Dr Robot Jaguar4x4Wheel Руководство пользователя - Страница 19
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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
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