User manual

AREXX Engineering & JM3 Engineering
Version: 1.43 Nov 9
th
, 2014 page: 13
3.2 Asuro
The Asuro itself will be used as the ‘motor controller’. The JM3 Asuro Base SW is provided in the
package and must be only one time programmed into the Asuro (assuming you don’t want to
change the drive control algorithm or something else on the low level drivers).
All application changes will be programmed on the ASRUO xTend Board which provides much
better performance and capabilities.
Programming of the new software will be performed via the known IR-Interface (slow) which
works with the JM3 Robot Tool using the Type ASURO_BASE.
3.3 Asuro Sensor Modules
The software library includes the h/w driver for the gyro, accelerometer and magnetometer,
barometer and Real Time Clock. For details of the possibilities please read the descriptions of
the manuals and the datasheets of the integrated circuits!
3.4 Asuro Base SW
The JM3 Asuro Base S/W provides an implementation to control the Asuro Robot and
communicate to the xTend board – e.g. I2C Driver, PID motor driver, switch and battery
measurement.
3.5 I2C Bus Addresses
Sensor
Address
Asuro xTend (Slave)
0x20
LSM9DS0 Accelerometer, Magnetometer
0x3A
LSM9DS0 Gyro
MLSM9DS0 Gyro
MS5607-02BA03 Barometer & Temp
HTU21D – Rel. Humidity & Temp sensor
DS1339U Real-Time Clock
0xD6
0xEE
0xD6
0x80
0xD0
3.6 Datasheets
ATXMEGA32C4 Microcontroller Manual
LCD-Module 2x8 Graphic display
LSM9DS0 Magnetometer, Accelerometer and Gyro
MS5607-02BA03 Barometer Temperature sensor
HTU21D Humidity and Temperature sensor
DS1339U Real Time Clock