Quanser Qbot - Manual

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User Manual
Quanser Qbot
Quanser Qbot: User Manual
Table of Contents
1. Introduction..........................................................................................................................1
2. Prerequisites.........................................................................................................................2
3. References............................................................................................................................2
4. System Hardware Description.............................................................................................3
4.1. Qbot round !e"ic#e...................................................................................................3
4.1.1. $"e iRobot %reate&.............................................................................................3
4.1.2. $"e Printed %ircuit 'oard (P%').........................................................................4
4.1.2.1. Di*ita# Input+,utput Pins (DI, -).................................................................
4.1.2.2. S/+nS/ and I0$+12$ 3umpers...................................................................
4.2. Detai#ed Description of Qbot %omponents...................................................................
4.2.1. Qbot D4%.............................................................................................................
4.2.2. 5S' %amera..........................................................................................................
4.2.3. umsti6................................................................................................................7
4.2.4. 'attery..................................................................................................................7
4.2... Infrared Sensors....................................................................................................8
4.2.7. Sonar Sensors.......................................................................................................9
4.3. System Specifications and :ode# Parameters.............................................................9
.. System Setup.......................................................................................................................;
..1. Settin* up t"e Qbot......................................................................................................;
..2. 1stab#is"in* /ire#ess %onnection................................................................................;
..3. QuaR% < Quanser Rea#=$ime %ontro#.......................................................................1>
7. $roub#es"ootin* uide.....................................................................................................17
7.1. Qbot Dri?e or Direct Dri?e commands aren@t respondin* or are causin* t"e robot to
mo?e incorrect#yA or t"e Qbot bump sensor inputs are not functionin*............................18
7.2. $"e mode# fai#s to bui#d+connect or t"e QuaR% conso#e does not successfu##y open.. .
19
7.3. $"e Qbot sensors are not bein* read correct#y or t"ey are stucB at some constant
?a#ue..................................................................................................................................19
7.4. $"e Qbot ma*netometer ?a#ues drift w"i#e t"e Qbot is mo?in* in a strai*"t #ine.....1;
7... $"e Simu#inB mode# appears to run s#ow#y (i.e.A t"e simu#ation time runs s#ower t"an
actua# time)A or t"e conso#e disp#ays t"e messa*e CSamp#in* rate is too fast for base
rateD...................................................................................................................................1;
7.7. $ryin* to start t"e Qbot mode# resu#ts in t"e error C5nab#e to #ocate t"e dynamic #inB
#ibrary or s"ared obEect.D...................................................................................................2>
7.8. $"e F1Ds Q',$ P,/1R and 5:S$I2 P,/1R do not i##uminate w"en t"e
Qbot robot is powered on..................................................................................................2>
7.9. 'ui#din* a mode# fai#s wit" t"e error C0ot enou*" system resources are a?ai#ab#e to
perform t"e operation.D $"e "ard disB is fu## on t"e umsti6 computer..........................2>
Document Number: 830 Revision: 11 Page: i
1. Introduction
$"e Quanser Qbot (Gi*ure 1) is an inno?ati?e autonomous *round robot system
incorporatin* a robust educationa# *round ?e"ic#e wit" t"e Quanser %ontro##er :odu#e
(Q%:). $"e ?e"ic#e is comprised of a iRobot %reate& robotic p#atformA an array of
optiona# infrared and sonar sensorsA and a Fo*itec" QuicBcam Pro ;>>> 5S' camera. $"e
Q%: is an embedded system mounted on t"e ?e"ic#eA w"ic" uses t"e umsti6 computer H2I
to run QuaR%A Quanser@s rea#=time contro# softwareA and t"e Qbot data acquisition card
(D4%).
$"e interface to t"e Q%: is :4$F4' Simu#inB wit" QuaR%. $"e Qbot is accessib#e
t"rou*" t"ree different b#ocB setsJ t"e Roomba b#ocB set to dri?e t"e ?e"ic#eA t"e HIF b#ocB
set to read from sensors and+or write to ser?o outputsA and fina##y t"e ,pen%! b#ocB set to
access t"e camera. $"e contro##ers are de?e#oped in Simu#inB wit" QuaR% on t"e "ost
computerA and t"ese mode#s are down#oaded and compi#ed into e6ecutab#es on t"e tar*et
(umsti6 H2I) seam#ess#y. 4 dia*ram of t"is confi*uration is s"own in Gi*ure 2.
Document Number: 830 Revision: 11 Page: 1
Gi*ure 1J $"e Quanser Qbot = top ?iew
Section 2 *oes t"rou*" t"e #aboratory requirementsA and Section 3 #ists ?arious documents
t"at are referenced in t"is manua#. $"e *enera# system descriptionA component
nomenc#atureA specificationsA and mode# parameters are a## *i?en in Section 4. Section .
*oes into detai# on "ow to setup t"e Qbot. Fast#yA Section 7 contains a troub#es"ootin*
*uide.
2. Prerequisites
$o successfu##y operate t"e QbotA t"e prerequisites areJ
i) $o be fami#iar wit" t"e components of t"e Qbot.
ii) $o "a?e QuaR% ?ersion 1.2 or #ater insta##ed (0,$1J Kou must insta## t"e beta
components by se#ectin* t"em durin* insta##ationA since some b#ocBs used wit" t"e
Qbot are found in t"e QuaR% beta #ibrary) and proper#y #icensed. ,pen Source
%omputer !ision (,pen%!) 1.> must be insta##ed in order to use t"e Ima*e
Processin* b#ocBset of QuaR% beta #ibrary. 'efore usin* t"is b#ocBset for t"e first
timeA C:\Program Files\OpenCV\bin must be added to t"e system PATH
?ariab#e. If t"e ,pen%! insta##er does not update t"e PATH ?ariab#eA open t"e System
properties from %ontro# Pane#A c"oose t"e 4d?anced tabA and t"en c#icB on t"e
1n?ironment !ariab#es button. In t"e 1n?ironment !ariab#es dia#o*A create t"e PATH
?ariab#e under t"e 5ser ?ariab#es section and add C:\Program Files\OpenCV\
bin as t"e ?ariab#e ?a#ue. It wi## be necessary to reboot t"e system after settin* t"e
Gi*ure 2J %ommunication Hierarc"y
en?ironment ?ariab#e.
iii) $o be fami#iar wit" usin* QuaR% to contro# and monitor t"e ?e"ic#e in rea#=timeA and
in desi*nin* a contro##er t"rou*" Simu#inB. See Reference H2I for more detai#s.
3. References
H1I Gumstix:
"ttpJ++*umsti6.com+
H2I QuaRC User Manual (type doc quarc in :at#ab to access)
H3I iRobot Create Open Interface Specification S"eet
H4I iRobot Create Owner's Guide
H.I SHR! "#$$" IR Ran%e Sensor&pdf
H7I '()MaxSonar)*+$),atas-eet&pdf
4. System ard!are "escri#tion
4.1. $bot %round &e'icle
4.1.1. T'e iRobot Create
$"e Qbot uses an iRobot %reate& frame (Gi*ure 3). $"e Qbot fo##ows t"e Quanser standard
for body frame a6esA w"ere t"e x)a6is is in t"e forward directionA t"e .)a6is is to t"e #eftA
Gi*ure 3J 4natomy of t"e QbotA s"owin* ?arious components and body a6es
and t"e /)a6is is up. $"e diameter of t"e ?e"ic#e is 34 cmA and its "ei*"t (wit"out camera
attac"ment) is 8 cm. and it is dri?en by two differentia# dri?e w"ee#s. $"e iRobot %reate&
comes wit" a bumper sensor and an omni=directiona# infrared recei?er. $"e Q%: can ac=
cess data from t"ese sensors.
$"e Qbot is turned on by pressin* t"e power button (more on Section ..1). Gi*ure 4 be#ow
s"ows t"e buttons t"at are used to operate t"e iRobot %reate&. $"e P#ay and 4d?ance but=
tons are for bui#t=in demos for t"e ?e"ic#eA and are not necessary for Qbot purposes.
4.1.2. T'e Printed Circuit (oard )PC(*
$"e printed circuit board (P%') contains t"e wirin* and circuitry for t"e Qbot. It a#so acts
as a co?er for t"e D4% and umsti6A and mounts for infrared sensorsA sonar sensorsA and
webcam. Gi*ure . s"ows t"e accessib#e pins for t"e user. In particu#arA t"e DI,A P/: out=
Gi*ure 4J 'uttons on t"e Qbot Grame
Gi*ure .J Qbot P%' s"owin* a?ai#ab#e pins for t"e P/: outputA Di*ita# Input+,utput and 4na#o* Input pinsA and
Eumpers for I0$+12$ power
putA and ana#o* input pins "a?e been #abe#ed for c#arity.
4.1.2.1. "i+ital In#ut,-ut#ut Pins )"I- .*
$"e DI, c"anne#s (> to 7) are set as inputs by defau#t. $"e DI, c"anne#s need to be con=
fi*ured as eit"er inputs (or outputsA but not bot") usin* t"e HIF Initia#iLe b#ocB. 4#soA if an
output needs to be in a Bnown state on power upA it is recommended t"at a 1>B resistor is
put from t"e I+, to .! or 0D as needed.
$"ere is a fina# di*ita# c"anne# (8) t"at is a fi6ed outputA and it is represented by an F1D
#abe#ed DI,8.
4.1.2.2. S/,nS/ and I0T,12T 3um#ers
$"e I0$+12$ Eumper switc"es t"e Qbot from interna# power from t"e iRobot %reate bat=
tery (I0$) and an e6terna# battery power supp#y (12$). 0ote t"at no e6terna# battery is sup=
p#ied wit" t"e QbotA so t"is Eumper s"ou#d be #eft in t"e I0$ position to power t"e Qbot.
/"en t"e power source Eumper is in t"e I0$ positionA t"e S/+nS/ Eumper indicates
w"et"er t"e iRobot %reate must be switc"ed on (S/) for t"e Qbot to recei?e powerA or
w"et"er t"e Qbot s"ou#d a#ways draw power e?en w"en t"e iRobot %reate is off (nS/).
4.2. "etailed "escri#tion of $bot Com#onents
4.2.1. $bot "4C
$"e Qbot D4% is a data acquisition boardA capab#e of recei?in* ana#o* inputs and ot"er in=
puts (for sonar sensors). It is a#so capab#e of writin* P/: outputs for possib#e ser?o actu=
ators. It is #ocated underneat" t"e b#acB co?er of t"e QbotA and it is not intended for it to be
p"ysica##y accessed.
4.2.2. US( Camera
$"e Fo*itec" QuicBcam Pro ;>>> 5S' camera is mounted on top of t"e Qbot (Gi*ure 7).
$"e QuaR% b#ocB set t"at uses t"e ,pen Source %omputer !ision #ibrary (in Section ..3)
a##ows t"e user to capture and disp#ay ima*es in rea# timeA process t"emA and sa?e t"em in a
disB for future ana#ysis.
4.2.3. %umsti5
$"e umsti6 is a sma##=sca#eA fu##y functiona#A open source computer. /it" QuaR% in=
sta##edA code *enerated from :4$F4' is down#oadedA compi#edA and e6ecuted direct#y on
t"e umsti6.
$"e umsti6 mot"erboard is connected direct#y to t"e Qbot D4%. $"e umsti6 a#so comes
wit" t"e /ifi attac"ment board to a##ow wire#ess connection between t"e tar*et umsti6
and t"e "ost computer and+or ot"er ?e"ic#es.
$"e IP of t"e umsti6 wi## be pro?ided.
4.2.4. (attery
$"e Qbot is powered by t"e 4d?anced Power System (4PS) 'attery (Gi*ure 8) pro?ided by
iRobot. $"e battery fits underneat" t"e Qbot (Gi*ure 9)A and can #ast continuous#y for about
2 "ours after a fu## c"ar*e. $"e Qbot@s power #i*"t indicates t"e power #e?e# of t"e battery.
$"e #i*"t is *reen w"en t"e batteries are fres"A t"en *radua##y turns red as t"e battery
disc"ar*es. $"e battery taBes #ess t"an 3 "ours to c"ar*e. /"i#e c"ar*in*A t"e power #i*"t
pu#ses s#ow#y wit" an oran*e co#our. 4 battery c"ar*er wi## be pro?ided.
Document Number: 830 Revision: 11 Page:
Gi*ure 7J %amera
4.2.6. Infrared Sensors
$"e SH4RP 2K>4>2 H.I is a #ow cost infrared ran*e sensor (2>=1.> cm). $"ere are fi?e of
t"ese sensors inc#uded wit" t"e Qbot. $"e sensors are connected to t"e ana#o* input c"an=
ne#s of t"e Qbot D4%A w"ic" can t"en be read usin* t"e HIF Read /rite b#ocB (Section
..3).
Document Number: 830 Revision: 11 Page: !
Gi*ure 9J 'ottom ?iew of t"e QbotA "i*"#i*"ted wit" battery #ocation
Gi*ure 8J $"e Qbot 'atteryA t"e 4d?anced Power System
4.2.7. Sonar Sensors
$"e :a6Sonar=1M> H7I is a ?ery s"ort to #on*=ran*e detection and ran*in* sonar sensor
(Gi*ure 1>). $"e :a6Sonar=1M> detects obEects from >=inc"es to 2.4=inc"es (7.4.=meters)
and pro?ides sonar ran*e information from 7=inc"es out to 2.4=inc"es wit" 1=inc" reso#u=
tion. ,bEects between >=inc"es and 7=inc"es ran*e as 7=inc"es. $"ere are t"ree of t"ese
sensors inc#uded wit" t"e Qbot. $"e sensors are connected to t"e ot"er input c"anne#s of t"e
Qbot D4%A w"ic" can t"en be read usin* t"e HIF Read /rite b#ocB (Section ..3).
4.3. System S#ecifications and Model Parameters
$ab#e 1 be#ow #ists t"e main parameters associated wit" t"e Quanser Qbot.
Symbol Description Value Unit
d Diameter of t"e Qbot
>.34
m
- Hei*"t of t"e Qbot (wit" camera
>.1;
m
Gi*ure ;J SH4RP P2D12 IR
Sensor
Gi*ure 1>J F!=:a6Sonar=1M>
Sonar Ran*e Ginder
Symbol Description Value Unit
attac"ment)
0
max
:a6imum speed of t"e Qbot
>..
m1s
m $ota# mass of t"e Qbot
2.;2
2%
$ab#e 1 Qbot :ode# Parameters and System Specifications
6. System Setu#
In Section ..1A instruction is *i?en on "ow to assemb#e t"e ?e"ic#e. Section ..2 wa#Bs
t"rou*" settin* up a wire#ess connection wit" /indows. Gina##yA Section ..3 e6p#ains "ow
to proper#y setup t"e QuaR%=Simu#inB interface so t"at t"e user can communicate wit" t"e
umsti6.
6.1. Settin+ u# t'e $bot
Go##ow t"ese steps to setup t"e Quanser QbotJ
1. Insert t"e battery underneat" t"e Qbot.
2. Press power button s"own in Gi*ure 4. $"is turns on bot" ?e"ic#e and Qbot
D4%+umsti6.
6.2. 1stablis'in+ /ireless Connection
1. /indows s"ou#d detect a networB ca##ed S4HA an C5nsecured %omputer=to=%omputer
0etworBD. %onnect to it.
2. ,pen t"e Status of t"e wire#ess networBA t"en c#icB on Properties.
3. 5nder C$"is connection uses t"e fo##owin* itemsJDA scro## down to Internet Protoco#
($%P+IP)A t"en doub#e c#icB on it.
4. Instead of obtainin* an IP address of t"e computer automatica##yA enter t"e fo##owin*J
IP addressJ 192.179.1.666 (any unused number)
Subnet masBJ 2...2...2...>
Defau#t *atewayJ 192.179.1.666 (same as IP)
.. $"e umsti6 can be pin*ed by typin* Cpin* NIP of umsti6OD in t"e Run bo6 in /in=
dows.
Document Number: 830 Revision: 11 Page: "
6.3. $uaRC 8 $uanser Real9Time Control
Simu#inB s"ou#d "a?e a new menu item ca##ed QuaR% once QuaR% "as been insta##ed. $"e
fo##owin* steps are required to setup QuaR% for t"e QbotJ
1. %reate a new Simu#inB mode#A or open an e6istin* mode# to be run on t"e umsti6.
2. %#icB on t"e QuaR% menuA t"en se#ect ,ptions.
3. $"e System tar*et fi#e under Rea#=$ime /orBs"op s"ou#d be quarcP#inu6Parm.t#c.
'rowse t"rou*" t"e system tar*et #ist to #ocate t"e proper fi#e if necessary (Gi*ure 11).
Gi*ure 11 QuaR% ,ption :enu.
4. 0e6tA c"oose Interface on t"e #eft "and pane. 5nder t"e :12=fi#e ar*umentsA type @=w
=d +tmp =uri Qu@A @tcpipJ++NIP of umsti6OJ18>>1@. Inc#ude t"e sin*#e quotation marBs
(Gi*ure 12). Rep#ace NIP of umsti6O wit" t"e IP of your umsti6A e.*.
@tcpipJ++192.179.1.2>>J18>>1@.
.. In t"e Simu#inB Fibrary 'rowserA na?i*ate down QuaR% $ar*ets R De?ices R $"ird=
Party R iRobot R Roomba R Interfacin*. $"e Roomba Initia#iLe b#ocB is required for
t"e umsti6 to communicate wit" t"e Qbot. %"an*e t"e 5RI to Cseria#J++#oca#"ostJ1S
baudT.87>>AwordT9AparityTnoneAstopT1D (Foca# "ost is 2 by defau#t). 5se defau#t send
recei?e bytes.
7. In t"e Simu#inB Fibrary 'rowserA na?i*ate down QuaR% $ar*ets R Data 4cquisition R
eneric R %onfi*uration. $"e HIF Initia#iLe b#ocB is required to communicate wit" t"e
Qbot D4%. %"oose a 'oard name. Se#ect t"e board type UqbotU to tar*et t"e Qbot w"en
runnin* t"e mode#.
8. 4dd t"e HIF Read /rite b#ocB from QuaR% $ar*ets R Data 4cquisition R eneric R
Immediate I+, to read infrared sensor (ana#o*) and sonar measurements from t"e
?e"ic#e. $"e Qbot D4% a#so supports P/: write c"anne#s H>J3I.
9. Gor ima*e processin* usin* t"e on=board cameraA use t"e b#ocBs in QuaR% $ar*ets 'eta
R Ima*e Processin* R ,pen Source %omputer !ision.
;. Se#ect C16terna#D for simu#ation modeA instead of C0orma#DA w"ic" indicates t"at t"e
mode# is to be run on t"e tar*et mac"ine (umsti6) rat"er t"an simu#atin* t"e mode# on
t"e "ost mac"ine. $ab#e 2 and $ab#e 4 #ist t"e b#ocB sets supported by t"e Quanser QbotA
Gi*ure 12J %onfi*urin* :12=fi#e 4r*uments
and $ab#e 3 "i*"#i*"ts t"e more important Qbot b#ocBs.
Block set Description
Interface
(Gi*ure 13)
$"is b#ocB set imp#ements t"e basic app#ication pro*ram interfaces (4PIs) pro?ided by
iRobot %reate&. $"e 4PIs can be broad#y cate*oriLed based on t"e fo##owin*
functiona#itiesJ
seria# connection confi*uration between t"e "i*" #e?e# contro##er (e.*.A P% or
umsti6) and QbotA
settin* operation mode of QbotA
accessin* Qbot@s sensory informationA
ot"er "ardware confi*uration (e.*.A settin* di*ita# and ana#o* I+, portsA and
c"an*in* F1D co#ours.
4pp#ication
(Gi*ure 14)
$"is b#ocB set a##ows a user to imp#ement na?i*ation a#*orit"ms usin* a?ai#ab#e sensory
information. $"e present b#ocBs use on#y w"ee# encoder data and bump sensors for
na?i*ation and obstac#e a?oidance.
Ima*e Processin*
(Gi*ure 1.)
$"is b#ocB set imp#ements ima*e acquisition and processin* functiona#ities usin* t"e
,pen%! #ibrary. $"e ima*e processin* b#ocB set a##ows to capture ima*es from a 5S'
cameraA to process it on=#ineA and to sa?e it to a disB for furt"er ana#ysis.
$ab#e 2J Description of t"e Re#e?ant Qbot '#ocB Sets for t"e Qbot in QuaR%
Block Description
$"is b#ocB is required to estab#is" a seria# connection to a Qbot.
4 Qbot is identified by a 5ni?ersa# Resource Identifier (5RI)A suc" as
serial://localhost:1baud!"#$$%&ord'%parit(none%stop1A
w"ere communication port 1 of t"e tar*et is connected to t"e Qbot seria# port
wit" t"e specified parameters.
0oteJ $"e CrmbD output of t"is b#ocB must be connected to t"e CrmbD input of
t"e b#ocBs in t"e Roomba b#ocB set in order to access t"e Roomba.
$"is b#ocB dri?es t"e Qbot wit" two inputsJ ?e#ocity and radius. $o dri?e
strai*"tA t"e radius input taBes 32879 or 32878. $"is is a specia# caseA and refer
to t"e :4$F4' He#p pa*e for a more comp#ete #ist of possib#e commands.
$"is b#ocB retrie?es ?arious sensor data from t"e Qbot. $"e pac23id input
ran*es from 8 to 42A and eac" input wi## disp#ay a ?a#ue from t"e pac2 output.
See t"e :4$F4' He#p pa*e for a fu## description for eac" of t"e pacBet IDs.
0otab#e pacBPid ?a#uesJ
9 T wa## (> T no wa##A 1 T wa## seen)
1; T distance ($"e distance t"at t"e Qbot "as tra?e#ed in mi##imeters)
2> T an*#e ($"e an*#e in de*rees t"at t"e Qbot "as turned)
22 T ?o#ta*e (!o#ta*e of t"e Qbot@s battery in mi##i?o#ts)
23 T current (%urrent in mi##iamps f#owin* into or out of t"e Qbot@s
battery)
$ab#e 3J Important Qbot '#ocBs
Gi*ure 13J Interface '#ocB Set
Gi*ure 14J 4pp#ication '#ocB Set
Gi*ure 1.J Ima*e Processin* '#ocB Set
Block Description
Initia#iLation b#ocB required in a## QuaR% mode#s usin* a HIF card.
0oteJ on#y one HIF Initia#iLe b#ocB is needed in t"e mode# to setup one
?e"ic#e. $"e HIF Read /rite b#ocB must reference t"is b#ocB to determine
t"e board bein* used.
$"e current ?ersion of t"e Qbot D4% can read from ana#o* c"anne#s (for
t"e infrared sensors)A and sonar c"anne#s. P/: c"anne#s are supported for
write operations.
%"anne#
$ype
!a#id %"anne#
Ran*es
Description
IR Input
(4na#o*
Read)
H>J4I Reads infrared sensor measurements
4na#o* In=
put
(Read)
H>J7I
Sonar Input
(,t"er
Read)
H1J3I Reads sonar sensor measurements
P/:
(/rite)
H>J8I i?es duty cyc#e commands as a percent=
a*e (> to 1) of a 2>ms periodA w"ere ?a#=
ues ran*e from >.>2. to >.12..
$ab#e 4J Description of t"e Re#e?ant HIF '#ocBs for t"e Qbot in QuaR%
4t t"is pointA t"e mode# is ready to be compi#ed and e6ecuted on t"e tar*et.
7. Troubles'ootin+ %uide
Gor any issueA t"e first and easiest troub#es"ootin* so#ution on any e#ectronic de?ice is to re=
boot t"e de?ice. $urn off t"e QbotA t"en turn it bacB on a*ain. Gor troub#es"ootin* any prob=
#em wit" t"e QbotA it is a#ways a *ood idea to open t"e QuaR% conso#e in case additiona#
information is printed to t"e conso#e by *oin* to t"e QuaR% menu and c#icBin* on C%onso#e
for a##VD. $"e conso#e must be opened after t"e Qbot "as booted and estab#is"ed a wifi
connection. If t"e conso#e is opened successfu##y it estab#is"es a connection to t"e tar*et
and t"e conso#e window "as t"e tit#e CQuaR% %onso#e for W at
tcpipJ++192.179.1.666J18>>>DA w"ere 666 corresponds to t"e IP address of t"e Qbot.
7.1. $bot "ri:e or "irect "ri:e commands aren;t
res#ondin+ or are causin+ t'e robot to mo:e incorrectly<
or t'e $bot bum# sensor in#uts are not functionin+.
1. %"ecB t"at t"e Qbot w"ee#s are retracted fu##y into t"e w"ee# bays. If any w"ee# is out of
its bayA t"en t"e Qbot wi## stop dri?in* for safety reasons. :aBes sure to operate t"e
Qbot on a "ardA f#at surface.
2. $urn off t"e Qbot and iRobot %reate power and remo?e t"e Eumper on t"e I0$+12$ bat=
tery "eader on t"e Qbot. $urn on t"e iRobot %reate and run t"e bui#t=in demos and
troub#es"ootin* steps found in t"e iRobot %reate ,wner@s uide supp#ied wit" your
Qbot. If t"e troub#es"ootin* steps in t"e iRobot %reate ,wner@s uide s"ow t"at t"e ro=
bot is worBin*A t"en rep#ace t"e I0$+12$ battery Eumper on t"e Qbot and continue. If
t"e iRobot %reate demos do not worB as e6pectedA p#ease contact iRobot tec"nica# sup=
port.
3. $urn on t"e Qbot and open t"e !4F Read Sensors b#ocB in one of t"e supp#ied Simu#inB
mode#s. In t"e !4F Read Sensors parameters under t"e C,t"erD c"anne#sA se#ect t"e
bump sensors by typin* H13>>>J13>>2I. 4ttac" a scope or disp#ay b#ocB to t"e !4F Read
Sensors C,t"erD c"anne#s output and compi#e and run t"e mode#. !erify t"at t"e bump
sensors can be read by t"e Qbot computer by pressin* t"e Qbot bumper and watc" t"e
bump sensors si*na#s *o from > to 1 w"en pressed. If t"ese si*na#s do not c"an*eA t"en
open t"e Qbot #id by remo?in* t"e four #id screws s"own in Gi*ure 17 and ?erify t"at t"e
Qbot computer is connected to t"e robot. :aBe sure t"e D'=2. connector is firm#y in
p#aceA rep#ace and secure t"e Qbot #idA and retry t"e bump sensor test.
Document Number: 830 Revision: 11 Page: 1!
Gi*ure 17J $"e Gour Qbot Fid Screws
7.2. T'e model fails to build,connect or t'e $uaRC
console does not successfully o#en.
1. $urn on t"e Qbot and #ooB t"rou*" t"e square window #ocated on t"e #ower ri*"t of t"e
Qbot #id. /"en t"e Qbot powers upA you wi## see an oran*e F1D come on in t"e inner
car*o bay of t"e robot. 4fter appro6imate#y 3> secondsA a b#ue F1D wi## f#as" to indicate
t"e Qbot wifi is powerin* onA and is attemptin* to connect to anot"er computer on t"e
ad="oc wifi networB. If t"e b#ue F1D f#as"es and remains onA t"en t"e wifi modu#e is
functionin* and is ab#e to find anot"er node on t"e ad="oc wire#ess networB. If t"e b#ue
F1D f#as"es and t"en turn offA t"e Qbot is not ab#e to detect ot"er nodes (e.*.A t"e "ost
P%) on t"e ad="oc wire#ess networB. %"ecB t"at t"e wifi adapter is inserted proper#y in
t"e "ost P% and is confi*ured accordin* to t"e networB confi*uration procedure out#ined
in t"is manua# (System SetupX1stab#is"in* /ire#ess %onnection). !erify t"at t"e "ost P%
is connected to t"e wire#ess ad="oc (S4H) networB and try to successfu##y pin* t"e
Qbot by *oin* to t"e /indows Start R Run and typin* Cpin* 192.179.1.666D (wit"out
quotation marBs)A w"ere 666 corresponds to t"e IP address of your Qbot. If t"e b#ue F1D
ne?er f#as"esA t"e wire#ess antenna or wire#ess modu#e may be disconnected. $urn off t"e
Qbot power and open t"e Qbot #id by remo?in* t"e four #id screws s"own in Gi*ure 17
and ?erify t"at t"e umsti6 wire#ess modu#e and antenna are proper#y connected. $"e
wire#ess modu#e s"own in Gi*ure 18 is #ocated on t"e bottom side of t"e *reen umsti6
computer inside t"e Qbot car*o bay. :aBe sure t"e wire#ess modu#e and antenna are se=
cure#y connected and retry t"e abo?e steps to estab#is" a wire#ess connection.
7.3. T'e $bot sensors are not bein+ read correctly or t'ey
are stuc= at some constant :alue.
1. 5sin* t"e !4F Read Sensors b#ocBA output a## possib#e c"anne#s. %"ecB t"ese outputs
usin* scopes and disp#aysA and determine if t"e prob#em #ies wit" a particu#ar sensorA or set
of sensorsA or if t"e issue is *#oba# across a## sensors.
Gi*ure 18J /ifi :odu#e
2. %reate a new Simu#inB mode# and add a HIF Initia#iLe and HIF /rite b#ocB. Se#ect t"e
CqbotD board type in t"e HIF Initia#iLe b#ocB. ,pen t"e HIF /rite b#ocB and se#ect on#y di=
*ita# output c"anne# 8. %onnect eit"er a square wa?e *oin* from > to 1A or a constant b#ocB
to t"e input of t"e HIF /rite b#ocB. %ompi#e and run t"e mode#. !erify t"at t"e F1D #e?e#ed
DI,8 on t"e Qbot #id turns on and off w"en t"e input to t"e HIF /rite b#ocB *oes from 1 to
>A respecti?e#y. If t"e DI,8 F1D does not turn onA t"ere is a communication fai#ure between
t"e umsti6 and t"e Qbot computer.
7.4. T'e $bot ma+netometer :alues drift !'ile t'e $bot is
mo:in+ in a strai+'t line.
1. $"e ma*netometer detects t"e 1art"@s ma*netic fie#ds as we##s as e6terna# ma*netic
fie#ds. :eta# underneat" t"e f#oor or in surroundin* structures wi## affect t"e direction of t"e
ma*netic fie#dsA t"us affectin* t"e Qbot ma*netometer measurements. $"is is a fundamenta#
#imitation of any ma*netometer de?ice.
7.6. T'e Simulin= model a##ears to run slo!ly )i.e.< t'e
simulation time runs slo!er t'an actual time*< or t'e
console dis#lays t'e messa+e >Sam#lin+ rate is too fast
for base rate?.
1. $"e ma6imum samp#e rate recommended for t"e Qbot is .>> HL (>.>>2 s). Howe?erA if
t"ere are comp#e6 ca#cu#ations (suc" as ima*e processin*) performed wit"in t"e mode#A t"en
t"is cou#d potentia##y #imit t"e samp#e rate of t"e mode#. $ry reducin* t"e mode# samp#e rate
in t"e menu QuaR%X,ptionsXSo#?er by increasin* t"e CGi6ed=step siLe (fundamenta# samp#e
time)D parameter.
2. $"e HIF Read /rite b#ocB and t"e !4F Read Sensors b#ocB s"ou#d on#y be used once in
a dia*ram. $"ese b#ocBs perform #ar*e data transfers between t"e Qbot computer and t"e
contro##ersA so p#acin* more t"an one of t"ese b#ocBs wi## cause mu#tip#e reads to be per=
formed in t"e same samp#e instantA w"ic" is unnecessary. 5se on#y one HIF Read /rite or
!4F Read Sensors b#ocB for t"e entire mode#.
3. $o determine t"e e6ecution time of b#ocBs or subsystems wit"in t"e mode#A use t"e %om=
putation $ime b#ocB found in t"e QuaR% #ibraryXSourcesX$ime. $"is b#ocB outputs t"e com=
putation time of a function ca## subsystemA measured usin* an independent "i*"=reso#ution
time source. '#ocBs can be p#aced inside a function ca## subsystem and connected to t"e
%omputation $ime b#ocB to determine t"eir e6ecution time durin* eac" samp#e instant. $"is
"e#ps identify t"e bott#enecBs in t"e mode# (b#ocBs+subsystems wit" t"e "i*"est e6ecution
time) and can identify b#ocBs+subsystems w"ose computation time is *reater t"an t"e
Document Number: 830 Revision: 11 Page: 1"
samp#e time of t"e mode#. $ry increasin* t"e samp#e time of t"ose b#ocBs w"ose computa=
tion time is *reater t"an t"e samp#e time of t"e mode# so t"at t"e b#ocBs run in a s#ower rate
t"read.
7.7. Tryin+ to start t'e $bot model results in t'e error
>Unable to locate t'e dynamic lin= library or s'ared
ob@ect.?
1. $"is error indicates t"at t"e Qbot dri?er is not found on t"e tar*et. :aBe sure t"at t"e
mode# tar*et type is set to Finu6 4R: by na?i*atin* to t"e QuaR% menu QuaR%X,ptionsX
Rea#=$ime /orBs"op pane and c"an*in* t"e System tar*et fi#e to quarcP#inu6Parm.t#c.
,pen a conso#e t"rou*" t"e QuaR% menu QuaR%X%onso#e for a##A and ?erify t"at t"e con=
so#e window disp#ays t"e tar*et IP of your Qbot in t"e window tit#e.
7.A. T'e B1"s $(-T P-/1R and %UMSTI2 P-/1R do
not illuminate !'en t'e $bot robot is #o!ered on.
1. !erify t"at t"e Eumper on t"e I0$+12$ battery "eader on t"e Qbot #id is secure#y p#aced
in t"e I0$ position. $"is Eumpber switc"es t"e Qbot power source from t"e robot@s in=
terna# poewr (I0$) or an e6terna# battery source (12$). 0oteJ an e6terna# battery to
power t"e Qbot is not pro?ided wit" t"e system.
2. If t"e Eumpers are secure#y in p#ace and t"e power F1Ds remain off w"en t"e iRobot
%reate is onA turn off t"e robotA open t"e Qbot #id by remo?in* t"e four #id screws s"own
in Gi*ure 17A and ?erify t"at t"e D'=2. cab#e to t"e robot is secure#y connected. Rep#ace
t"e #id and try to power on t"e Qbot.
7.C. (uildin+ a model fails !it' t'e error >0ot enou+'
system resources are a:ailable to #erform t'e o#eration.?
T'e 'ard dis= is full on t'e %umsti5 com#uter.
1. /"en se?era# mode#s are compi#edA t"e disB space on t"e umsti6 may become fu##A and
you wi## no #on*er "a?e space to bui#d mode#s. 5sin* t"e c#ean option in t"e QuaR%
menu under QuaR%X%#ean a## wi## remo?e a## *enerated code and compi#ed code for t"e
current mode#A but t"is wi## on#y free up t"e space used by t"e current mode#. %#earin*
a## mode#s from t"e umsti6 "ard disB must be done manua##y usin* Pu$$KA or any ss"
c#ient. 5sin* Pu$$KA #o* into t"e umsti6 by connectin* to it usin* t"e IP #isted on t"e
QbotA and use t"e user name CrootDA and password CquanserD (wit"out quotation marBs).
0a?i*ate to t"e +?ar+spoo#+quarc directoryA w"ic" is w"ere a## *enerated code and com=
pi#ed mode#s reside. 5se t"e C#sD command to #ist a## contents of t"is directory to see a##
mode#s t"at "a?e been down#oaded to t"e umsti6. Note: be careful executing any re-
move/delete command on your Gumstix, as incorrect usage could permanently
damage the file system, rendering the Qbot unusable Indi?idua# mode#s+code can be
manua##y remo?ed from t"e +?ar+spoo#+quarc directory. $o remo?e a## *enerated code and
e6ecutab#e contro##ersA run t"e command Crm =rf +?ar+spoo#+quarc+WD (wit"out quotation
marBs). $o confirm t"ere are no #on*er any mode#s on t"e umsti6A e6ecute t"e com=
mand C#sD and t"ere s"ou#d be not"in* #isted.

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