User manual

Contents
1. Introduction ................................................................................. 6
1.1. Technical support .................................................................... 7
1.2. Scope of delivery – RP6 ........................................................... 7
1.3. Scope of delivery - RP6v2 ........................................................ 8
1.4. The RP6v2 and Expansion possibilities ....................................... 8
1.5. Features and technical Data .................................................... 11
1.6. What can the RP6 do? ............................................................ 14
1.7. Application proposals and ideas ............................................... 15
2. The RP6 in detail ......................................................................... 16
2.1. Control System ..................................................................... 17
2.1.1. Bootloader.......................................................................19
2.2. Power Supply ........................................................................ 19
2.3. Sensors ............................................................................... 20
2.3.1. Battery Voltage Sensor......................................................20
2.3.2. Light Sensors (LDRs).........................................................20
2.3.3. Anti Collision System (ACS)................................................21
2.3.4. Bumpers..........................................................................22
2.3.5. Motor Current Sensors.......................................................22
2.3.6. Encoders.........................................................................23
2.4. Drive System ........................................................................ 24
2.5. Expansion System ................................................................. 25
2.5.1. The I²C Bus.....................................................................26
2.5.2. Expansion Connectors.......................................................27
3. Hardware and Software Setup ....................................................... 29
3.1. Safety Instructions ................................................................ 29
3.1.1. Electrostatic Discharges and Shorts.....................................29
3.1.2. Environment of the Robot..................................................30
3.1.3. Supply Voltage.................................................................30
3.2. Software Setup ..................................................................... 31
3.2.1. The RP6 CD-ROM..............................................................31
3.2.2. WinAVR - for Windows.......................................................32
3.2.3. AVR-GCC, avr-libc and avr-binutils - for Linux ......................32
3.2.3.1. Automatic install script ...............................................34
3.2.3.2. Manual install procedure .............................................35
3.2.3.3. Setting the path ........................................................36
3.2.4. Java 6 ............................................................................37
3.2.4.1. Windows ..................................................................37
3.2.4.2. Linux .......................................................................37
3.2.5. RobotLoader.....................................................................38
3.2.6. RP6 Library, RP6 CONTROL Library and Example programs.....38
3.3. Connecting the USB Interface – Windows ................................. 39
3.3.1. Check if the device is properly connected.............................39
3.3.2. Driver uninstall.................................................................40
3.4. Connecting the USB Interface – Linux ...................................... 40
3.5. Finalizing Software installation ................................................ 40
3.6. Inserting Batteries ................................................................. 41
3.7. Charging the Batteries ........................................................... 43
3.8. The first test ......................................................................... 43
3.8.1. Connecting the USB Interface and start RobotLoader.............44
4. Programming the RP6 .................................................................. 53
4.1. Configuring the source code Editor .......................................... 53
4.1.1. Creating menu entries.......................................................53