User manual

RP6 ROBOT SYSTEM - 1. Introduction
● Powerful caterpillar drive unit in combination with a new gearing system for
minimising noise (compared to the predecessor CCRP5...)
◊ Two powerful 7.2V DC-Motors
◊ Maximum speed ca. 25 cm/s – depending on charge state and quality of batteries,
total weight and other conditions!
◊ Self-lubing, sintered bearings at all four 4mm wheel-axles
◊ Two rubber tracks
◊ Capable of traversing small obstacles (up to ca. 2 cm height) like carpet edges,
thresholds or ramps of up to 30% steepness (with mounted bumper switches).
Removing the bumpers and restricting the number of modules to a maximum of 2
modules allows the robot to drive over ramps with up to 40% steepness.
● Two powerful MOSFET Motordrivers (H-Bridges)
◊ Rotational velocity and direction can be controlled by the Microcontroller system.
◊ Two current sensors providing a measurement range up to ca. 1.8A for each
motor. This allows to quickly sense blocked or heavily loaded motors.
◊ MOSFET Drivers have been slightly improved on RP6v2 (lower loss, more robust)
● Two high resolution encoders for speed- and motion-control
◊ Resolution 625 CPR ("Counts Per Revolution") which implies the system counts
625 segments of the codewheel per revolution of a wheel! (150x higher resolution
compared to the predecessor system CCRP5 with only ca. 4 CPR).
◊ Exact and fast speed measurement and control!
◊ High resolution of ca. 0.25mm per counted segment!
◊ RP6v2 features Encoders with improved electronics and new codewheels!
● Anti-collision-system (ACS) which can detect obstacles with an integrated IR
receiver and two IR diodes aligned to left and right
◊ Detects obstacles in the middle, left or right of the robot's front.
◊ Sensitivity and transmitter power are adjustable, allowing reliable detection of
badly reflecting objects.
● Infrared Communication-system (IRCOMM)
◊ Receives signals of standard universal infrared Remote Controls of TVs or Video
recoders. You may control your robot with a standard (RC5-) remote control! The
protocol may be changed in software, but we provide only an implementation of
the standard RC5-protocoll by default.
◊ May be used for communication with several robots (using direct line of sight or
reflections from the ceiling and walls) or for transmitting telemetry data.
● Two light sensors – e.g. for light intensity measurement and light source tracking
● Two bumper sensors for collision detection
● 6 Status LED's – for sensor and program status displays
◊ 4 of the LED Ports can also be used for other functions if necessary!
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