Assembly and operating instructions for Ubbo Maker 2 · 2016. 4. 15. · P2 & P4 Add P2 and P4...
Transcript of Assembly and operating instructions for Ubbo Maker 2 · 2016. 4. 15. · P2 & P4 Add P2 and P4...
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Assembly and operating instructions for Ubbo
Maker 2
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Index Introduction : .................................................................................................................................................................... 3
1. Part list ...................................................................................................................................................................... 4
2. Tooling ..................................................................................................................................................................... 14
3. Shell assembly ......................................................................................................................................................... 17
4. Mast assembly ........................................................................................................................................................ 18
5. Tilt assembly ........................................................................................................................................................... 20
6. Black box wiring ...................................................................................................................................................... 25
7. Tablet holder assembly ........................................................................................................................................... 27
8. Chassis assembly (outer face) ................................................................................................................................. 30
9. Chassis assembly (lower face) ................................................................................................................................. 32
10. Wiring I ................................................................................................................................................................ 39
11. Robot assembly ................................................................................................................................................... 50
12. Wiring II ............................................................................................................................................................... 52
13. Tests 1 and Arduino program installation ........................................................................................................... 55
14. APK installation and configuration ...................................................................................................................... 56
15. Tests II ................................................................................................................................................................. 60
16. Web Page ............................................................................................................................................................ 61
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Introduction :
This guide shows how to setup and to self-assembly the robot as a kit. It provides also explanations on its physical
functioning. The CD provided with the robot includes the source code as well as some explanation on how the software
works.
Some parts are pre-soldered, pre-drilled and other preparation operations to allow the assembly the robot with the
minimum of tools. Nevertheless, we suggest beginner makers to fully read the installation and operating instructions
before assembling the robot in order to clearly understand how it works. In this context, Udacity
(http://www.udacity.com) or OpenClassroom (https://openclassrooms.com) should be a useful link.
Critical elements such as electrical connections are repeated several times in order to avoid all connection
mistakes.
In case of any doubt, whatever it is on the robot assembly or on the supplied piece parts, you can contact Axyn
Robotique :
by e-mail :
by phone :
+33 9 50 97 50 61
by postal mail :
AXYN Robotique
Pépinière d’entreprises innovantes Michel Caucik
100 impasse des Houillères
13590 Meyreuil, PACA, France
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Part list
Item Qty Picture
Screws and
hardware
Screw BHC M5*12 60
Hexagonal screw
M6*20
11
Screw BHC M3*12 4
Nylon spacer 10mm 30
Electrical terminal box
4*5
4*3
6*2
Hose clamps 10
5
Article Qty Image
Electrical wires 2 bags of 10 (5
colors)
female/female
1 bag of 10
male/female
Electrical wires,
1,5mm²
0,25mm²
3m (red black)
1m (red black)
Scratch tape 20 cm
USB A/ Micro USB
cable
2
USB A / Mini USB
cable
1
USB A / USB B cable 1
Battery connector 1
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Item Qty Picture
Tilt
Tablet holder + anti-theft cable + 2 small
oval foam plates
(Disassembled item)
1
U shape piece 1
D shape shaft ( with a flat spot at the end) 1
Connecting element with the D shape shaft / U shape holder + its 4 CHC screws and its
setscrew (US standard)
1
Servomotor coupler output /D shape shaft
+ its setscrew
(US standard)+ small locking screw
1
Ball bearings 1
High torque digital servomotor+ small
screws
1
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Item Qty Picture
Mast
Rods 2
Black spacer 20
Black box + 4
screws
1
Push button with 4
soldered wires
1
5V power supply
line
1,5m
Data cable 1,5m
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Item Qty Picture
Shell
Pre-drilled shell 1
USB B Extension cable+ 2 flat
Philips-head screw M3*12
1
Obstacles sensors + nut and
ferrule
4
9
Item Qty Picture
Mobile base
White chassis with its 4
motors
1
Mecanum wheels + 4 sets of
screws, nuts and black
washers
Note: be careful, there are 2
left and 2 right wheels. Their
correct positioning is
important. It’s explained in
next chapters of this
installation guide
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(P1)
Carcass/Mast connection
block
1
(P2)
Carcass/Shell connection
block
1
10
Article Qty Image
(P3)
Carcass/mast connection
block
2
(P4)
Carcass/Shell connection
block
2
Arduino Mega ADK or
compatible[MAD]
1
Mega Sensor shield V2.4
[MS]
1
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Item Qty Picture
DF-Bluetooth v3 Shield [BT] 1
Motor servo board (ASM)
2
Power Module [PM] 1
5V Relay module for
Arduino [RA]
1
Control board for Servo [CS] 1
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Item Qty Picture
12V Relay for the Button
[RB]
1
Power bank [PB] 1
4000mAh NiMH battery
1
Battery holder (angle
bracket)
2
Module / Power Module
connection cable Relay
1
Small black plastic washer 1
M5 nuts 3
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Item Qty Picture
Accessories
12V Battery charger 1
CD with :
Arduino source code
Android source code
Ruby source code
Apk libraries
1
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2. Tooling
Item Qty Picture
Tools
US standard based
Allen wrench:
US : 7/64 & 3/32
EUR: Complete set
1
Precision
screwdrivers set
1
Mini-pliers set
1
10 mm Open-end
wrench
1
Neoprene glue
1
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Cutter 1
Protective gloves
1
pair
Protective glasses 1
pair
OPTION : thread lock 1
OPTION : Hot glue
gun with glue sticks
1
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Prerequisites: use of terminal blocks
The gray and orange terminals are used to pool all cables that are inserted there.
To insert the cable, first make sure that it is bare. Open a clip, insert the wire and close it. The clips can be quite
difficult to open.
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3. Shell assembly Obstacle sensors installation
Tighten nut at sensor
Mount the washer on the shell, clip the sensor, and then tighten the nut
To get an obstacle detection distance of around 20cm, the adjustment screw must be in the shown position. The
adjustment screw allows a detection distance from 1 to 40 cm
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4. Mast assembly Mast assembly
Mount the spacers on a rod as shown on the picture, and then mount the second rod.
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Black box assembly
Insert and screw the push button in the black box, then screw on the black box on the mast as shown on
the picture below
Adding cables on the mast
Slide the cables in the black box leaving a small overhang of 10 cm (be careful not having a too long overhang driving
to reduce the length at the bottom)
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With the neoprene glue, glue the wires down to the bottom of the mast on the edge
Tip: use a hose clamp to tighten the cables at the bottom of the mast to avoid they have too much freedom
5. Tilt assembly
Ball bearing
Insert the ball bearing on the right side, edge inside
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Spacers
Screw the Nylon spacers as follows: Use the BHC M3*12 screws instead of the small screws supplied in the spacers
bag.
Mount the connecting piece on the U shape piece. Be careful with the mounting direction of the fastening
screw downwards! Be careful with the connecting piece side (on the right hand side)
! Mount the piece securely tightened with 2 screws
The Axyn logo being asymmetric, it can be used as a mark.
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Adding the coupler on the servomotor
Turn the motor clockwise until stop is reached
To mount the coupler, use the following procedure: hole down, shifted one step to the left
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Screw the screw inside the coupler
Screw the shaft on the coupler
Tip: putting some thread lock or nail polish will avoid a loosening of the small black screw
! Be careful, do not over tighten the small black screw, you could damage the bolt thread
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U Shape
Positioning of the U shape piece, insert the whole with the servomotor
Tighten the connecting piece fastening screw from the bottom and screw the 4 nuts on the nylon spacers
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6. Black box wiring
At the level of the box, you must get this:
Prepare then the USB cable:
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Here is the way to use the different wires (be careful the servomotor and the base are note using the same color
code.
For the wires connection, you must use a terminal block and proceed as follows:
Wires to connect with each other Function
Thick brown (mast), thick brown (servomotor) , black (USB) , black (button led)
Ground (0V or GND)
Thick blue (mast), red (servomotor), red (USB), red (button led) +5V
Thin yellow (mast), thin yellow (button) +12V permanent
Thin red (mast), thin red (button) +12V temporary
Thin green, thick orange (servo) Data (servo command)
! Be careful not to confuse the 2 red wires coming from the button; one of them (5V) is used for the LED (the
external one) and the other (+12V) is used for the button relay (just near the yellow one)
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7. Tablet holder assembly Rear panel on U shape piece
Add the rear panel of the holder on the U shape piece with 3 M6*20 bolts
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Tablet holder mounting
Add the gear and the 2 mobile piece parts, then screw the upper plate (at the top only)
Slide the lower mobile piece part by spreading slightly the 2 plates then screw the lower part
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You can add foam trays depending on the tablet. At last, the lower mobile part can be blocked with the padlock. The
padlock is given with its cable. So it allows you reusing it for other purpose (laptop PC, notebook for example). If you
wish using it only for the robot, you can see it at the level of the part which holds the cable.
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8. Chassis assembly (outer face)
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Fix the Power Bank
Fix the Power Bank (PB) with some scratch (hook and loop) tape.
Relay
Fix the Power Bank (PB) with some scratch (hook and loop) tape.
Power Bank wiring
Cut an USB/Micro USB cable in order to get 2 wires and then strip them. White and green wires are not useful
here. The micro USB is used to recharge the PB (PB_mUSB). USB port is used to 5V supply the robot (PB_USB2A)
Tip: Make a mark with tape in order to distinguish the 2 cables.
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Wiring Relay Button
You will need to cut and strip the red and black wire (0.25mm²) to be used for control.
4 red 1,5mm² wires go on port 11, 14, 21 and 24. Pass through the central hole every wire except 2 large red from
RB_14 RB_21, which must pass through the other hole (see photo).
The more detailed explanation of the connections is given in Wiring I. For now, just check that the wires go through
the right holes and that the little red is A1 and A2 on the little black.
Wire From Through To Function
Thin black A2 Central hole W2 Ground
Thin red A1 Central hole W6 Command + of RB
Thick red 11 Central hole W5 +5V temporary
Thick red 14 Front hole RA_COM +5V permanent
Thick red 21 Front hole W4 +12V temporary
Thick red 24 Central hole W1 +12V permanent
P2 & P4
Add P2 and P4 parts with M5*12 BHC screws
9. Chassis assembly (lower face) In this phase 16, pictures are taken from an already assembled base. You must not take in account the wiring of the
already mounted parts.
Adding battery
Place the battery as shown on the picture and fix the brackets with the bolts supplied with the nylon spacers.
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Adding spacers on the chassis
The spacers must be positioned as indicated on the picture:
Assembling the electronic boards with the chassis
In this step, do not take in account the visible wiring on the picture. Install the electronic boards RA, PM, ASM1,
ASM2, (MAD+MS+BT), CS
Assembling P1 and P3 parts
Add the P3 and the P1 to the chassis with M5*12 screws
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Add the anti-vibration washer
On the mobile part of the chassis, put out the metal washer and replace it by the black plastic one and screw.
Tips: Use if possible thread lock on the screw. This plastic washer improves the behavior of the chassis against vibration
on the front part.
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Installation of the wheels on the chassis
Use the long screws, the black plastic washers and the 2 nuts provided in the small bag.
! Be careful with the orientation of the wheels. They should be set as it is shown on the picture below. (From the back
side view, the rolls should draw an arrow pointing toward the front of the chassis).
Tips: Before mounting the wheels, put out the small black screws on the motor shaft adaptor and rescrew them with
thread lock (to resist to vibration).
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Wheel tests
Turn manually each wheel (Be careful to avoid contact risk between the red and black wire of each motor before
testing).
2 issues could be found:
1- A ‘click’ can be heard (the flanges of the encoder on the back of the motor touch the sensor.
Identify the concerned ones and put them straight back.
2- If the motor turns irregularly, i.e. in certain position it’s harder to make it turn, it’s due to a problem of
coaxiality. Just unscrew a little bit the part blocking the bearing to let it find the good position and screw it
again carefully.
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Installation of the USB B extension cable
Insert the extension cable in the hole on the back of the mega ADK board and plug it on the board.
The small Arduino board dedicated to the tablet servo control (not seen in the picture below) can cause difficulties for
insertion. In this case, you can unscrew it to allow the operation and screw it again when USB connector insertion in
the mega ADK board is ok.
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10. Wiring I
The electrical wiring is designed to:
- allow re-charge of the robot batteries (12V & 5V) at the same time.
- let the robot works without interruption during charger plug/unplug
- power automatically the whole robot with batteries or charger if it’s plugged
- control the power with one button on the top of the robot with only a small current requirement and independently
from the charging
For assembly, you have to use the terminal block (grey & orange). This kind of terminal block connects all the wires
inserted in it. To connect a wire on the terminal block, verify first is correctly stripped on approx. 1cm, open the orange
slot and put the wire till the bottom. Close the orange slot (Watch out to not pinch your fingers).
Be careful to the color of the wires;
Part Ground + Data
Obstacle IR sensor Bleu Brown Black
Tilt servomotor Brown Red Orange
Chassis Black Red Other colors
! Be careful: Do not switch on the button before you reach the phase n°14: tests. Verification has to be performed
before to ensure there is no bad or reversed connections that can cause irreversible damage of certain components
elements;
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You need :
- 4 terminal block with 5 connections (W2 & W3 for the ground,, W1 for permanent +12V, W4 for the temporary
+12V). The permanent +12V is directly linked to the battery or to its charger. The temporary +12V is not
connected when the button is switched off and linked to the battery with the switch is on.
- 1 terminal block of 3 (W5 for the temporary +5V)
- 2 terminal blocks of 2 (W6 for the button wire , W7 for the tablet servo control)
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Electric wiring of the relay
A1, 11, 14, 21, 24 ports are indicated on the relay
Relay is activated by the button (that will be wired in « Wiring II »). A 12V tension between A1 and A2 will connect
(RB_14 with RB_11) and (RB_24 with RB_21).
The relay is a type DTDT monostable. The 11/14 couple will be used for 5V and the 21/24 couple will be used for 12V.
In this phase, A1 is left unconnected.
Tip: You should make a mark on the different wires to know where each one is connected to from the inside.
Relay port Terminal block Function
RB_A2 (thin black) W2 GND
RB_24 W1 +12V permanent
RB_21 W4 +12V temporary
RB_11 W5 +5V temporary
RB_14 COM of RA +5V permanent
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Wiring the motors
The motors 1 and 4 are positioned on the front, with the number 4 at the same side as the plug and the Arduino board.
They are linked with the motor controller boards ASM1 and ASM2 as follow: ASM1 powers up the motors M1 & M2,
and ASM2 the motors M3 & M4.
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Boards wiring
Connector linked with Function
MS_1 W3 Ground
MS_2 W5 Temporary +5V
MS_3 ASM2_3 Temporary +12V
ASM1_4 W4 Temporary +12V
ASM1_5 W3 Ground
ASM1_6 ASM2_6 (red and black wires)
Temporary +12V + GND
Explanation: The mega ADK is powered with +12V (MS_3) (an internal regulator managed the required voltage) for its
use. +5V (MS_2) powers the different parts plugged in the red and black pins of the Mega expansion shield (MS).
The motor controller boards are powered with 12V. The jumper VD=VS should be set. It links the 2 inputs VD & VS. As
described on the mega ADK, an internal voltage regulator manage the internal voltage for the numical components of
the board.
So we use the ASM1_4 as temporary +12V input and the ASM1&2_6 is recuperating this voltage to bring it to the
other board terminals. ASM2_3 is used, in turn, as +12V source for the Mega ADK. Ground (GND) is connected to the
W3 terminal block. So there are on one or the other board, two wires which are connected to GND (ASM1_5) The
Mega shield has a small switch 5V/PWR. It must be positioned on PWR to pass the voltage supplied by the PB.
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Batteries wiring
Battery is linked to the ground (W2) and to the 12V (W1) thanks to a white connector (marked by « C » on the picture)
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The Power Bank (PG) is having two USB cables. The micro USB one is used to recharge the PB, the normal USB one is
supplying the 5V (connect it to 2A). The two cables are connected to the same “ground”. However, the micro USB red
wire (PB mUSB) is connected to NO (normally open) of RA2 mini-relay. The normal USB red wire (PB_USB2A) is
connected to NC (normally closed) of RA1 mini-relay. The mini-relay RA3, COM, corresponds to the permanent 5V. He
is connected to the RB_14 connector.
Detailed explanation: the mini-relay selects automatically the +5V source: Power bank by default or Charger when
this one is connected.
The Power Module works when the charger is connected to supply the parts in 5V and to charge the Power Bank
Câblage carte DC/DC au mini relais.
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Connector Linked with Function
RA_2 PM_3 +5V when loader connected
RA_B PM_7 (red and green), PM_8 (black) Commande du Relais Arduino relay
command
PM_9 CHR +12V when loader connected
PM_10 W2 Ground
When considering the 2 wires coming out from RA_2, one is connected to the PB mUSB the other to PM_3.
The power module has a 5V/VR switch. You must select the position 5V . VR one would allow supplying the voltage
adjustable by the potentiometer. It could change the input voltage upto 12V and so could cause an overvoltage to the
power bank.
You have also to push the small white button (ON position when pushed) to activate it.
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Charger [CHR] Electrical wiring
At the same time you connect the Power Module PM9 to the CHR plug, you can connect CHR to the ground on the W3
terminal block and the second red wire of the CHR connector to the permanent +12V (W1 terminal block). Detailed
explanation: the permanent +12V and PM_9 are not linked because, if it was the case, the 4000mAh battery would
supply the power module which transforms the 12V in 5V. This specific board is supplying the power bank (through
the connection between PM_3 and RA_2). Their Grounds being common, it would drive to discharge one battery (4Ah
one) to supply another one (10Ah). So, robot autonomy would be reduced.
Logic wiring
At this point, it is possible to connect the motor feedback sensors which indicate motors speed and allow the Mega
ADK to control them (closed loop command) .The Mega ADK can also be connected to the servo boards.
The motor sensors have 4 wires. Be careful, they don’t use always the same code. To identify them, you have to look
at their starting point when considering the electronic board at the motor level. The most outside corresponds to the
B (4) signal and the most inside one to the +.
For example, PIN 19: (4 motor 2) corresponds to the most outside wire (so sensor B) from the motor 2; He has to be
connected to the PIN 19 of the Mega ADK.
PIN 22: (3 motor 3) corresponds to the third wire (from inside out), so A sensor of the motor. He has to be connected
to the PIN 22 of the Mega ADK. And so on.
For the Mega ADK connectors towards the servo cards, please consider the following examples:
PIN 2: (E1 ASM1): starting from PIN 2 to go to the E1 of board 1. The board 1 (ASM1) is the one controlling the motors
1 and 2.
PIN 11: (E2 ASM2): starting from PIN 11 to go to the E2 of board 2. The board 2 (ASM2) is the one controlling the
motors 3 and 4.
Other examples:
Pin 14: TX Bluetooth board must link the Mega ADK to the small Bluetooth shield located also on the Mega ADK
Pin 16: Serial 2 for Arduino Servo controller : to link to CS (see the picture in Wiring II)
Pin 24 : Proximity sensor Front : must be linked to the thin black wire from the front sensor (to be done with the
Wiring II phase)
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Pinout
-------
Pin 0: NC
Pin 1: NC
Pin 2: (E1 ASM 1) PWM wheel Front Right
Pin 3: (M1 ASM 1) DIR wheel Front Right
Pin 4: (3 motor 1) Encoder signal A wheel Front Right
Pin 5: (E2 ASM 1) PWM wheel Back Right
Pin 6: (M2 ASM 1) DIR wheel Back Right
Pin 7: NC
Pin 8: (E1 ASM 2) PWM wheel Back Left
Pin 9: (M1 ASM 2) DIR wheel Back Left
Pin 10: NC
Pin 11: (E2 ASM 2) PWM wheel Front Left
Pin 12: (M2 ASM 2) DIR wheel Front Left
Pin 13: NC
Pin 14: TX Carte Bluetooth
Pin 15: RX Carte Bluetooth
Pin 16: Serial 2 for Arduino Servo controller
Pin 17: (3 motor 2)Encoder signal A wheel Back Right
Pin 18: (4 motor 1)Encoder signal B wheel Front Right
Pin 19: (4 motor 2)Encoder signal B wheel Back Right
Pin 20: (4 motor 3) Encoder signal B wheel Back Right
Pin 21: (4 motor 4) Encoder signal B wheel Front Left
Pin 22: (3 motor 3) Encoder signal A wheel Back Right
Pin 23: (3 motor 4) Encoder signal A wheel Front Left
Pin 24: Proximity sensor Front
Pin 25: Proximity sensor Right
Pin 26: Proximity sensor Back
Pin 27: Proximity sensor Left
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Here is how is wired the charger plug. When this plug is connected, it links together all the 12V (the permanent 12V
and the Power Module input). The charger can supply all the elements of the robot (battery 4Ah and Power Bank 10
Ah + mobile part and upper part of the mast if the switch is in ON position). The LED of the charger turns from red to
green when the 4 Ah battery is full, but it does not indicate if the Power Bank is charged, you must verify it visually (4
green LEDs on the PB)
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11. Robot assembly Mast – shell - chassis
You must position the mast, the shell and the chassis as follows:
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First, slide the mast in the shell and then pull the cables of the mast through the central hole.
Screw the mast to P1 and P3 parts with the M6*20 hex screws
Screw the shell on the P2 and P4 parts with the BHC M5*12 screws
Optional: install the USB extension on the shell
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12. Wiring II Relay wiring
You must take the thin red wire from the mast cable and link it to red wire from the relay (RB_A1)
The thin yellow wire from the mast cable must be linked to W1.
Detailed explanation: the yellow wire is connected to the permanent 12V. When you push on the button (pushed-in
position), it makes contact between the thin yellow and the thin red wire. The thin yellow one turns from
«unconnected » to +12V. It will drive to command the RB , and consequently supplies the electronic boards in +12V
and the elements at the upper part of the mast in +5V
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Connect the thick marron wire from the mast on W2 (ground)
Connect the thick blue wire from the mast on W5 (temporary 5V)
Obstacles sensors wiring
Sick sensors must be connected as follows:
- Blue ones on W3 (GND)
- Black ones on Mega ADK shield (MS) (please refer to Pinout)
- Brown ones on W4 (temporary +12V)
Servo logical wiring
Link the thin green wire from the mast cable to the female plug. This female plug will have to be connected to the
Servo Controller (CS_PIN11). In fact, this is the data cable which commands the servo position for the tilt.
Last step for the wiring, you have to link MS_PIN16 to the CS PIN as shown on the picture. This link allows the
communication between Mega ADK and CS
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Verify that logical PINs are well connected (in addition to the motors feedbacks from MS to ASM 1&2)
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13. Tests 1 and Arduino program installation
Electrical functioning tests
Before electrical functioning testing and in order to avoid all problems, wiring verification is important. It is appropriate
to recheck the Wiring I and Wiring II steps. Here are the connections from the terminal blocks:
Terminal
block
Connected to Function
W1 (+12V) Battery, charger red plug (CHR), thin yellow wire, RB_24 permanent +12V
W2 Battery (GND), W3 (a long wire must link the two terminal blocks in order
to get only one ground), Power Module (PM10), Thick brown wire from the
mast, thin black wire Servo controller (CS_-) , Button relay (RB_A2)
Ground
W3 W2, obstacles sensors blue wires, outlet for charge (CHR-black wire), black
thin wires from USB cables linked to PB, black wire linked to MS1, GND
from ASM1
Ground
W4 RB_21, VD from ASM1, Sick sensors brown wires Temporary +12V
W5 RB_11, CS_+ (red wire ), MS2
+5V temporary
W6 Thin red wire from the mast , RB_A1 ( +12V) relay Command
W7 Thin green wire from the mast , CS_11 Servomotor data
Check the position of the different switches on boards: PM: 5V , ON / MS: PWR Now here is the list of tests to be
done to verify the good electrical functioning of the robot:
Button is OFF position, charger being unconnected.
- Everything must be switched off
Switch the button in ON position, charger being unconnected
- Button lit, micro USB from the mast supplied with 5V (connect a tablet to verify it)
- ASSER1, ASSER2, Mega ADK, CS and shield Bluetooth lit
Button in ON position, charger connected:
- Everything is lit (i.e. previous parts + power module+ Arduino mini-relay Check that the Power Bank is
blinking (it means, it is charging)
Button in OFF position, charger connected
- Only Power Module and Arduino mini relay are lit
- Power Bank is charging (it blinks) and battery is charging ( charger LED is lit in red or green
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Arduino code upload
If you are connected to internet, the driver managing the Arduino board should be installed automatically. Preferably
use the Arduino 1.0.6 stable version. The « CHECK » button allows verifying that code compiling is correctly executed
and is ready to be uploaded on to the board . The “Upload” button allows sending compiled code in to the board.
Adjustments are depending on the boards:
1) In Arduino select « Tool => type of board => Mega ADK », and also the COM port corresponding to the
USB output on which the Mega ADK board is connected. Upload the « Ubbo Controller » program
2) Same operation as previous one, except that you must select « tool=> type of board => Arduino NG or
older with ATMega8 » for the servomotor controller. You will have to unscrew the board to be able to
connect it and upload « Ubbo_TabletServo ».
Test : Switch on the button ; after a few seconds the tablet must be servo-controlled in its lowest position
(corresponding to 0°)
14. APK installation and configuration
APK installation and configuration
Install the APK on a tablet or a smartphone. The APK should be normally available on Play Store (as Ubbo from Axyn).
It is also available on the CD supplied with the robot.
When the application starts, the following page is appearing:
You have to give a name to the robot. Then you click on “continue”
At any time, you can exit from this page and come back to the previous menu
with the « return » key of the tablet
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With this page, you can create an account or connect with an already existing
account.
Home page
The main screen proposes a main menu with 4 buttons:
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If you select the « Users management » button, you enter the menu allowing to
grant access to a user enabling him to connect to the tablet from the web page
NB : This email has to be created via the webpage
To validate an account, you just have to give an email. To exit this page and step
back to the previous menu press the « return » key.
Configuration
If you press the third button of the home page, you enter the configuration
page. You can create or erase the already existing robot, and associate the
Bluetooth chassis module. In this case, you have to supply the chassis and the
system will detect the available Bluetooth object. Then you just have to press
the button “associate”! Be careful, you must have before associated the
Bluetooth shield to Android by using the Android menu and then, associate it
another time in the application. The default code is 1234 or 0000. To exit this
page and to step back to the main menu, press the « return » key of the tablet.
On this page, if you click on the button «erase the robot », the application stops
and, at the next session, you start as if it was the first session.
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Always on the « Configuration » page, if you click on the « manual mode »
button, you go directly to the chassis test page. After having clicked on the
« connection » button, the buttons turn from « grey » mode to « blue » one.
Then you can test the robot movements. To exit this mode, you click on « stop
the connection » and with the « return » key of the tablet and step back to
the previous menu.
Connection
If you select the first button (Connection from…), you are launching the
connection between the tablet and the web page. If the remote user is not
yet connected on the web page, the app is waiting for it.
Video feedback on the bottom right means that the connection is correctly
established and there is no firewall problem at first sight.
After a connection is established, if the image is blurry or is displayed late, you
must have an internet flow rate problem. Stop all the internet downloads (PC,
tablet, smartphone). We advise you to make an internet speed test
(www.speedtest.net for example). Minimum requirements are less than
200ms for a ping answer and 400 Kb/s for upload and download (it
corresponds to a 240p picture). Our recommendation is less than 20 ms for
the Ping and a 8Mb/s flow rate in upload and download (for a full HD picture).
To exit this page, click on the « stop the connection » button and step back to
the main menu with the “return” key of the tablet
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15. Tests II Those tests are to do preferably after charging the robot (1 night).
Sensors tests
Go to manual mode
The robot has to stop when meeting an obstacle (except if this one is dusky)
Moving tests
Connect to the robot through internet (https://ubbo.cleverapps.io/users/sign_in) (Chrome recommended)
Try all movements.
Tilt test
Still with internet navigator, move the tilt using slider.
Connection stability test
Disconnect / reconnect several times.
Wiring check
Quickly check that all wires are plugged.
Option: Collage
When everything is working properly, it is recommended, with the glue gun to glue at the connections of all wire on
the cards, to avoid that they will disconnect or loosen.
Assembly of the cover plate
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16. Web Page https://ubbo.cleverapps.io/
Main page for identification if you have already subscribed or the
page to create your account
These information have to be similar to the ones in the memory
of the robot you want to connect with.
Once you are connected, robots list is displayed:
Available robots’ status turns green, you just have to click on the
grey button to start the call:
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The screen is divided into 4 areas:
- The upper right window displays the user’s webcam picture below, the dashboard :
From the left to the right, we get:
o Mute or unmute microphone
o Background image dimension selection: As the image quality is linked to the quality of the Wifi
connection, it is possible to decrease the size of the remote video picture when its quality is bad and
so avoiding pixilation.
o Wifi signal level
o Remaining battery level
o Robot orientation (optional)
o Hang-up
- The background displays the picture from the tablet camera
The joystick can be controlled with the mouse or a touch panel screen. It allows to move forward /backward and
to rotate Arrows allows to move laterally. At last, the bar on the left allows to control the tilt of the tablet.