NIBO burger – Robot Kit Construction manual version 2015/09/08
Construction manual - Robot kit NIBO burger 08.09.2015 Safety instructions For construction and operation of the robot please consider the following safety instructions: • • • • • • • The robot kit NIBO burger is designed for learning, teaching and experimental purposes only. The company does not accept any liability for other uses of the programming adapter. Any other use is at the users own risk. No machines must be attached to the robot.
Construction manual - Robot kit NIBO burger 08.09.2015 Table of contents 1 Introduction and overview.............................................................................5 1.1 Features.................................................................................................8 1.2 Motors....................................................................................................9 1.2.1 Odometry........................................................................................9 1.2.
Construction manual - Robot kit NIBO burger 08.09.2015 2.3.9.6 Jumper 3-pole........................................................................50 2.3.9.7 Button....................................................................................50 2.3.9.8 Switch....................................................................................51 2.3.10 Electrolytic capacitors.................................................................51 2.3.10.1 Straight sockets – 5 contacts.....................
Construction manual - Robot kit NIBO burger 08.09.2015 1 Introduction and overview The NIBO burger robot kit is a free programmable autonomous robot with 9 sensors. He is able to react stand-alone on his environment. NIBO burger has an Atmel ATmega16 AVR main controller and several sensors to percept his surroundings. An integrated USB programmer also acts as charger for the rechargeable batteries. On the upper board there is an integrated slot for ARDUINO shields.
Construction manual - Robot kit NIBO burger 08.09.2015 Colour sensor bricks: IR sensor bricks: A construction manual with many illustrations explains the assembly and the necessary soldering step by step. In order to enable a quick and motivating introduction to the fields robotics, programming and control engineering the sensors are comfortable to program and to control. http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 The whole thing is completed by the NiboRoboLib which provides all important basic functions and a programming tutorial in C for the first steps. After assembling you can directly start with own programming. All electronic parts are placed amply dimensioned on the circuit board and so the robot is quite easy to solder. http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 1.1 08.09.
Construction manual - Robot kit NIBO burger 08.09.2015 Applications: • Following lines • Controlled proceed tangent route • Contact-free detection of obstacles • Autonomous performance • Determination of different flooring • Colour detection • Barcode detection • Following walls Features: • Main CPU with 16 kByte flash-memory • Programmable in C, C++ and Java (GNU gcc and nanoVM) 1.2 Motors The robot is driven by two motors with 125:1 transmission (respectively 25:1 transmission).
Construction manual - Robot kit NIBO burger 1.2.2 08.09.2015 Motor bridge The motor bridge is needed for current amplification and for voltage regulation of the microcontroller signals. The motor is controlled by one of three possible signal-combinations from the H-bridge: high/low (forward), low/high (backwards), high/high (short-circuit).
Construction manual - Robot kit NIBO burger 08.09.2015 diffused light it is necessary to use a modulation method. This method is already implemented in the NiboRoboLib. With the variable sensor system with 10 sensor slots you can test different setups: For example it is possible to plug all 4 sensors into the front slots, or you can place 2 sensors on the front and 2 sensors on the back. Another possibility is to use 3 sensors for analysing the floor. 1.3.
Construction manual - Robot kit NIBO burger 08.09.2015 These sensors can also be plugged into the 10 sensor slots: For example they can be plugged into the three slots on the back to detect and to analyse coloured objects: You can also plug the 3 sensors into the slots at the bottom side of the robot to analyse coloured floors. This setup is also well suited for following lines. http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 1.4 08.09.2015 USB interface The robot can be connected to a computer by the USB interface. It is possible to upload new software by this interface. Additionally the rechargeable batteries can be charged by this interface. 1.5 Interfaces / Extension ports The NIBO burger has 3 extension ports. Each of these ports has five contacts: plus, minus and 3 signal bits.
Construction manual - Robot kit NIBO burger 08.09.2015 X13 X11 X12 1.6 1.6.1 Other hardware components Free programmable Coding-LEDs The two red LEDs (LED 1 and LED 4) and the two blue LEDs (LED 2 and LED 3) are coding LEDs. They can be controlled by own programming. http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 1.6.2 08.09.2015 Function LEDs The small white LEDs show the following functions: LED 5 Operating mode information: flashes during the robot is online LED 6 Programming: flashes during the programming process LED 7 Charging information: flashes during the charging process 1.6.
Construction manual - Robot kit NIBO burger 08.09.2015 2 Assembling of the robot Please read the following chapter completely before you begin with the assembly! 2.
Construction manual - Robot kit NIBO burger 2.2 08.09.2015 Soldering For soldering you should use a regulated soldering station with at least 50 W and a fine tip. Tip: The manual of the soldering station should definitely contain the word “regulated”. A regulated soldering station means, that it “knows” exactly the temperature of its tip. So it is able to readjust the temperature if its necessary.
Construction manual - Robot kit NIBO burger 08.09.2015 Soldering should work like this: Video „Soldering in 30 seconds“ http://www.nicai.eu/soldering If it doesn't work as seen in the video, it can be useful to check the own soldering equipment and/or get someones help. The soldering time should be limited to a few seconds (not minutes!) for each pad. Most electrical components react sensitively to high temperature.
Construction manual - Robot kit NIBO burger 08.09.2015 Now you have to heat the soldering pad and the leg simultaneously with the soldering iron at the bottom side of the board: Then the tin-solder has to be attached additionally. If everything is well heated, the tin-solder is melting and the leg of the electronic part gets connected to the soldering pad: The finished soldering point should look like this: The leg of the electronic part has to be fixed at the soldering pad.
Construction manual - Robot kit NIBO burger 2.3 08.09.2015 Placing components onto the circuit boards This section describes how to place the electrical components onto the circuit boards. First of all an overview of the plain boards: Board - first level: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Board - second level: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Boards , , , and the sensor bricks: At first the boards - (NOT the sensor bricks!) must be separated from the frame e.g. by an universal pliers: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 In order not to damage the single boards with the pliers, you can do the middle separation without it on a flat surface: Tip: If you first don't separate the sensor brick boards, it is much easier to solder the electronic parts: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 The “wings“ are for decoration and they protect the front sensors. They can be separeted by slight turning from board : http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 All in all you get this circuit boards: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 2.3.1 2.3.1.1 08.09.2015 Preparing operations Overview of the optoelectronic parts For some of the optoelectronic parts looks very similar it is advisable to sort them: 3 x LED white (milky, round) 2 x LED blue, big (transparent, flattened) 2 x LED red, big LED green (transparent, round) (transparent, leg is marked black) (transparent, round) 6 x IR-LEDs (purple, transparent, short legs) http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 2.3.1.2 08.09.2015 Seperation of pin header strips The kit contains two sorts of pin header strips. All of them must be seperated to 5 pin headers before assembly.
Construction manual - Robot kit NIBO burger 08.09.2015 The header is easy to break: We need at large: 7 right angle 5-pin headers and 8 straight 5-pin headers http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 2.3.2 08.09.2015 Assembly of the sensor bricks First of all we place resistors and optoelectronic parts onto the circuit boards of the bricks. Top sides of the boards: Bottom sides of the boards: 2.3.2.1 Placing components onto the bottom sides The little mini!! resistors with the value 120 Ω (code: brown-red-brown- (gold)) have to be placed to the soldering pads RA: ATTENTION: 120 Ω resistors exist also in big!!! http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 The little mini!! resistors with the value 2,2 kΩ (code: red-red-red- (gold)) have to be placed to the soldering pads RB: 2.3.2.2 Placing components onto the top sides Part 1: IR sensor bricks We start with the top sides of the IR sensor bricks: IR sensor bricks Place four IR leds into the upper soldering pads (marked with LED).
Construction manual - Robot kit NIBO burger 08.09.2015 Place four black phototransistors into the lower soldering pads. You have to pay attention to the polarity: The short leg must be placed into the rectangular soldering pad! The result should look like this: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Part 2: Colour sensor bricks We start with the top sides of the colour sensor bricks: Colour sensor bricks blue green red Place the blue, the green and the red led into the upper soldering pads (marked with LED). You have to pay attention to the polarity: The short leg must be placed into the rectangular soldering pad! Place three transparent phototransistors into the lower soldering pads.
Construction manual - Robot kit NIBO burger 08.09.2015 The result should look like this: Now the right angle 5-pin headers have to be soldered onto the bottom sides of all sensor boards: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 To get best sensor values it is advisable to shield all phototransistors with 3 mm long pieces of heat-shrinkable tubing: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Now you can separate the individual sensor bricks from the frame: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 2.3.3 08.09.2015 Component placement of boards and In this section we place components onto the both side plates of NIBO burger. All components have to be placed on the bottom sides of the circuit boards: Four 5-pin right angle sockets have to be placed onto the bottom sides of the boards into the soldering pads J1.B, J2.B, J3.B und J4.B. They are soldered from the top side.
Construction manual - Robot kit NIBO burger 08.09.2015 The resistors with the value 180 Ω (code: brown-grey-brown- (gold)) have to be placed to the soldering pads R55 and R56 on the bottom sides of the boards. Each board gets one IR led. They have to be placed into the marked soldering pads (see the photos). You have to pay attention to the polarity: The short leg must be placed into the rectangular soldering pad! Finally four 5-pin straight headers are placed into the soldering pads J1.A, J2.A, J3.
Construction manual - Robot kit NIBO burger 08.09.2015 Later on the side plates have to be plugged with other plates. Therefore it is important to solder the headers at right angle onto the boards: Finished bottom sides of the boards: Finished top sides of the boards: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 2.3.4 08.09.2015 Component placement of boards and The boards and have to be placed on their bottom sides and on their top sides. We start with the bottom sides of the boards: The black phototransistors are soldered into the soldering pads PT53 and PT54. You have to pay attention to the polarity: The short leg must be placed into the rectangular soldering pad! PT53 and PT54 are for measuring the motor rotation speed.
Construction manual - Robot kit NIBO burger 08.09.2015 Now the legs are soldered: The result should look like this: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Now turn the circuit boards! The resistors with the value 820 Ω (code: grey-red-brown- (gold)) have to be placed into the soldering pads R53 and R54 on the top sides of the boards. The 10 nF ceramic multilayer capacitors (imprint: 103) have to be placed into the soldering pads C53 and C54 on the top sides of the boards. You don't have to pay attention to the polarity.
Construction manual - Robot kit NIBO burger 2.3.5 08.09.2015 Component placement of boards and Now we place components onto the both main circuit boards: Note: The sequence of placement depends on the height of the components to make all soldering pads well accessible. The following subsections are sorted according to this criterion. 2.3.5.1 Resistors The resistors are soldered horizontal onto the boards. The legs must be bent over, as shown in the illustration.
Construction manual - Robot kit NIBO burger 08.09.2015 180Ω 47kΩ 180Ω 68Ω 47kΩ 68Ω 4.7kΩ 180Ω 4.7kΩ 180Ω The following overview diagram shows the placement of the resistors on the main circuit boards: 3.3Ω 3.3Ω 3.3Ω 4.7kΩ 4.7kΩ 820Ω 4.7kΩ 120Ω 120Ω 4.7kΩ 4.7kΩ 4.7kΩ 120Ω 4.7kΩ 4.7kΩ 4.7kΩ 820Ω 820Ω 47kΩ http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 3.3Ω 4.7kΩ 4.7kΩ 820Ω 820Ω 820Ω 820Ω 820Ω 820Ω 820Ω 820Ω 120Ω 3.3Ω 47kΩ 120Ω 47kΩ http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 2.3.5.2 08.09.2015 Zener-/Schottky-Diodes The Zener diodes D20 and D21 of type BZX83V003.6 (respectively 55C3V6) and the Schottky diodes D1, D22, D23 and D24 of type BAT85 must be bend like the resistors before placement. Type Part BZX83 V003.
Construction manual - Robot kit NIBO burger 2.3.6 08.09.2015 Ceramic multilayer capacitors There are 13 ceramic multilayer capacitors to be placed onto the board. Value Part 10 nF The capacitors C2, C8, C9, C13 and C25 have a value of 10 nF (imprint: 103). The other capacitors C3, C6, C7, C10, C11, C20, C26 and C27 have a value of 100 nF (imprint: 104). You don't have to pay attention to the polarity. Info: The imprint 104 means 10*10^4 pF, or generally: the imprint xyz means a capacity of xy*10^z pF.
Construction manual - Robot kit NIBO burger 2.3.8.1 08.09.2015 IC-Sockets There are four IC-sockets Type Part to be soldered onto the 40-pol IC1 16-pol IC2 boards. The 40 pin socket 14-pol IC5 is for the main controller 8-pol IC4 ATmega16, the 14 pin socket is for the ATtiny44, the 16 pin socket is for the demultiplexer 74HC139 and the 8 pin one is for the operational amplifier LM358. The notch in the socket must point in the same direction as the mark on the board!! The ICs will be inserted later! 2.
Construction manual - Robot kit NIBO burger 2.3.9 08.09.2015 NPN Bipolar-transistors The five NPN bipolar-transistors T3, T4, T5, T6 and T9 are of the type BC337 !!. During placement you have to pay attention to the polarity! The flat side of the transistor is marked on the circuit board. Type Part BC337 T3 T4 T5 T6 T9 T9 is to find on board , T3 - T6 are to find on board 2.3.9.1 PNP Bipolar-transistors The five PNP bipolar-transistors T1, T2, T7, T8 and T10 are of the type BC327 !!.
Construction manual - Robot kit NIBO burger 2.3.9.3 08.09.2015 Red leds The leds LED1 and LED4 also have two legs: a short one (cathode) and a long one (anode). They are placed on board : Type Part Led red LED1 LED4 You have to pay attention to the polarity: The short leg has to be soldered into the rectangular soldering pad! 2.3.9.4 Blue leds The leds LED2 and LED3 also have two legs: a short one (cathode) and a long one (anode). The body of these components is flattened.
Construction manual - Robot kit NIBO burger 2.3.9.5 08.09.2015 Jumper 2-pole The best way to place the Type Part jumper J5 and J6 onto the Jumper J5 J6 board is to solder them complete (connector and bridge). You should pay attention to a short soldering time so that the plastic does not melt. J6 is to find on board , it's the motor jumper. The motor function is only active with connected J6.
Construction manual - Robot kit NIBO burger 2.3.9.8 08.09.2015 Switch The toggle switch S1 may be soldered onto the board in both possible orientations, the functionality stays the same. 2.3.
Construction manual - Robot kit NIBO burger 08.09.2015 The sockets have to be soldered right-angled, because later on the sensor bricks will be inserted (board ): 2.3.10.2 Right-angle sockets – 5 contacts The 7 right-angle sockets with 5 contacts have to be soldered into the pads X5-X7 and J1.1-J4.1. Type Part Rightangle socket 5 contacts X5 X6 X7 You don't have to pay attention to the polarity. J1.1 J2.1 J3.1 J4.1 All sockets have to be soldered on the bottom side of board http://nibo.
Construction manual - Robot kit NIBO burger 08.09.2015 The result should look like this: The sockets should be planar onto the boards as possible: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 2.3.11 08.09.2015 Battery packs Now the two battery packs will be attached to board . Before soldering they must be fixed each with one small cable strap.
Construction manual - Robot kit NIBO burger 08.09.2015 The cable strap has to put through the two holes of the board: Then the cable strap is to be fastened (e.g. with an universal pliers): http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 The cable strap has to be cut shortly with an electronic cutting pliers. The other battery pack has to be fixed in the same way. Finally the packs must be soldered (each at two contacts) at the top side of the circuit board: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Now the board has to be turned: The straight 5-pin headers J1.2, J2.2, J3.2, J4.2 and the USB socket X0 have to be placed at this side of the board! 2.3.11.1 Straight 5-pin headers Soldering the straight 5-pin headers J1.2, J2.2, J3.2 and J4.2 you have to pay attention that they are aligned at right angle to the board. Later on they will be contacted with the side plates. http://nibo.nicai-systems.de Type Part Straight 5-pin headers J1.2 J2.
Construction manual - Robot kit NIBO burger 2.3.11.2 08.09.2015 USB socket During installation of the USB socket X0 you should pay attention that the smaller pins are not bent. The part is polarity safe. The USB socket is soldered at large at 6 soldering pads. Type Part USB socket X0 Place the USB socket at the bottom side of the board... …and solder it at the top side of the board at 6 soldering pads, the two holders of the housing have to be completely filled with tin solder: http://nibo.
Construction manual - Robot kit NIBO burger 08.09.2015 Finished top side of board : http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Finished bottom side of board : http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Finished top side of board : http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Finished bottom side of board : http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 2.4 08.09.2015 Visual inspection of the circuit board Before the board is attached for the first time to a power supply, all electrical components must be checked for the correct assembly. Therefore you have to check all values. Afterwards you have to pay attention to the polarity and the correct installation respectively.
Construction manual - Robot kit NIBO burger 2.5 2.5.1 08.09.2015 Assembling of the modules Preparation operations The two red double gearwheels must be pressed onto the two short steel axes (3 x 24 mm). Therefore you have to press the axis with the help of a hammer into the side of the gearwheel with the smaller gear (please use e.g. a paper pad so that nothing gets destroyed): The axis must be pressed through with the hammer until it looks like this: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Then you have to press the axis carefully through the gearwheel. For not getting injured, the thumbnails must have some distance to the axis: Afterwards the gearwheels should be in the middle of the axis: Now the both white double gearwheels have to be pressed onto the two short steel axes (3 x 24 mm). The procedure is analog to the red gearwheels. Pay attention to the different distances / positions (see the picture / stencil). http://nibo.
Construction manual - Robot kit NIBO burger 08.09.2015 Now the last both white double gearwheels have to be pressed onto the two long steel axes (3 x 37 mm). The procedure is analog to the red gearwheels. Pay attention to the different distances / positions (see the picture / stencil). With the help of the stencil inside the package you can easily proof the distances: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 2.5.2 08.09.2015 Assembling of the engine section / transmission unit Now the two motors and the circuit boards and have to be fixed to the circuit board . First of all put the motor axis through the boards as shown below. The soldering contacts of the motors must face downwards!! In case of one motor does not fit correctly into the hole, the hole can be carefully widened with a 6mm drill bit.
Construction manual - Robot kit NIBO burger 08.09.2015 For an easier soldering of the motor contacts and board you can bent up the motor contacts a little bit. When the motor fits correctly, board is soldered to board beginning with the middle soldering contact (see pictures). These soldering joints work with the help of capillary action: you tin the respective point sparse with tin-solder and heat the point afterwards about 10 seconds with the soldering iron.
Construction manual - Robot kit NIBO burger 08.09.2015 The result should look like this: Now the both remaining connections (red arrows) must be soldered from the bottom side of the main circuit board. Then the motor contacts have to be soldered to the board: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Now the right side has to be assembled analog. The result should look like this: Now the left transmission unit (transmission ratio 125:1) will be assembled: The kit contains two sorts of plastic distance rings: standard (3mm) slim (2mm) http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Put the white standard (3 mm) plastic distance ring to the short axis with the red gearwheel (to the opposite side of the little gearwheel). Then the axis must be put (with the distance ring ahead) into the borehole A.
Construction manual - Robot kit NIBO burger 08.09.2015 The transmission is fixed by board (the electronic parts of board point inwards): http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 The 5-pin headers must be connected to the 5-pin sockets of board : Now the left transmission unit is completed. The right unit has to be assembled analog: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Tip: You can reduce the operating noise by careful greasing the transmission (see also page 82). 2.5.3 Mounting the polyamid pin First we put the large screw from the top side through board : Then the screw is fixed from the bottom side with a hex nut: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Finally the white polyamid pin must be screwed on: 2.5.4 Attaching the wheels The both wheels have to be put onto the drive shafts so that they are performing well. To avoid damaging the transmission you shall press (e.g. with an edged crayon) against the opposite side of the axis: http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 2.5.5 08.09.2015 Insertion of the ICs The robot must never be switched on without inserted IC2 (74HC139), otherwise the transistors for the motor-control will be destroyed! The four ICs must be put with careful pressure into the sockets.
Construction manual - Robot kit NIBO burger 2.5.6 08.09.2015 Assembling of the second layer Now the second layer will be assembled: First we fix the four bolts with four lenshead screws on board : http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 Now we connect board with the side boards in the right orientation!! and fix it with four screws. All plug-in contacts must be connected! Note: The arrow sysmbols on the boards show the driving direction: Now the robot is ready for takeoff ;-) http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 3 Preparation for operation After finishing the preparations the NIBO burger can now be activated step by step for the first time. !! Important !! The NIBO burger must never be switched on without inserted IC2 (74HC139), otherwise the transistors for the motor-control will be destroyed! 1. Switch off the robot 2. Remove all sensor bricks 3. Take off the motor jumper J6 4.
Construction manual - Robot kit NIBO burger 3.2 08.09.2015 Part II – Sensor bricks We build the following setup to test the sensor bricks: Put the four IR sensor bricks into the front slots (FLL – FRR): The colour sensor bricks must be put into the bottom slots in the following order (BR - red, BC - green, BL - blue): Now press and hold button 1 and switch on the robot. Then LED 1 must flash. Now loose the button! LED 1 flashes shortly and the test program has been started.
Construction manual - Robot kit NIBO burger 08.09.2015 Now we test the functionality of the floor sensors / colour sensor bricks. Press once button 1: Raise the robot and test the sensors analog to the IR sensor test. LED 1 should glow for the blue sensor brick, LED 2 and LED 3 should glow for the green sensor brick and LED 4 should glow for the red sensor brick. Now switch off the robot. 3.3 Part III – Motors & odometry sensors Now press and hold button 2 and switch on the robot.
Construction manual - Robot kit NIBO burger 08.09.2015 Tip: You can reduce the operating noise by greasing the transmission for example with a greasy ointment and a toothpick. Grease both sides of the axes at the contact points of axes and circuit boards: Additional the other axes can be greased. http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 3.4 08.09.2015 Part IV – Calibration of the sensors To calibrate the sensors we use the included cards „Calibration“ and „Colour Card“. Now press and hold button 3 and switch on the robot. Place the robot at position 1 of the card „Calibration“ (the three colour sensors must be above the black area). Now push button 1. Then LED 1 must flash. Then place the robot at position 2 of the card „Calibration“ (the three colour sensors must be above the white area).
Construction manual - Robot kit NIBO burger 3.5 08.09.2015 Installation of the NiboRoboLib Now the NiboRoboLib has to be installed. The latest version and an installation manual (.pdf) are to find here: http://www.roboter.cc/niboRoboLib All files are also available on the enclosed CD. The NiboRoboLib contains: All necessary drivers for NIBO 2 All necessary drivers for NIBO bee All necessary drivers for NIBO burger RoboDude (transmission programm for .hex- and .
Construction manual - Robot kit NIBO burger 3.6 08.09.2015 Programming There are different possibilities / programming environments for NIBO burger: 3.6.1 NIBO burger Coding Tutorial Possibility 1: You can easily start programming with the interactive NIBO burger Coding Tutorial. It guides you through all functions of the robot and simultaneously you learn programming: http://www.roboter.cc/codingTutorial/niboburger http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 3.6.2 08.09.2015 Online-Compiler – Roboter.CC Possibility 2: Additionally you have the possibility to program the NIBO burger online at the Roboter.CC platform: Roboter.CC is an open-source platform. You can create own robotic projects, manage and compile them at the platform. You can also easily test existing program examples. All projects are compiled online at Roboter.
Construction manual - Robot kit NIBO burger 08.09.2015 Easily: 1. Choose robot type and programming language 2. Write the program code 3. Transfer the resulting XHEX-file with RoboDude to the robot Or: 1. Choose an already existing XHEX-file 2. Transfer the XHEX-file with RoboDude to the robot There is also a user forum (german) with lots of additional information, ideas, questions and answers! http://www.roboter.cc http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 3.6.3 08.09.2015 NIBO burger ARDUINO Tutorial Possibility 3: It is also possible to program the NIBO burger in ARDUINO: A german programming tutorial inclusive installation manual with lots of examples and explanations is to find here: http://www.nicai-systems.com/de/nibo-burger-programmierung http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 3.7 08.09.2015 Charging the rechargeable batteries by USB The rechargeable batteries of the NIBO burger can be charged as follows: 1. The robot is switched off and 2. It is connected over USB with the computer and 3.
Construction manual - Robot kit NIBO burger 3.8 08.09.2015 25:1 transmission ratio setting The NIBO burger transmission unit can be assembled in two different settings: The previous setting allows precise driving with a 125:1 transmission ratio. The alternative setting with a 25:1 transmission ratio allows high speed driving. For the reconstruction to the 25:1 transmission ratio you have to disassemble the robot: take the second layer off, pull the wheels off and take the both side boards and off.
Construction manual - Robot kit NIBO burger 08.09.2015 Note: For this transmission unit setting it is necessary to bend the both transistors nearby the short axes a little bit: Now the both side boards have to be connected and the robot can be completed as shown before. Then NIBO burger is ready to use! ATTENTION! Forwards and backwards are now inverted! http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 3.9 08.09.2015 Additional information The NIBO-Wiki provides additional information like FAQ's, service links for replacement parts, technical details and much more: http://www.nibo-roboter.de http://nibo.nicai-systems.
Construction manual - Robot kit NIBO burger 08.09.2015 4 Appendix 4.
Construction manual - Robot kit NIBO burger 4.2 08.09.2015 THT parts list Count Value 2 2 470 µF 7 10 nF 2 4.7 µF 2 22 pF 8 100 nF 2 100 µF 4 BAT85 8 1N4007 2 1 1 1 1 1 2 IR 3 8 Device BATTERYHOLDER CPOL-EUE3.5-8 C-EU025-025X050 CPOL-EUE1.8-4 C-EU025-025X050 C-EU025-025X050 CPOL-EUE2-5 BAT85 1N4007 BZX83V003.
Construction manual - Robot kit NIBO burger 6 2 13 180 Ω 68 Ω 820 Ω R-EU_0207/10 R-EU_0207/10 R-EU_0207/10 7 120 Ω R-EU_0204/7 7 2.2 kΩ R-EU_0204/7 1 3 5 BC327-40 5 BC337-40 1 10 M9040P 10-XX BC327 BC337 CON_USB_B BL5G http://nibo.nicai-systems.de 08.09.
Construction manual - Robot kit NIBO burger 08.09.2015 5 Links In this subsection you can find a selection of links to web pages with related topics. Development environments: Atmel: http://www.atmel.com Web page of the microcontroller manufacturer. There are data sheets, application notes and the development environment AVRStudio. WinAVR: http://winavr.sourceforge.net/ AVR-GCC compiler for Windows with many add ons, especially for AVRStudio. AVRDude AVRDude: http://savannah.nongnu.
