Wifibot Lab Bedienungsanleitung
Quick Start Guide
Thank you for choosing the Wifibot Lab platform for your robotic
application.
• Before using the platform, please read with care this manual
• Keep this manual in a safe place for any future reference
• For updated information about this product visit the official
site of wifibot http://www.wifibot.com
Index
Package contents
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2
Package contents
Quick start
Platform overview
Platform interfaces and charging
Computer and camera
System Architecture
Simple GUI
RTMIX multi-robot interface
Cameras
Connecting to the robot
Networking
Network configuration
Remote access
File transfer
Communication protocols
The CDROM
The standard CPU
1
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2
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16
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.... ……………….……………………………………………….32
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Package contents
Make sure to be in possession of all the
articles mentioned below. If any of them
should be missing, contact your reseller
as soon as possible.
Platform + SBC CPU
Pan & Tilt IP camera or Web Cam
Battery charger
Wifibot CDROM
Camera CD-ROM and documentation
1x charging cable
1x RJ45 cable for the IP camera
4 wheels and a screw driver
Platform overview
Antenna
connector
Aluminium support
Quick start
1- Install the RTMIX multi-
robot interface or
Simple GUI (see page 8).
2- Switch ON the robot or robots.
3- Set you IP settings (see page 12) for example:
192.168.1.25 mask 255.255.255.0
4- Connect to the robots’ ad-hoc network
(see page 13)
5- Launch GUI for controlling the robot
IR Sensors
2
Charging
connector
Power
ON/OFF
POWER 5V & 9.6v
connector
Fuse
Platform interfaces
The 5V,GND and 9.6V power output:
A 5V output, GND and a 9.6V filtered battery
output are accessible at a female DSUB-9
connector located at the rear of the robot. Pin 1-
2 are 9.6V, pin 4-5 are 5V and 6-7-8-9 are GND
output respectively. The 5V output can’t give
more than 4A and a maximum of 6A is
recommended too for the 9.6V output. An
incorrect use of this connector beyond those
values (short circuit or other) can provoke a
malfunction of the platform or of the DC/DC
converter and even damage it.
3
The charging connector:
This connector located on the left at the rear
of the robot, presents directly the + and – of
the platform batteries. When charging the
platform make sure the power switch is OFF
as it drives a relay for connecting the
connector to the batteries. If you want to
power the robot externally with a protected
power supply without his battery, just take off
the fuse.
The ON/OFF switch:
The platform is switched ON and OFF by the interruptor
located on the right at the back of the platform.
Interface connector:
This DSUB-9 male front connector presents a
mix of input-output signals. The pinout is the
following: (ADC are from 0 to 3.3v tolerant)
1- 5V 5- extra ADC
2- ADC IR Sharp Left 6- SDA (I2C)
3- ADC IR Sharp2 Right 7-8- GND
4- extra ADC 9- SCL (I2C)
The Fuse:
The 10 Amp fuse is located on the right at the back of the
platform.
4
The antenna connector:
This is the wi-fi antenna connector. Screw the
antenna carefully on the connector till the end.
Charging the robot:
A battery charger is included with the platform.
First make sure the platform and the charger are
OFF, then connect the plugs of the charging
cable and finally switch the charger ON and set
the charging current.
Caution:
Charge the robot at 2.5A on regular use.
To charge the robot, switch of f the power, plug the charger, push once the red button and when the
5
red light is blinking fast, tune the potentiometer to the desired Amp, the charger will stop charging
automatically.
The selector permit you to view battery voltage, charging Amp’s, and mA/ hour injected in the
batteries.
Never discharge deeply the robot (around Ov).
When the robot is completely discharged, you will need some time to launch 2 times the charger, he
will first charge the battery for 15 minutes and stop charging and you need then to relaunch the
charger again.
Charge the robot on a open area away from inflammable objects.
Do not let the battery without charging for more then 4-6 months, if so they can become dangerous.
Computer and camera installation
The platform is sold with an Pan & Tilt IP camera or webcam and an embedded computer which
model can vary depending of the version. Those are independent elements from the platform which
can be replaced by any other model. For more information about your particular camera and
embedded computer please refer to their respective manuals included in the CD ROM of the robot.
The top aluminium support witch is already mounted on the platform, has been thought for the
fixation of those and other user components.
Their installation takes place as follows:
The upper aluminium
support can be Unscrew
:
The embedded
computer is fixed on
the down part of the
support :
6
The power cable of the computer
is connected to the appropriate
connector:
The Control Command USB
connector is connected to the
computer.
7
Screw back the aluminium
support on top of the platform and
screw the IP camera on top of the
support.
System architecture:
This architecture is composed by 2 Parts : The high level composed by the sensors and the CPU (or
other custom devices), and the low level composed by a ICD2 capable DSPIC motor board controller.
An I2C to USB adapter is the link between the CPU and the low level.
Once plugged, Linux or windows see the I2C bus as a serial port. So to control the wheels or receive
sensors data, you need to send or receive RS232 frame. The protocol is explained at the end of this
manual. A simple TCP/IP gateway is provided with source code to see how it is simple to control the
robot using WIFI.
Platform + Sensors
CPU + Antenna
USB / SATA / RS232 / CF / IDE / GPIO
/ VGA / SOUND / Mini-Pci /
WIFIBOT
TCP/IP
Server
WIFI remote clients
High Level
8
Robot Platform + battery
+ DSPIC Motor Control
+ Encoders
USB -> I2C
Module
DSPIC Motor Board
Motor + Hall Coders
High Level
Low Level
The control software:
The control software can be found in the CDROM in
..\Software\control software\
• Install if necessary the Video Decoder
present in the same folder.
• Launch the WifibotGUI program.
• Click on Robot then Settings. The Robot
Settings window appears.
• Set the Control Server IP and the Control
Server Port which by default is 15020.
• Set the Camera IP and the Camera Port
which for the image is by default 80.
• Select the proper Camera Type.
If the camera type is not present use Firefox
or Internet explorer at port
8080
to view
Input Selections
(control panel for
calibrating the
joystick)
Video selections:
Allows to configure
and control some
options of the
camera.
Speed View: Plots in
real time the speed
signal from the code
wheels.
Motor Control ON:
Activates the speed
control, Input_Left
and Input_Right set on
the dialog will be
applied.
Motor Control OFF:
Deactivates the speed
control.
The control software (TCP)
Simple GUI:
or Internet explorer at port
8080
to view
the image.
• Click on Video, then select VideoOn. The
image from the camera will appear.
• Click on Robot then Connect.
• Click on Input then select Joystick or
Virtual_joy. The robot can now be operated.
The menu options:
Settings: IP settings of
the Control Server and
the Camera.
Connect: Starts the
communication with
the Control Server.
Disconnect: Stops the
communication with
the Control Server.
9
Reboot: Reboots
the robot’s CPU if
available.
Pan-Tilt camera control:
The red button takes the
camera to the default position.
You can click on the image
too for moving the camera.
Current input: shows the
current input or allows to set it
manually with keyboard.
Sensor feedback: shows the
data retrieved from the range
sensors, the battery level and
the speed of the robot in tics.
Ping Robot
Settings menu
Set IP & port of robot
IP & port camera
The control software (TCP)
Simple GUI:
Robot Type
Set robot type
1 WIFIBOT Lab
2 Emaxx 4wd
3 WIFIBOT SC/4G
10
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