User manual

AREXX Engineering & JM3 Engineering
Version: 1.20 Apr. 20, 2014 page: 5
Introduction
What can I do with the RP6_Sensor&I/O Board?
The RP6_Sensor&I/O Board enables all versions of the RP6 Robots, but it is primarily designed for the
RP6V2 and RP6WIFI.
It provides the capabilities to measure signals and gives control over the sensor power consumption.
Together with the RP6V2 and RP6WIFI board you can send sensor data back to the ‘Command Center’
(PC Program) - e.g. compass heading, outside temperature, pitch & role angle. You can also command
new headings e.g. turn by 20°to left side.
The Servo Controller can drive up to 8 servos to command e.g. a Robot Arm (picture see front page),
which can be mounted on the IO Board. A switched regulator (5V 3 Amp.) can be switched on and off
by software.
The Sharp sensor measures distances very accurate, e.g. for autonomous route decision – or if it looks
downwards you can detect stairs or the table edge. There are two interfaces available, e.g. one at the
front and one at the rear.
The LED controller can control the brightness of the head LEDs and the Rear LED (if installed). Blinking
of the LEDs in case of turning to the right or left side is also easily possible.
The RTC can generate an interrupt waking up the RP6 at a programmed time from a sleep mode.
The yaw rate Gyro tells you if you try to turn into a direction, but you are blocked by obstacles - so you
can modify the strategy case by case turning into the other side
You can also add I2C based small modules (e.g. GPS) to the board which can be switched on/off by
software.
There are many, many new options you can develop for your RP6 – be creative!
Configuration and setup
The I/O board is designed to support best a master / slave configuration of the control board and the
base board, but it is not limited to.
This description provides guidance for the mater/slave configuration. The base board (SLAVE) controls
all drive relevant algorithms like ACS, move control, speed detection, etc. and gets the ‘move’ relevant
sensor input data like Gyro, Sharp-Front and -Rear. The control board (MASTER) gets input from the
sensors, e.g. compass heading and commands turns and speed via I2C to the base board. Commands
received via WIFI from the PC Remote Control Program will be executed to e.g. drive the servos or
switching the light ON or OFF. The RTC time and date can be set via WIFI as well.
From XBUS the board gets the 5V power supply and the I2C bus signal SDA and SCL to control all
functions. In addition, the extension board needs the ‘power-on’ signal from the base board (PWRON).
The analog signals from the Sharp sensor at the Front and Rear (if installed) and the gyro should be
measured by the base board directly. Therefore you need to add 4 wires to the base board (see
description further down in chapter 4). Alternatively, the Sharp Rear sensor analog signal (ADC4) goes
to the RP6WIFI control board (ADC connector PIN3), if this analog input should be used differently, you
can remove jumper J6 to disconnect the signal.