial communication protocol for more details on available commands Here s an example sequence of commands to test the K Junior e Type BJ K Junior should display the version and revision of the KJOs firmware Type D 6 6 1 K Junior should move forwards e Type D 0 0 1 The K Junior should stop Notation 1 Stands for the Enter or Return key on the Keyboard Note if you disconnect your mini USB cable from the K Junior or from the computer you must restart the terminal to re connect to the Robot K Junior User Manual rev 1 2 25 4 7 Bluetooth Communication Control If you want to remote control your K Junior and keep its complete mobility the best solution is to use the Bluetooth Communication mode This feature will allow you to communicate with your K Junior up to 20 meters without cables Follow these instructions to establish your first Bluetooth connection e As the USB serial Port control you must configure the K Junior in Remote Control Mode see section 4 1 Turn On your K Junior and verify that it s correctly powered Power On Led blinks If not charge the battery with the mini USB cable e Connect or turn ON your Bluetooth dongle on your computer and search for available Bluetooth device e The K Junior device must appear as a PDA with only the serial port service Its name
5. Format of the response w r n Effect Write a value in a register of the selected extension Examples W C0 40 32 1 Writes 0x32 at address 0x40 of peripheral OxCO Note All parameters must in hexadecimal format X Reserved for Webots K Junior Y Unused Z Processor Reset Format of the command 2 4 Format of the response zwn Effect This command allows resetting the K Junior as it was cycled On Off K Junior User Manual rev 1 2 37 B EXTENSION CONNECTORS Figure B 1 K Junior connectors pinning Note The PWIN signal on the mini USB connector is the Power In to charge the battery Apply a 5V between this pin and the GND to charge the battery K Junior User Manual rev 1 2 38 C ELECTRONIC SHEMATICS lt Do ex gt m K Junior User Manual rev 1 2 39 a 2 e m Figure C 1 K Junior Schematics Please use the electronic version for a zoomed in view K Junior User Manual rev 1 2 40 D WARRANTY K TEAM warrants that K Junior Pack respectively K Junior Pack Deluxe 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 help on K Team Internet forum o
6. 0 means that the sensors is saturate with IR light and a big value 800 means that there s no IR light source in front of the sensor Q Reserved for Webots K Junior K Junior User Manual rev 1 2 35 Read Extension Format of the command R Slave_Write_Address Register_Address Number_of_Register Format of the response r Register_Data r n Effect Read a given number of registers of an peripheral Please provide register write address i e odd address Examples R C0 20 03 Reads three registers at address 0x20 0x21 and 0x22 of peripheral 0xCO Note All parameters must in hexadecimal format The response will be in decimal format 0 to 255 S Reserved for Webots K Junior T Read TV remote buffer Format of the command T Format of the response t TV Addr Datawn Effect Read the last address and data bytes received by the TV remote receiver U Reserved for Webots K Junior V Transmit a RC5 Data on the IR emitter Format of the command V TV TV Data lt Format of the response v r n Effect Send an address and a data through the IR emitter All K Junior close to the emitter will receive the command as a TV remote control Example V 8 21 2 Note The address value can be configure from 0 to 31 5 bits and the data from 0 to 63 6 bits K Junior User Manual rev 1 2 36 W Write Extension Bus Format of the command W Slave Address Register Address Value
7. also purchase a remote control at K Team Note You must us the TV remote control mode and not the VCR mode or any other auxiliary devices If you are using a universal remote control you must first set your remote control in TV mode As a matter of fact signals differ for a TV keyboard and a VCR keyboard to avoid cross communication Once the compatibility problem settled you must set your K Junior in remote control mode see section 4 1 The available commands are refer to figure 4 9 e Button 1 Moves leftward in a large circle Button 2 Move forwards Button 3 Move rightwards in a large circle Button 4 Turn on itself counter clockwise Button 5 Stop Button 6 Turn on itself clockwise Button 7 Same as 1 but moves backwards Button 8 Moves backwards Button 9 Same as 3 but moves backwards 69 6 o OOS O OOO O OOO Figure 4 9 Remote Control Keyboard K Junior User Manual rev 1 2 27 4 9 IR emitter short range communication The IR led Emitter allows a short range communication between many K Junior This features can be used when no Bluetooth Network is made or to send small Data to another Robot The IR emitter will used the same code as a TV remote control rc5 code If you send a data to another K Junior in Remote Control Mode command V see Annexe A this one will execute the command as in the infra red control mode But if you made your own program you will be able to esta
8. of your application these modes won t be executed automatically The demo program source code are note provide with the KJ OS code So if you want more information on how these program are made please contact K Team S A info k team com 4 1 Remote Control Figure 4 1 Settings for the Remote Control Running Mode This mode allows initializing the Robot in controlled mode The K Junior will make its entire background task refreshed IR value Read IR receiver read serial port but will do nothing until a command arrives from the serial port or the IR receiver This configuration is valid to control via USB serial port see section 4 6 Bluetooth communication see section 4 7 via IR remote control see section 4 8 and for use with Webots K Junior K Junior User Manual rev 1 2 21 4 2 Obstacle and fall Avoidance Figure 4 2 Setting for the Obstacle and fall avoidance running mode In this running mode K Junior detects obstacle in front of it and avoids them It use a special algorithm called Braitenberg this kind of program allows a fluid movement of the Robot when it detects a obstacle The Robot uses at the same time its four ground sensor to avoid falling of the table If the robot detect that it doesn t touch the ground i e you have it in your hand the motors will be turn off To use correctly the fall avoidance you must have a table or a desk with a sharp edge otherwise the K Junior will see the end of the t
9. three channels and one power ON OFF switch The Dip switch is located in the Bottom of the robot See figure 2 2 and the power ON OFF switch at the back of the K Junior see figure 2 3 The Dip switch select internal behaviours describe in chapter 4 The ON OFF switch allows turning On the K Junior see figure 2 3 to know the correct sense of the switch When the K Junior is turn ON the Led 4 must blinks If not the battery is certainly discharged Then tried to charge the Robot with the USB cable and at the same time turn On the Robot 32 6 Infra red sensors There are 10 similar IR sensors six on the side and four facing the ground As a matter of fact the sensor includes two components An infra red light emitter LED An infra red light receiver phototransistor We will describe below the two operating modes of these infra red sensors Passive mode In passive mode only the phototransistor is used to measure the ambient IR emission also called luminance measurement For you information there are many natural or artificial IR sources in your environment e g sunlight incandescent lamps or a candle flame Active mode In active mode IR light is first emitted by the LED and then a measurement of the returned IR light is made by the phototransistor If there is an object near the sensor it will reflect IR light Moreover the closer the obstacle the more IR light will be reflected However IR reflection from an obje
10. TRACT 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 K Junior User Manual rev 1 2 43 s m RUE 9 1400 YVerDOn Les BaInsS SuJrveeruvarnp K Junior User Manual rev 1 2 44
11. able too late and one of its wheels could fall Try to avoid different ground colour if your Robot coming from a white ground to a black ground the K Junior will interpret the black area as a hole and will avoid it Beware of any parasite source of infra red light like incandescent lamps and sunlight that can perturb K Junior s behaviour 4 3 Line Following Figure 4 3 Setting for the Line Following Running Mode K Junior can follow a line by reading the value of its two front ground sensor The line must be a black line over a white ground and must at least 20mm in width You will find printable track sections on the CD Rom in the Extras directory When you make your circuit do not make too acute angle where the K Junior won t be able to turn Beware of any parasite source of infra red light like incandescent lamps and sunlight that can perturb K Junior s behaviour K Junior User Manual rev 1 2 22 4 4 Dance Figure 4 4 Settings for the Dance Running Mode In this mode K Junior carries out a circular dance If you add a felt pen in K Junior s centre K Junior will draw an unstable hypocycloid more information on hypocycloid at http mathworld wolfram com Hypocycloid html 4 5 Bot Studio Execution Figure 4 5 Settings for the Bot Studio Execution Mode This running mode allows executing a code previously compiled and stored in memory with Bot Studio please consulting section 4 10and Webo
12. and 100 2 kHz Please refer to section 3 2 3 to select your desired frequency Example H 80 1 I Read Switches Format of the command I Format of the response i value r n Effect Read the value of the dip switch setting Note switch 1 is LSB and 3 MSB see figure 2 2 K Junior User Manual rev 1 2 33 J Scan the Bus Format of the command J Format of the response j extension_address r n Effect Scan the whole Bus to detect which extension is plugged The returned value is in Hexadecimal K Unused L Change Led State Format of the command L led number led value Format of the response l r n Effect Configure the state of the selected led 0 to 4 Value 0 will turn it Off 1 On 2 toggle and 3 blinks Example L 2 14 Note If you change the state of the Power ON Led Led4 it will stop blinking and change to your desired state M Read ambient light sensors only an area Format of the command M area Format of the response m area_ambiant_light_values r n Effect Read the 10 bits 0 to 1024 brightness values of the sensors contains in the selected area Area 0 is for the Front_left Front and Front_right sensors Area 1 is for the Left Right and the Rear sensors And area 2 is for the four ground sensors Ground_Left Ground_Front_left Ground_Front_right Ground_Right respectively Example M 14 Note A value of 0 means that the sensors is saturate with IR light and a bi
13. are some recommendations on how to correctly use the K Junior Robot Keep the Robot away from wet area Contact with water could cause malfunction and or breakdown e Store your robot in a stable position This will avoid the risks of falls which could break it or cause damage to a person Use only the official charger or the cable which is delivered with the robot Do not try to use another charger this can cause irreversible damage to the battery Do not attach any connectors while the robot is powered on To avoid any damage make all connections when the robot power is off e Never leave the K Junior powered when it is unused When you have finished working with K Junior turn it off It will save the battery life 1 4 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 which contain Lithium Polymer can contribute to the toxicity levels of landfills or incinerator ash By recycling the batteries through recycling programs 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 robot at the end of its life cycle for instance sending back the robot to the manufacturer or to your local dealer Thanks
14. arn the base of mobile robotics and programming The meaning of this new robot was to remove the weakness of the Hemisson and add news features to match with the student and teachers interest To simplify the learning the software was developed on the same base as Hemisson and all extension turrets are compatible with the new K Junior Robot All Hemisson s user will be able to upgrade their robot without changing their extensions and learning easily the use of the K Junior 1 2 How to use this handbook This handbook introduces the K Junior robot and its various operating modes For a quick start jump to section 2 2 If this handbook does not answer one of the problems you are confronted with please consult the K Team web site www k team com and especially the Forum and the FAQs Unpacking and Inspection K Junior s package description and first start up e The Robot and its accessories K Junior Hardware overview accessories and extensions descriptions Running Modes description of the different running modes and how to use it Reprogramming the K Junior description of the software environment to program the K Junior Serial Communication protocol description of the Bluetooth and USB serial communication and a list of the different available commands Extension connectors Mapping of the extension connectors e Electronic Schematics Schematics of the K Junior K Junior User Manual rev 1 2 6 1 3 Safety precautions Here
15. blish a network with a special protocole For example each Robot will have a different address to know who is speaking Note When the K Junior emitting a Data its receiver is disable Then if two Robot send at the same time a Data this one will be lost The range of the IR emitter is defined by its opened angle As shown in the figure 4 10 it must have a refletive roof white above the K Junior The height will determine the maximum distance of communication between two Robots But if the height is too big the signal strenght will be no more suffisant to transfer Data Then we recommend to limit the height h in the figure at maximum 1m this will define the maximum distance d between two Robot to approximatively 1m Note Choose a good IR reflecive roof to have the maximum range Figure 4 10 IR emitter maximum range K Junior User Manual rev 1 2 28 4 10 Software Tools for K Junior You can find there some applications software for the K Junior This is KJ_Navigator application a simple and user friendly interface created for illustrating the main capabilities of the K Junior Robot KJ Navigator vi Lvi xj COM Port X coms Running illl K Team gt K Junior Navigator iis application continuously reads all the K Junior s IR sensors and allows movement commands via USB or It uses the communication protocol described in the K Junior s Users Manual i i the host computer and the r
16. ct will vary very much depending on the material colour and surface finishing Usually the darker the object the less IR it reflects but as you can see below there are some exceptions White paper 100 White PVC 90 White polystyrene 120 Black on white paper made with drawing ink Higgins Pelikan 4 6 Black on white paper made with fibber tip pen black Stabilo 76 Plexiglas 1mm thick 10 Cast aluminium matt 45 Aluminium bright 110 Gold plating matt 150 Brass bright 16096 K Junior User Manual rev 1 2 12 Hence except if your Robot s environment is made of the same material everywhere it cannot recover distance according to the vary nature of the material it will not measure the same distance for two different obstacles at the same distance For ground sensors the active mode will vary according to the material beneath Hence the robot can follow a line on the ground or detect table edges if the materials are well chosen see list above The position of the 4 ground sensors are made to avoid falling if the robot move forwards Last in order to avoid perturbation by ambient light the robot samples ambient light before emitting IR light The difference of the two samples values is returned However under certain lighting conditions e g sunlight infra red sensors may saturate and therefore the active mode will return incorrect information Then avoid using the K Junior in outdoor environm
17. e or to load your own version of KJOs Here s a short description on how to load a new firmware in the K Junior First connect your K Junior to your computer with the min USB cable Turn On your K Junior Launch the K Junior Uploader Software tinybld Win exe Configure the Baud speed to 19200 Select the correct COM port If the K Junior s COM port doesn t appear push the Search button Browse your firmware file i e KJ Firmware A 03 hex Hold the K Junior s Reset Button pressed Click on Write Flash button and release the reset button Once the uploading is finished the firmware or your application will start automatically c Tiny Bootloader KJ Firmware A 03 hex V kproducts KJ Robot Production Fichier ProgrammationNKJ Firmware A 03 hex w Browse Comm Messages Terminal Options termOpt 19200 Could not connect to com28 at 19200 ERROR com28 COMI Connected to NCOM28 at 19200 Searching for PIC Found 16F 8874 Search Connected to 28 at 19200 HEX 13 days old total 14832 bytes Searching for PIC CheckPIC Found 16F 8874 WRITE OK at 16 55 time 14 969 sec K Junior User Manual rev 1 2 30 5 2 CCS C Compiler If you aim at accessing directly K Junior s hardware or make your own on board software you may use the CCS C Compiler This Compiler is the development environment of the K Junior s firmware KJOs KJOs is under GPL and as consequ
18. efault when the robot is power On On Off Led Led 4 blinks and the other are turn off All the programmable Led led0 to led4 can be configure as automatic mode to blinks If all the five green leds are set to automatic mode this will form a scanner lights The Battery charge led turn On Red when the USB cable is connected to the K Junior As soon as the charge is complete this led will turn Off 3 2 5 Buzzer K Junior contains a Buzzer module which can produce different frequency sound The frequency band width is from 20Hz to 2 kHz with a resolution of 100 where 0 is Off 1 is 20Hz and 100 is 2 KHz With these capabilities you will be able to play some simple melodies To find the corresponding frequency sound with the defined value please use this formula 2000 SoundFrequency 101 BuzzerValue 32 4 IR Remote Control and communication An IR remote receiver allows controlling the K Junior wirelessly This is a 36 kHz demodulator using the rc5 code You can control or send data to your robot with a standard TV remote control More information is provided in section 4 8 An IR emitter allows sending data from one robot to another The emitter will use the same code rc5 as a TV remote but you will be able to choose the Data and the address to communicate with other Robot More information is provided in section 4 9 K Junior User Manual rev 1 2 11 3 2 5 Switches There are one Dip switch
19. ence you will be able to modify it See in the KJOs manual to learn more about the source code the available functions and the compiler You wil find the latest source code and the manual of the KJ Os on the web site You can purchase a cheaper version of CCS at K Team which is limited to the K Junior s microcontroller If you want more information about the compiler please refer to the official web site http www ccsinfo com Project Edit Search Options Compile View Tools Debug Document UserToolbar Sip wd ow Ww OU Lookup Part ES Debug C ASMList SymbolMap CallTree Statistics firmware main c constants h firmware behaviours h KJunior c KJunior h variables c firmware Line Follower c firmware dance c dbx siaynuepl 5 spalold y seid v gt bem Insert Pit frmware_main kprojects Projects H2 K Junior Developpement Soft 51 KJunior c Figure 5 2 CCS C Compiler PCW version 33 include stdlib h 5 3 Getting started reprogramming You can find an user manual for getting started to reprogramming there 5 4 Others You are also free to use any other PIC development tools to program K Junior as soon as you can build a Hex file you will be able to use the K Junior Boot loader The only problem is you will be obligate to remake all the KJOs basic functions by your own Beware we recommend
20. ent typically when the weather is sunny In the same weather condition don t use the Robot too close from windows in a direction of the Sun Typical reponse in active mode r 1000 r 900 800 700 r 600 500 Value 400 300 200 100 Disctance The graph above displays the typical value read on K Junior while changing the distance from a given obstacle This example was made with a white paper You can notice that the response is exponential i e there is no linear correlation between the value read and the distance of the obstacle K Junior User Manual rev 1 2 13 3 2 7 Bluetooth communication A WT12 from Bluegiga is integrated in the K Junior to allow Wireless communication with a PC and other Robot This module is a class 2 Bluetooth 2 0 EDR Enhanced Data Rates At the power on the module waits for a communication which must be established by a PC It will be seeing as a Bluetooth serial port with a name like K Junior 1234 where 1234 is the serial number of the Robot Once the communication established you will be able to remote control your Robot through a COM port using the serial protocol commands With one Bluetooth dongle you can communicate with up to 7 K Junior at the same time If you want to make a small network without any PC you can use the iWrap command of the module to scan connect and create a network For more information about the WT12 and its iWrap firmwa
21. for your contribution to a cleaner environment K Junior User Manual rev 1 2 7 2 UNPACKING AND INSPECTION 2 1 Package Content K Junior User Manual Webots Studio K Team S A Figure 2 1 Content of the K Junior Pack Your package should contain the following items 1 K Junior Robot K Junior UserManual Webots Studio CD for K Junior Deluxe Pack Only K Junior Support CD USB to mini USB cable to charge the K Junior Universal USB charger Deluxe Pack Only Pen to configure Dip Switch v wA ood Felt Pen K Junior User Manual rev 1 2 2 2 First Start up Throughout this handbook we will use the following notation to indicate the switch positions Figure 2 2 Notation of the switches The test procedure below allows you to check the status of your K Junior Robot by launching the braitenberg obstacle avoidance mode see section 4 2 to learn more details about this mode You will find additional description on your K Junior Support CD Please follow the followings steps e Check that the robot is powered off figure 2 3 e Configure the switches as indicated below Figure 2 3 ON OFF switch Figure 2 4 Switches settings Turn ON the K Junior by putting the ON OFF switch in the ON position left position on the figure 2 3 Now the Led next to the switch must blink Put the Robot on a table with different obstacle e The K Junior
22. g value means that there s no IR light source in front of the sensor K Junior User Manual rev 1 2 34 Read proximity sensors Format of the command N 2 Format of the response n Left Front Left Front Front Right Right Rear Ground Left Ground Front Left Ground Front Right Ground Right Wn Effect Read the 10 bit 0 to 1024 proximity value of each infra red sensors Note The smaller the value the further the object is from it A value of 900 i e means that an obstacle is very close from the sensor Read ambient light sensors Format of the command OJ Format of the response Left Front_Left Front Front_Right Right Rear Ground_Left Ground_Front_Left Ground_Front_Right Ground_Right r n Effect Read the 10 bit 0 to 1024 brightness value of each infra red sensors Note A value of 0 means that the sensors is saturate with IR light and a big value means that there s no IR light source in front the sensor P Read proximity sensors only an area Format of the command P area J Format of the response p area_proximity_values r n Effect Read the 10 bits 0 to 1024 proximity value of the sensors contains in the selected area Area 0 is for the Front_left Front and Front_right sensors Area 1 is for the Left Right and the Rear sensors And area 2 is for the four ground sensors Ground_Left Ground_Front_left Ground_Front_right Ground_Right respectively Example P 2 J Note A value of
23. having a PIC programming experience for the operation We do not make support on other development environment than CCS We recommend purchasing the CCS C Compiler K Junior User Manual rev 1 2 31 COMMUNICATION PROTOCOL This communication protocol allows complete control of the K Junior s functions through an USB or a Bluetooth serial line The required configuration is presented in section 4 6 USB and 4 7 Bluetooth The protocol is made of commands and responses all in standard ASCII codes A command is sent from the host computer to the K Junior it is starting with an upper case alpha character and followed if necessary with numerical parameters separated with comma and terminated by a line feed The response is sent by the robot to the host computer it is starting with the same character that was initiating the command but using lower case and followed if necessary with numerical parameters To better understand this protocol please refer to the USB serial communication test section 4 6 Notation A Stands for carriage return Enter or Return key pressed r stands for ASCH character 0x0A line feed n stands for character 0x0D carriage return Move the robot during a define time Format of the command A speed motor left speed motor right time Format of the response Effect Set the speed of the both motors during a define time The unit of the time is 100ms so a val
24. l 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 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
25. n by detailing The type of K Junior used package version The expansion modules The programming environment of the robot standard version OS The standard use of Product before the appearance of the problem 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 K Junior 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 labour 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 performing 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 K Junior User Manual rev 1 2 41 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 al
26. obot following the instructions in K Junior User s Manual stop the application Note When COM port change is desired first stop the application if running and run it again after the change K Junior User Manual rev 1 2 29 5 REPROGRAMMING K JUNIOR ad A boot loader based on the TinyBootloader is inside the K Junior Memory see official web page for more information http www etc ugal ro cchiculita software picbootloader htm It allows the update of the K Junior with the Tiny Bootloader Software see in the CR Rom You can also upload your own program to replace the K Junior Firmware Beware uploading your own code inside K Junior s memory means that you are responsible for damages caused to its memory The serial port upload process relies on this boot loader locate at the bottom of the memory At the boot the loader will wait 1 second before launching the application write in Flash If a special character is received from the serial port the boot loader will start to write the new firmware in the memory If your code overwrites this piece of code you will need the external programmer interface HemICDadaptor or HemFlexExtProg and an adequate PIC programmer to reprogram the K Junior You can also return the K Junior to K team S A but this kind of repair is not covered by the warranty 5 1 K Junior Uploader Tiny Bootloader Software K Junior Uploader software allows to upgrade your firmwar
27. or intensively this charger will be very useful to keep your robot immobile the less time as possible 3 3 5 Webots K Junior Deluxe pack only Webots K Junior the 3D simulators and Bot Studio the graphical programming environment are provided on CD ROM You may access the CR ROM with Microsoft Windows 2000 Xp Vista Linux or Mac OS X To install Webots K Junior please insert the CD ROM and follow instructions see section 4 10 If nothing happens upon CD ROM insertion please open the file index html in CD ROM root directory Your license number is printed on the CDROM case 3 4 Extensions K Junior has an open architecture 3 extensions connectors allow to add devices either made by K Team S A cf www k team com or that you will build yourself Each of the three extensions connectors is dedicated e Front connector provides bus communication and power supply e Left side connector allows flash memory programming e Right side connector ensures a good mechanical fixing You will find all the information to build you own devices in connector pinning schematics in the Appendix B and in K Junior schematics in Appendix C All the Hemisson Extensions are fully compatible with the K Junior robot and inversely Then all the following extensions will have the prefix Hem but can be used with the K Junior K Junior User Manual rev 1 2 17 341 HemLinCam The HemLinCam module allows K Junior to perceive its environment The came
28. pends on the relative speeds of the motors These measures were made on a desk with a fully charged battery and no turret plugged on the K Junior Due to its open loop motors it s impossible to guarantee the 180 00 160 00 140 00 120 00 00 00 mm s 80 00 4 60 00 40 00 20 00 4 0 00 Speed of the K Junior 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Value speed for a given consign The speed value will determine the PWM percentage where 20 is the maximum 100 of Duty cycle and the other value are proportional 1 10 50 K Junior User Manual rev 1 2 3 3 Accessories We will detail hereafter accessories included in your K Junior Pack 3 31 Mini USB cable We provide a mini USB cable to connect your K Junior to your computer For that your computer must have a standard USB port Once the K Junior connected to your computer this one will ask you to install a new material This is the USB to serial chip which is on the K Junior Choose the driver provided on the K Junior CD or on our website The driver will now assign a COM port to your K Junior and allows you to communicate with it through a terminal see section 4 6 Once your driver will be installed the charge of your K Junior will start with the maximum current that can deliver an USB port 500mA This cable will be useful to update and or to load your program into the K Junior So even if you used always the Bluetoo
29. ra reads one line of 102 pixels in 256 level of grey The optic block is a standard one M12x0 5 so that you can change it to fit to your specific needs As in all the intelligent K Junior modules there is a board processor PIC16F876 dedicated here to visual processing Like K Junior the source code of the visual processing in under LGPL license and as a consequence you can write your own visual routines To download your own code on HemLinCam you can use the same tools as for K Junior CCS C In Circuit Debug Interface and External Programmer Interface Figure 3 4 HemLinCam 3 4 5 HemGenIO The HemGenlIO allows interfacing your own electronics It is a perfect tool to implement your own module A board area allows you to add components 2 54mm 1 spacing The documentation explains how to access your own peripherals from the central processor 12 digital I O 5 analog 8 bit inputs and I2C bus Figure 3 5 HemGenIO K Junior User Manual rev 1 2 18 3 4 3 HemTextToSpeech This interface makes your K Junior speaks fluent English The on board speaker will pronounce every word downloaded in ASCII code on K Junior I2C bus Figure 3 6 HemTextToSpeech 3 4 4 HemUltraSonicSensor If you are looking for a higher range than the default K Junior sensors this ultrasound sensor allows the K Junior to measure distances of up to 6 m with a 1 cm precision Figure 3 7 HemUltraSonicSensor K Junior User Manual rev 1 2 19
30. re please see on the Bluegiga web site giga com and search the datasheet of the WT12 module 3 2 8 USB communication The K Junior has an integrated USB to serial adaptor chip which allows connecting your Robot to your PC with a mini USB cable At the same time you communicate with the K Junior the USB will charge the battery This communication method is not the best to keep the Robot s mobility but this is the only way to update your K Junior and to program it with your own application 3 2 9 Battery The K Junior has an integrated 3 7V Li Pol battery pack with a Capacity of 1250mAh This battery ensures autonomy up to 4 hours without additional turret The charging circuit is integrated in the Robot to allow a charge with a mini USB cable and a PC The Charging time is approximately 4 hours when connected to a computer The charge Led red turn on during all the process of the charge As soon as the battery is completely charged the red Led will turn off K Junior User Manual rev 1 2 14 3 2 10 Drive mechanism K Junior uses two Direct Current DC motors to drive its two wheels It is a differential drive system The main advantage of this system is related to steering By making the motors turn in opposite directions the robot will spin around its own axis which makes it much more manoeuvrable than a system that can only turn as it moves forwards Differential drive also makes it very easy to make turns because it just de
31. th to communicate keep this cable carefully If you loose it you can buy a new one from your local computer store 3 3 2 Felt Pen A felt pen is provided with the K Junior to draw K Junior s trajectory You must set it in the hole right in the middle see picture below First switch Off the K Junior then remove cap and insert firmly the pen in its location while holding the K Junior in your hand Adjust the height of the pen so that the wheels touch the ground Finally you should test it for example by setting K Junior in dance running mode refer to section 4 4 Most of the time you will need to adjust the position slightly If the pen rubs the ground too much push it up slightly while turning it If it does not have enough contact push it down slightly while turning This is a very tight adjustment and you will need a few trials before success especially in the beginning Figure 3 3 Felt Pen in its location 3 3 3 Pen to configure Dip Switch A pen with the extremity in form of screwdriver is provided with the K Junior to simplify the configuration of the dip switch You can use another tool to change the dip switch but this pen will avoid damaging the dip switch So please use this pen to keep your Robot in a good condition K Junior User Manual rev 1 2 16 3 3 4 Universal USB charger Deluxe pack only This universal charger will allow you to decrease the charging time of your K Junior If you are using your K Juni
32. ts K Junior documentation available on the CD Rom K Junior User Manual rev 1 2 23 4 6 USB Serial Port Control You can control your K Junior via an USB port Follow these steps to install configure and use your K Junior through the serial USB port Connect your K Junior to your computer with the Mini USB cable provided with the Pack Select the Remote Control Mode see section 4 1 and turn On the K Junior The K Junior will be seen as a new hardware device and your computer will ask for a driver Select the driver K JuniorUSBDrivers zip provided on the CD Rom This will install the USB to serial adapter which is integrated on the K Junior Note if you have many K Juniors you have to install only one time the driver The other Robot will be detected automatically The K Junior will now be recognized as a serial COM port Now you have to parameterise the driver to configure the baud speed of the K Junior Open your Hardware device manager and right clicked on the K Junior device Select Properties and in section Port Settings set all the parameters as shown in Figure 4 6 Device Manager USB Serial Port COM28 Properties amp 3t3 File Action View Help General Param tres du port Driver Details dq ie KHEPERA10 Bits par seconde 57600 v 9 Computer ee Disk drives Display adapters 5 DVD CD ROM drives LE Floppy disk controllers
33. ue of 15 will move the robot during 1 5s then stop the motors Example 7 7 15 1 Note Only available with firmware revision 09 or greater Read firmware version Format of the command BJ Format of the response b version_KJOs Wn Effect Return the software version stored in the flash memory Unused D Set Speed Format of the command D speed_motor_left speed_motor_right Format of the response Effect Set the speed of the both motors 0 will stop the engine Maximum forward speed is 20 and maximum backward 20 Example D 7 7 1 Note If you set a value bigger than 20 the K Junior will limit by it self to 20 K Junior User Manual rev 1 2 32 Read Speed Format of the command EJ Format of the response e speed_motor_left speed_motor_right r n Effect Read the speed of the motors As the motors is in open loop this value will the same as the last Set Speed command F Read Time Stamp Format of the command J Format of the response f time_stamp r n Effect Read the time stamp base The unit is the millisecond and the maximum time is based on a 32 bits variable more than 1000 hours This value is reset at each boot G Reset Time Stamp Format of the command GJ Format of the response g Wn Effect Reset the Time Stamp base H Buzzer Format of the command H frequency Format of the response h Wn Effect Configure the frequency of the Buzzer 0 will turn it Off 1 is 20Hz
34. 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 robot 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 K Junior User Manual rev 1 2 42 EXPRESSLY DISCLAIMS 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 INNO 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 CON
35. will be K Junior 1234 where 1234 is the serial number of the Robot e Establish the connection with the K Junior Your computer will ask you for a security password enter 0000 Note this password is asked only at the first connection with the K Junior e Your computer will now allocate a COM port to the K Junior Now open terminal for the allocated COM port with the same settings as explained for the USB Serial Port Control section 4 6 Reset the K Junior by pressing the reset button see element 8 at Figure 3 1 to see the K Junior s boot message e Try to send some commands as explain before to validate the communication Note Now the connection will be made automatically as soon as you will open the allocated COM port But if you connect another Bluetooth serial port when the K Junior is turn Off you must re make the connection manually to allocate the K Junior to the COM port For your information you can use any third party software like MATLAB Labview etc to control your K Junior through the USB serial port or through the Bluetooth communication You can also write your own software to control the K Junior K Junior User Manual rev 1 2 26 4 8 Infra Red Remote Control In order to proceed your infra red remote control must follow the 5 standard Many TV sets are provided with RC5 remote control Of course if you have a programmable remote control you can emulate the RC5 standard You can
36. will now move forwards avoid obstacle and avoid falling of the table e If the K Junior didn t move please first charge the battery with the USB cable see section 3 2 9 K Junior User Manual rev 1 2 3 1 Global View Bottom view Top view Figure 3 1 Views of the K Junior Robot ground contact IR proximity sensor Switches selector mode Led 1 Green Bluetooth Module Led 0 Green Buzzer Reset Button 00 1 a A wm N IR remote receiver K Junior User Manual rev 1 2 10 11 12 13 14 I2 16 17 mini USB connector Charge Led indicator Red Led 2 Green Led 3 Green Extensions connectors IR emitter led Switch ON OFF Power ON Led Led 4 green 3 2 The K Junior Robot 3 2 1 Microprocessor K Junior s microcontroller is Microchip PIC16F887 at 8MHz in SMD packaging It is one of the most powerful 14 bits PIC of Microchip line card It relies on a simplified set of 35 instructions It works in very low power mode as its frequency is at 8MHz and its supply at 3 3V Inside the PIC16F887 there are three kind of Flash memory e 8192 words of 14 bits of Flash memory 368 Bytes of RAM 256 Bytes of EEPROM For more information on PIC16F887 internal resources please consult documentation on Microchip website http www microchip com 3 2 2 LEDs K Junior has six SMD LEDs Five programmable and one to indicate the Battery state of charge By d
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