DrRobot Jaguar User guide
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DrRobot Jaguar is a rugged, weather-resistant mobile robot platform designed for indoor and outdoor use. It features four powerful motors, providing high maneuverability and the ability to climb stairs and traverse uneven terrain. Equipped with GPS, 9-axis IMU, and a high-resolution camera, Jaguar can navigate autonomously and stream live video. It also supports laser scanners for obstacle detection. Whether you're using it for research, education, or commercial applications, Jaguar is a versatile platform for a wide range of robotics projects.
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All-Terrain Autonomous Navigation Robot with GPS-IMU
Jaguar 4x4 Wheel
User Guide
Copyright © 2014, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V20.12.14
WARNINGS
Do NOT power on the robot before reading and fully understanding the operation procedures explained in this manual.
Always charge the battery when battery is running low or before storage.
Always turn your robot off when not in use. Over-draining the battery (such as keeping the robot on without charging) will damage the battery.
Never position your finger(s) in between the track and/or arm’s moving parts even when the power is off.
The robot arms must be positioned to the rest position before turning on the robot.
Neither the robot, nor the program is bug free, accident could happen; you have to make sure that the robot always maintains a safe distance from people during operation.
Failure to follow these warnings could cause serious injury or death and/or damage to the robot.
Copyright © 2014, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V20.12.14
Copyright Statement
This manual or any portion of it may not be copied or duplicated without the expressed written consent of Dr
Robot.
All the software, firmware, hardware and product design accompanying with Dr Robot’s product are solely owned and copyrighted by Dr Robot. End users are authorized to use for personal research and educational use only.
Duplication, distribution, reverse-engineering, or commercial application of the Dr Robot or licensed software and hardware without the expressed written consent of Dr Robot is explicitly forbidden.
www.DrRobot.com
Contact
General: [email protected]
Technical Support: [email protected]
25 Valleywood Drive, Unit 20
Markham, Ontario, L3R 5L9, Canada
Tel: (905) 943-9572 Fax: (905) 943-9197
Copyright © 2014, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V20.12.14
Table of Contents
I.
II.
III.
IV.
V.
Specifications 5
Key Features
Jaguar Core Components
Main Upgrade Options
Knowing Your Robot
7
8
5
7
Overlook 8
Operation Scenario 9
Software Installation
Operation of Jaguar Robot
9
10
Turn on/off the Platform
Using Dr Robot Jaguar Control Program
Hardware and Electronics
10
10
Recharging 14
Using DrRobot Jaguar4X4 Motor Control Demo Program 15
16
Network Settings
Wireless Router Setting
Device Default Network Settings
Advanced Network Settings
Hardware Architecture
Motor Driver Board
Motion and Sensing Controller
Camera 19
GPS 19
9DOF IMU (Gyro, Accelerometer & Digital Compass) 19
17
19
19
Laser Scanner 20
Batteries 20
Charger 20
Powertrain (motor, speed-reducer and encoder) 20
Further Development & Programming 21
16
16
17
17
The Jaguar Control program
Motion Control/Sensing System
21
21
Laser Scanner 23
GPS 23
9 DOF IMU (Gyro/Accelerometer/Compass)
Camera with Two Way Audio
Advanced Development
23
24
24
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I.
Specifications
Jaguar-4x4-wheel Mobile Robotic Platform is designed for indoor and outdoor operation requiring higher ground clearance and faster maneuverability. Jaguar-4x4-wheel platform is a wheeled version of the Jaguar-Lite platform. Jaguar-4x4-wheel is driven by four powerful (80W) motors, one for each wheel. Jaguar-4x4-wheel platform is rugged, light weight (< 20Kg), fast (max 11km/hr), with high ground clearance (88mm), compact, weather and water resistant. It is designed for tough terrains and capable of running over vertical step up to
155mm and climbing up low rise stairs (up to 110mm step). Jaguar-4x4-wheel is fully wirelessly (802.11G) connected. It integrates outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/Compass) for autonomous navigation. The integrated high resolution video/audio and laser scanner (optional) provide remote operator detail information of the surrounding. Besides the ready to use control and navigation software, a full development kit including SDK, data protocol and sample codes, is also available.
Key Features
Rugged and reliable mobile platform for indoor and outdoor applications with faster maneuverability (max 11Km/hr) and high ground clearance
Indoor and outdoor operation requiring higher ground clearance and on tough terrains
Weather and water resistant enclosure
Climbing up > 45° slope and stairs (max 110mm or 4.5”)
Light weight (< 20Kg) and compact design with large payload capacity
Autonomous navigation with outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Managing max 155mm (6”) vertical step (obstacle)
Surviving max 1200mm (4ft) drop to concrete
Integrated Laser scanner (Optional)
Integrated high resolution video camera with audio
All 802.11G (optional 802.11N) wirelessly connected
Head mounted display (optional) and Gamepad controller providing outdoor operation with large and clear view even under direct sunlight
Ready to use control and navigation software
Full development kit including SDK, data protocol and sample codes, supporting Microsoft® Robotics Studio,
Microsoft® Visual Studio, NI LabVIEW®, MATLAB®, Java®
Terrain: Sand, rock, concrete, gravel, grass, soil and others wet and dry
Slope: > 45°
Maximum vertical step: 155mm (6”)
Stair climbing: Max stair step height 110mm (4.5”)
Traverse: > 200mm (8”)
Speed: 0 – 11Km/hr
Turning radius: 0, min 750mm (29.5”) diameter of turning space
Ground clearance: 88mm (3.5”)
Operator remote control
Autonomous navigation with GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Indoor vision landmark GPS (Optional)
Sealed weather resistant enclosure
Temperature: -30° to +50°
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Shock resistant chassis
Drop to concrete: Max: 1200mm (4ft) Rated: 900mm (3ft)
Motion and sensing controller (PWM, Position and Speed Control)
5Hz GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Laser scanner (4m or 30m) (Optional)
Temperature sensing & Voltage monitoring
Headlights
Color Camera (640x480, 30fps) with audio
WiFi802.11G (Optional WiFi 802.11N)
Ethernet (Optional)
Ethernet (Optional)
General purpose communication and power port (Optional)
Gamepad controller
Head mounted display (dual 640 x 480), equivalent to 60” display viewed in 2.7m (9 feet) (Optional)
Portable computer (Optional)
Rechargeable battery: LiPo 22.2V 10AH
LiPo battery charger
Nominal operation time: 2 hours (Optional 4 hours)
Wheel Motors (24V): 4 units
Max output (after gear down) (x4): Max 80W, 100Kg.cm/wheel
Rated current: 2.75A, Max current: 16A
Height: 265mm (10.5”)
Width: 573mm (22.5”)
Length: 615mm (24”)
Weight: 20Kg (Standard Configuration)
Carrying Payload (on flat surface): max 30Kg
Dragging Payload (on flat surface): max 50Kg
Full development kit including SDK, data protocol and sample codes, supporting Microsoft® Robotics Studio, Microsoft®
Visual Studio, ROS, NI LabVIEW®, MATLAB® and Java®
Copyright © 2014, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V20.12.14
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Jaguar Core Components
JAGUAR4x4W-ME Jaguar 4x4 Wheel Chassis (including motors and encoders)
PMS5005-J4W
WFS802G
DMD1200
Motion and Sensing Controller (Jaguar 4x4 Wheel Version)
WiFi 802.11b/g Wireless Module
12A (peak 25A) Dual-channel DC Motor Driver Module
AXCAM-A
OGPS501
IMU9000
WRT802G
BPN-LP-10
LPBC5000
640x480 Networked Color Camera (max. 30fps) with Two-Way Audio
Outdoor GPS Receiver with 5Hz Update Rate and WAAS
9 DOF IMU (Gyro/Accelerometer/Compass)
802.11b/g wireless AP/router
22.2 V 10 AH LiPo Battery Pack
2A LiPo Battery Charger
Main Upgrade Options
Laser Scanner (Range 4m) for Indoor Application
Laser Scanner (Range 5.6m) for Indoor Application
Laser Scanner (Range 30m) for Outdoor Application
22.2V 20 AH Li-Polymer Battery Pack Upgrade
LAS04M
LAS04M
LAS30M
BPN-LP-20
Head Mounted Display (800x600)
802.11N Wireless AP/Router
Host Controller PC
HMD8H6H
WRT802N
HCPC1008
Please contact [email protected]
for custom design and integration inquiry.
1
1
1
1
1
1
1
2
1
1
1
1
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II.
Knowing Your Robot
Overlook
The figure below illustrates the key components that you will identify on the Jaguar-4x4-Wheel robot.
GPS
Batteries
Camera
Headlights
Power Switch
Handle Bar
Start Button
Jaguar-4x4-Wheel Platform
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Operation Scenario
Diagram below illustrates the typical operation scenario. The Jaguar-4x4-wheel is a wireless networked outdoor mobile robot. It comes with a wireless 802.11 AP/router. The remote host controller PC running the “Jaguar
Control” program connects to the Jaguar-4x4-wheel robot via:
Network cable – Connect the robot on-board AP/router. (DO NOT connect to the WAN port), or
Wireless – To connect the host controller PC to the on-robot wireless AP/router, configure the host PC’s wireless settings using the default wireless configuration settings found in the Network Connection session of this manual.
Human operator carrying the host controller PC could use the head-mounted display (accessory option) and the included game-pad controller in outdoor environment to monitor and control the operator under any outdoor lighting environment, even under direct sunshine. The included “Jaguar Control” program will therefore be projected on the head-mounted display, where you could see all the sensor information from the robot, and the video streamed from the camera on robot (Please refer to “Jaguar Control program” session for detail).
Head-mounted display
(Optional)
Gamepad
Controller
Typical Operation Scenario
Portable PC (Host controller PC)
(Optional)
Note: The host controller PC running the “Jaguar Control” program could be mounted on the robot instead off the robot if your application requires so.
Software Installation
Jaguar Control programs, application development library and supporting documents could be found from the
Jaguar software CD.
On the host controller computer, you should install the following programs from the installation CD:
“Jaguar Control” program - installed by the Setup.exe from CD
Google Earth program - could be downloaded from http://earth.google.com/downloadearth.html. Please follow its installation instruction.
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III.
Operation of Jaguar Robot
End user could develop his own Jaguar control program using the supplied development API and tools. Here, we will show you how to control the robot using the included “Jaguar Control Program” (You need to install Google
Earth program first).
Turn on/off the Platform
Please follow the below steps to turn on the robot.
1. Turn the main switch to "ON" position.
2. Press the start button for a while (around 1 second) then release.
If you see the green LED on the start button is on, the system is powered up.
If not, please check the battery to make sure it is fully charged.
Turn the main switch to "OFF" position, the system will shut down.
Using Dr Robot Jaguar Control Program
This program will demonstrate how to control and navigate the Jaguar-4x4-wheel, and how to interpret, process, display and log multi-sensor information. This program is provided with source code (c#).
updates motor encoder reading, motor temperature, board voltage and battery voltage measured at 10Hz;
reads and displays IMU and Laser Range sensor data;
displays GPS readings on the Google Earth;
displays and controls Axis camera.
Once you start this program, you will see a “Login Window”
It will read all the configuration information from “outdoorrobotconfig.xml” under c:\DrRobotAppFile\.
When “Connect Robot” is clicked, it will start the WiRobotGateway program (also under c:\DrRobotAppFile\) and will try connecting to the Robot.
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Google Earth is then loaded (this may take a while).
Google Earth supports offline use (without Internet), but you have to obtain the map online ahead of use.
When Internet is not presented, this loading process will take a longer time when trying to connect with Google
Earth website. You will not get the correct Latitude and
Longitude position by clicking on map before the map loading is finished. When loaded, click “OK” button.
“FlyToSetPoint” button will bring you to the location (latitude/longitude) specified in “outdoorrobotconfig.xml”.
This is the location you would like the map to center and show around. You should modify this location according to your location. This could be done by inputting the value in this xml file or navigating on Google Earth map to your interested point, then clicking “SaveSetPoint” button. The location value of the map center will then be saved to the “outdoorrobotconfig.xml” when program is closed.
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You could use the vertical track bar to zoom in or out.
When the GPS-IMU module is presented, this program will connect and display the GPS information on Google
Earth and IMU raw data on the 6 chart boxes.
When camera is presented, the video and AV control buttons will be shown in the video window.
You could use the included Gamepad controller to navigate the robot. When used outdoor, especially under direct sun lights, head-mounted display (optional accessory) will provide clear and large display with excellent outdoor experience.
Camera display to full size
Minimize camera display to original size
Headlight On/OFF
Wheel
Forward / Backward Control
Wheel
Turning Control
Gamepad Control
Note: when using Gamepad control, you need to make sure the program window is in “focus”.
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When is clicked, it will display laser scanner data in polar view as shown below.
Yellow: Driving Direction
(Modified by sensor map)
Blue: Gamepad Driving Direction
Polar Sensor Map
Enable Collision Avoidance
* When the "CA" checkbox is checked, the program will limit the maximum output
PWM to 65% full power.
Battery information and motor information is displayed here. If the robot uses the included Li-Po battery, you need to stop the robot when voltage is below marked voltage (22.2V) in order to prevent battery damage. Motor temperatures are also displayed here. “Encoder Pos” boxes show the encoder position values received in motor driver board from motion control board.
When selected, the motors will be disabled when measured motor temperature is higher than the safety threshold (we recommend this feature is enabled for normal operation); When de-selected, this motor over-heat protection feature is disabled.
The two horizontal track bars show the Gamepad controller’s left and right stick control value.
You could record raw GPS-IMU/Encoder sensor data using saved to "c:\DrRoboAppFile" folder with file name GPSIMURec*.txt.
button. The raw sensor data file will be
All traces are displayed on Google Earth by KML data. Since the current version of Google Earth does not provide programming method to clear these KML data, there is risk of memory leak. You could manually clear these KML
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data by right-clicking on “Temporary Places”, then choosing “Delete Contents”. (That is why we did not hide
Google Earth program)
On normal program exit, Google Earth will be closed. However, you should double check using “Windows Task
Manager”; otherwise, you may not be able to display Google Earth when you start Jaguar control program again.
Recharging
Jaguar robot uses high performance LiPo batteries. Extreme caution is needed when dealing with this type of battery, explosion and damage could occur. Please read the Charge Station manual first and follow all the safety rules before proceeding further.
1) Turn off the robot
2) Loose the screws of Battery Box, disconnect the 2-Pin Tamiya connector and take the Battery Box out.
3) Power on the Charge Station. Use to make sure "LiPo BALANCE" is displayed on the LCD screen. If not, use "Type/Stop" button to change battery type to "LiPo Battery" and press
to set charging mode to “LiPo BALANCE” .
4) You can use + / + buttons to change the charge current, DO NOT exceed the 2A charging current and do not modify the battery voltage. It should be "22.2V
(6S)" for Jaguar robot.
5) Connect the charging 7-Pin, 3-Pin & 2-Pin connectors to charger as below images.
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6) Press button for few seconds, the charge station will check the battery and display what the reading is. It should be same as your settings above.
7) If everything is right, you can press button again to start charging.
8) Press to switch the display to show the battery status. The display should show each battery reading as below image.
* Note : If any battery reading is missing, please turn off the charging station and turn the Power switch to “OFF”, and check the 7-pin connector, make sure it is connect well.
9) Keep the charger away from children and pet at all time! Never leave the charger unsupervised when it is connected to its power supply. For more detail about charger station operation, warning and error message, maintenance and safety message, please refer to “Intelligent Digital Balance Charger Operating Manual”.
Using DrRobot Jaguar4X4 Motor Control Demo Program
You could install the Jaguar4X4 Motor Control demo program from the CD. After installation, you could run the
WiRobotGateway program from Desktop.
Please input the Robot ID as “DrRobot”. Make sure the IP address is your robot IP (default is “192.168.0.60”) and the port number is “10001”.
Click the “Connect” button.
Then run the DrRobot Jaguar4X4 Motor Control Demo program.
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In this program, you could use open loop PWM control(by clicking “PWM Control Go” button), velocity Control(by clicking “Velocity Control Go” button) and position control (by clicking “Distance Control Go” button).
You also could adjust the default velocity control PID and position control PID parameters. All default value are displayed on the program GUI.
IV.
Hardware and Electronics
Network Settings
Wireless Router Setting
The included pre-configured wireless 802.11 B/G router has the following pre-set settings:
SSID
WEP
KEY
Key Type
DriJaguar
128bits drrobotdrrobot
Open Key
Router LAN 192.168.0.245
Login ID admin
Password drrobot
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Device Default Network Settings
Note: The Ethernet modules are configured to serial-to-Ethernet mode in Jaguar platform.
Ethernet Module 1
Port 1
Port 2
192.168.0.60
Port Number 10001, UDP 115200. 8, N, 1, no flow control
Port Number 10002, TCP 19200. 8, N, 1, no flow control
Ethernet Module 2
Port 1
Port 2
192.168.0.61
Port Number 10001, TCP 57600. 8, N, 1, no flow control
Port Number 10002, TCP 115200. 8, N, 1, no flow control
Camera
User ID
Password
192.168.0.65 Port 8081
Root drrobot
Advanced Network Settings
You could also change the Wireless AP/router settings such as IP and SSID etc., if you need to do so, you are required to change the network settings on the Ethernet modules on the robot by following the guidelines as illustrated on the Ethernet Module manual.
Please contact [email protected]
if you need further support.
Hardware Architecture
The diagram below illustrates the inter-connection between the core electronic circuits and modules (some are optional accessories).
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=
OFF
Charging
Plug
ON
LiPo 22.2V
10AH
Main Switch
Motor Driver
Board #1
Motor Driver
Board #1
Power
IN
Control
Port
5V
5V
5V
Voltage
Meter
Head Light
Control
Power
5V
Head Lights
3.3V
Motion Sensing Controller (Jaguar Ver.)
Laser Scanner
Power 5V
9 DOF IMU (Gyro/
Accelerometer/Compass)
Power 5V
GPS Module
Power 5V
Camera (AV)
Power 5V
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Head Mount
Display
Host Control
PC
Gamepad
Controller
Motor Driver Board
The left front and left rear motors are connected to the 1st channel on the motor driver board while the right front and right rear motors are connected to the 2nd channel.
Input power
Max current
Input voltage
H-Bridge 2 channels up to 25A continuous power per channel, peak up to 50A per channel for a few seconds
6~24V, 30V absolute max
Motion and Sensing Controller
This is a special version of PMS5005 board.
Input power
6 PWM output
Motor control mode
Sensor sampling
5V
Channel 3, 4 for left and right wheels
PWM control; Velocity control; Position control
Encoders: Channel 1,2 for left and right rear wheel
Channel 3,4 for left and right front wheel
Board voltage measuring
Battery voltage measuring
Motor temperature measuring (4 units)
Other extended A/D channels (please contact Dr Robot).
Camera
Input power
Lens
Light sensitivity
Resolutions
Frame rate
Video compression
Audio streaming
Other features
5V
4.4mm: 47° horizontal view, F2.0, fixed iris, fixed focus
1-10000 lux, F2.0
0 lux with headlights LED on
640x480 to 160x120
H.264: 30 fps in all resolutions
Motion JPEG: 30 fps in all resolutions
MPEG-4 Part 2: 30 fps in all resolutions
H.264 (MPEG-4 Part 10/AVC), Motion JPEG
MPEG-4 Part 2 (ISO/IEC 14496-2)
Two-way
PIR motion sensor with configurable sensitivity. Max range: 6 m
GPS
Input power
Update rate
Sensitivity
Accuracy
Output Interface
5V
5Hz
- 185dBW minimum
Standard GPS service: Position: <= 15m 95% typical
Velocity: 0.1knot RMS steady state
WAAS service: Position: <= 3m 95% typical
NMEA 0183, default GPRMC/GPGGA/GPGSA/GPVTG
Binary Output
9DOF IMU (Gyro, Accelerometer & Digital Compass)
Input power 5V
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Gyro Sensors
Accelerometers
Magnetic Compass
Output Frequency
ITG3200 Triple-Axis digital output gyro sensor
3 Axis
ADXL345
13bit resolution
Max +/-16G
3 Axis HMC5883L magnetometer
50Hz
Output all sensors raw AD data, magnetic sensor will be measured every 220ms
Laser Scanner
Two laser scanner options are available, one with measurement range of 0.02-4m, and other one is 0.1-30m.
Input power
Detectable range
5V
0.02-4m
Accuracy 0.02 to 1m: +/- 10mm
1 to 4m: 1%
Measurement Resolution 1mm
Angular Resolution approx 0.36
o
(360 o
/1024 partition)
Scanning angle 240
o
Input power
Detectable range
12 V
0.1-30m
Accuracy 0.1 to 10m: +/- 30mm
Measurement Resolution 1mm
Angular Resolution approx 0.25
o
(360 o
/1440 steps)
Scanning angle 270
o
Batteries
Battery type
Rated Voltage
Capacity
Discharge rate
Max charge rate
Cycle life
Charger
Charger type
Maximum charge current
Maximum discharge current
Power Input
Li-Po
22.2V (6 cells, 3.7V/cell)
10Ah
Max 50A continuous, Max 100A peak
10A
500-1000 times
LiPo Charger
2A
2A
100-240V
Powertrain (motor, speed-reducer and encoder)
The following specifications are defined at the output shaft after speed-reduction.
Drive wheel shafts
Track-wheel motors (4 units)
Motor rated voltage
Motor rated current
Motor max current
Shaft rated speed
Shaft rated torque
Shaft encoder resolution
DC motors with steel gearbox
24V
2.75A
16A
230RPM
13.5 Kg.cm
150 counts per revolution
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V.
Further Development & Programming
The Jaguar Control program
The Jaguar Control program is written with Visual Studio 2008 express (in C#) under .Net 3.5 framework. You could download the development tools (Visual Studio 2008 express under .Net 3.5 framework) free from
Microsoft. Please refer to the “Dr Robot Application Development Notes on C# Programming for Robot Control” for further information.
The control program uses the supporting components and libraries that should have been installed when you install the control program from the installation CD:
1.
DRROBOTSentinelCONTROL.OCX:
detail.
Please refer to “WiRobot SDK API Reference Manual.pdf” for
2.
WiRobotGateway.exe
3.
AXIS Media Control Library Set These are the camera control component for the AXIS Mini Camera
(P/N: AXCAM) used for Jaguar robot. Please refer to “AXIS Media Control SDK Help” for detail.
Motion Control/Sensing System
Jaguar-4x4-Wheel comes with a special version of PMS5005 as its motion control and sensing board. It follows the Dr Robot WiRobotSDK protocol. User could control and access Jaguar by Dr Robot ActiveX control
(DrRobotSentinelActivexControl.ocx) and WiRobot gateway program.
Based on the protocol, you could develop your own program for any operation system. You could request protocol sample code from Dr Robot using C++/Java. You should also contact Dr Robot with any questions regarding SDK API and protocol.
The communication port is connected at Ethernet module-I port 1.
Gateway program will connect to this board at 192.168.0.60, port 10001.
Here is C# sample code to control Jaguar-4x4-Wheel System with ActiveX control,
myJaguar is DrRobotSentinelActiveXControl.
Wheel Motor control: private void myJaguar_MotorSensorEvent( object sender, EventArgs e)
{ leftRearWheelMotor.encoderDir = myJaguar.GetEncoderDir1();
leftRearWheelMotor.encoderPos = myJaguar.GetEncoderPulse1();
leftRearWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed1();
rightRearWheelMotor.encoderDir = myJaguar.GetEncoderDir2();
rightRearWheelMotor.encoderPos = myJaguar.GetEncoderPulse2();
rightRearWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed2();
WheelMotor.output leftFrontWheelMotor.outputPWM = myJaguar.GetMotorPWMValue4();
rightFrontWheelMotor.outputPWM myJaguar.GetMotorPWMvalue5();
leftRearWheelMotor.outputPWM myJaguar.GetMotorPWMValue1();
rightRearWheelMotor.outputPWM myJaguar.GetMotorPWMValue2();
}
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You could read board voltage(5V) and battery voltage in standard sensor Event. private void myJaguar_StandardSensorEvent( object sender, EventArgs e)
{ boardVol = (( double ) myJaguar.GetSensorBatteryAD1() / 4095 * 9);
motVol = (( double ) myJaguar.GetSensorBatteryAD2() / 4095 *
34.498);
}
You could read motor temperature sensor in custom sensor event, function Trans2Temperature() is based on the sensor specification to translate AD value to temperature (in celcius degree).
Also you could read left/right wheel motor encoder in this event. private void myJaguar_CustomSensorEvent( object sender, EventArgs e)
{
// front left track motor double tempM =
Trans2Temperature(( double )myJaguar.GetCustomAD5());
tempM = double .Parse(tempM.ToString( "0.00" ));
lblTemp1.Text = tempM.ToString( "0.00" );
// front right track motor
tempM = Trans2Temperature(( double )myJaguar.GetCustomAD6());
tempM = double .Parse(tempM.ToString( "0.00" ));
lblTemp2.Text = tempM.ToString( "0.00" );
// rear left track motor
tempM = Trans2Temperature(( double )myJaguar.GetCustomAD7());
tempM = double .Parse(tempM.ToString( "0.00" ));
lblTemp3.Text = tempM.ToString( "0.00" );
// rear right track motor
tempM = Trans2Temperature(( double )myJaguar.GetCustomAD8());
tempM = double .Parse(tempM.ToString( "0.00" ));
lblTemp4.Text = tempM.ToString( "0.00" );
leftFrontWheelMotor.encoderPos = myJaguar.GetEncoderPulse4();
leftFrontWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed4();
leftFrontWheelMotor.encoderDir = myJaguar.GetEncoderDir4();
rightFrontWheelMotor.encoderPos = myJaguar.GetEncoderPulse5();
rightFrontWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed5();
rightFrontWheelMotor.encoderDir = myJaguar.GetEncoderDir5();
}
To stop all motor, you could use: myJaguar.DcMotorPwmNonTimeCtrAll(16384, 16384, 16384, 16384, 16384,
16384);
For track/wheel motor control, we use independ-drive mode. Under this mode, PWM channel 3 is driving Left front wheel motor, PWM channel 4 is driving right front motor, PWM channel 0 is driving left rear motor and
PWM channel 1 is driving right front mtoor.
To move forward with full power myJaguar.DcMotorPwmNonTimeCtrAll(32767,0,NOCONTROL,32767,0,NOCONTROL);
To move backward with full power myJaguar.DcMotorPwmNonTimeCtrAll(0,32767,NOCONTROL,0,32767,NOCONTROL);
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To turn left with full power myJaguar.DcMotorPwmNonTimeCtrAll(0,0,NOCONTROL,0,0,NOCONTROL);
To turn right with full power myJaguar.DcMotorPwmNonTimeCtrAll(32767,32767,NOCONTROL,32767,32767,NOCO
NTROL);
For encoder speed/position control of each motor, you could referee “DrRobot
Jaguar4X4 Motor Control Demo” program and you could find the source code in the installation folder.
To control head lights, using expanded IO port bit7.
Turn off light: myJaguar.SetCustomDOUT(expandedIO & 0x7f);
Turn on light: myJaguar.SetCustomDOUT(expandedIO | 0x80);
Software watchdog: The system will automatically, stop all the motors if it does not received any data package in
5 seconds.
Laser Scanner
Laser Ranger sensor (4m version, URG-04LX) is connected to Ethernet module–1 port 2 after voltage level conversion. You could access the sensor data via TCP socket at port 10002 with IP 192.168.0.60.
Default settings for the serial port are: 115200, 8, N, 1, no flow control, TCP, port number 10002
Date and communication protocol could be found in “URG-04LX commspec_eg.pdf”.
GPS
GPS sensor output interface is RS232 serial port, and connected to Ethernet module-2 port 2 after voltage level conversion. You could access the sensor data via TCP socket at port 10002 with IP 192.168.0.61.
Default settings for the serial port are: 115200, 8, N, 1, no flow control, TCP, port number 10002
NMEA 0183 sentence is described in file “GPS18x_TechnicalSpecifications.pdf”. GPS configuration tool is
SNSRXCFG_200.exe
9 DOF IMU (Gyro/Accelerometer/Compass)
The output interface for this IMU sensor module is serial port. It is connected to Ethernet module-2 port 1. You could read from this sensor via TCP port 10001 at IP 192.168.0.61. Serial Port Settings: 57600, 8, N, 1, no flow control, TCP, port number 10001. The sensor output rate is 50Hz (20ms) with output format of ASICII.
It’s easier to read with a terminal program since the sensors’ measurements are reported in ASCII. All measurements are delimited with “,”characters as well as a carriage return and line feed at the end of the data frame.
Format:
“$seq,accelX,accleY,accelZ,,gyroX,gyroY,gyroZ,magnetomX, magnetomY, magnetomZ#”
"seq" is data package sequency number, value is in range: 0 ~255.
After “seq”, the data are raw AD value for each sensor.
Sample data string:
“$2,9,1,255,20,40,3,235,4000,20#”
Please note the magnetic sensor will be measured every 220ms, so if the output value is 0, means no new magnetic sensor data in this data package.
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Camera with Two Way Audio
You need to install the camera ActiveX control on your system by running the “AXISMediaControlSDK.exe”. You could find some sample codes (C++, C#, VB) in C:\Program Files\Axis Communications\AXIS Media Control
SDK\samples and the corresponding SDK documents in C:\Program Files\Axis Communications\AXIS Media
Control SDK\doc.
By using the Microsoft’s “Windows Media Encoder 9” and Axis video capture driver, you could also access this camera in Intel’s OpenCV as same as accessing a USB camera.
Advanced Development
Please refer to document “GPS-IMU Sensor Module and Outdoor Autonomous Navigation Program” for detail on autonomous navigation programming using the Jaguar GPS and IMU system module.
Support and sample codes are available for using OpenCV, LabVIEW and MATLAB. Please contact [email protected]
for further information.
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