Datasheet

when activated will send a Hardstop command to the robot. The robot will only be able to navigate
after the release of the Emergency button. By locking the Emergency button the Wireless controller is
sending a stop command to the wireless receiver installed in the FROG platform that connects directly
to the Motor Board. The Wireless Receiver will pull High the Emergency Stop of the Motor Board. This
will make the Motor Board ignore all the navigation commands, and send a Hardstop command to the
motor controllers.
Another feature of this command is the capability to override the motor velocity commands sent by the
Navigation Computer. When the Control Enable of the command is pressed, the wireless receiver
pulls the Joystick Command Enable of the Motor Board to a high level. From this moment the Motor
Board will only receive commands from the Wireless Joystick control. The user only has to keep the
Control Enable pressed and use the Joystick to drive the robot. By releasing the Control Enable
button or by switching OFF the wireless controller the Joystick Command Enable of the Motor Board
is pulled to a low level and only the commands from the Navigation Computer will control the platform.
7.3. Shutting Down the FROG Platform
There are different ways to shut down the FROG platform. The first thing to do is to disable the motors
and remove the power from the motor drivers. To do that the user should:
1. Push the Emergency button on the back of the robot.
2. Switch OFF the Motor Power Switch.
If the user is only using the Joystick to control platform and all of the computers are disconnected, the
user only needs to disconnect the Electronics power button.
If the computers are switch ON, then the user should send a shutdown command to all the computers
and wait until they are all OFF before disconnecting the Electronics power button.
7.4. Charging the Batteries
The quick way to charge the batteries is to place the robot in the charging Docking Station. The
Docking Station should be powered and all the batteries and power buttons should be ON.
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 43
Figure 32: Wireless Joystick Emitter command