Dr Robot Jaguar4x4Wheel 사용자 설명서 - 페이지 19

{카테고리_이름} Dr Robot Jaguar4x4Wheel에 대한 사용자 설명서을 온라인으로 검색하거나 PDF를 다운로드하세요. Dr Robot Jaguar4x4Wheel 20 페이지. All-terrain autonomous navigation robot with gps-imu

페이지 인쇄

The control program uses the supporting components and libraries that should have been installed when you

install the control program from the installation CD:

AXIS Media Control Library Set These are the camera control component for the AXIS Mini Camera

(P/N: AXCAM) used for Jaguar robot. Please refer to "AXIS Media Control SDK Help" for detail.

Motion Control/Sensing System

Based on the protocol, you could develop your own program for any operation system. You could request

protocol sample code from Dr Robot using C++/Java, Matlab, and ROS. You should also contact Dr Robot with

any questions regarding protocol.

The communication port is connected at Ethernet module-I port 1.

Control program will connect to this board at 192.168.0.60, port 10001 by TCP socket.

You could find the source code(C#)of control program under the installation folder on your PC.

Laser Scanner

Laser Ranger sensor (4m version, URG-04LX) is connected to Ethernet module–1 port 2 after voltage level

conversion. You could access the sensor data via TCP socket at port 10002 with IP 192.168.0.60.

Default settings for the serial port are: 115200, 8, N, 1, no flow control, TCP, port number 10002

Date and communication protocol could be found in manufacture website.

GPS

GPS sensor output interface is RS232 serial port, and connected to Ethernet module-2 port 2 after voltage level

conversion. You could access the sensor data via TCP socket at port 10002 with IP 192.168.0.61.

Default settings for the serial port are: 115200, 8, N, 1, no flow control, TCP, port number 10002

NMEA 0183 sentence is described in file "GPS18x_TechnicalSpecifications.pdf". GPS configuration tool is

SNSRXCFG_200.exe

9 DOF IMU (Gyro/Accelerometer/Compass)

IMU sensor message will be ended with "CRLF"(\r\n").

Format:

"$seq,Yaw,0.3,Gyro,gyroX,gyroY,gyroZ,Accel,accelX,accelY,accelZ,Comp, magX,MagY,magZ,(reserved text"

"seq" is data package sequence number, value is in range: 0 ~255.

After "Yaw", the value will be the estimate robot heading angle. You could use it or estimate the heading by raw

gyro, accelerometer, compass and GPS sensor data. The unit is radian.

After "Gyro", the data will be 3-axis raw gyro sensor data.

After "Accel", the data will be 3-axis raw accelerometer sensor data.

After "Comp", the data will be 3-axis raw compass sensor data.

Camera with Two Way Audio

You need to install the camera ActiveX control on your system by running the "AXISMediaControlSDK.exe". You

could find some sample codes (C++, C#, VB) in C:\Program Files\Axis Communications\AXIS Media Control

www.DrRobot.com

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