Modern Robotics Inc. Core Device Discovery

Transcription

1 Modern Robotics Inc. Core Device Discovery Version April 11, 2017

2 Contents 1. Document Control Description Application Download/Installation Application Usage Core Power Distribution Module Core Device Interface Module Advanced Options On Board LEDs PWM Outputs Digital I2C Ports Address List I2C Commands Change I2C Address Analog/Digital Inputs Analog Outputs Core Legacy Module Advanced Options On Board LEDs Sensor Ports Core Motor Controller Advanced Options Current Status Motor Controls Constant Power Mode Constant Speed Mode Run to Positon Mode Motor Type Core Servo Controller Advanced Options Standard Servo Use Extended Range Servo Use Firmware Upgrade via Core Device Discovery Upgrade a Module Version Page 2

3 1. Document Control Revision History Version Date Description By /27/15 Initial Document Modern Robotics /11/17 Rewrote and reorganized document Modern Robotics Modern Robotics. Inc 2017 This document is published by. No part of this document may be copied, published in print or shared online or otherwise publically released without the express written consent of. Specifications subject to change without notice SW 124 th St Miami, FL Phone: (786) Web: Version Page 3

4 2. Description The Core Device Discovery utility allows you to retrieve module information and serial numbers, test connectivity and most functions of each module from your PC or Mac. Modules that can be tested by this are; Core Servo Controller Core Motor Controller Core Legacy Module Core Device Interface Module Core Power Distribution Module (Indirectly. This will not appear in device window.) It is recommended that the Core Power Distribution Module be used in line with the connected controllers and computer. Version Page 4

5 3. Application Download/Installation Step 1 Download the Core Device Discovery executable (.exe) by going to Step 2 Step3 Core Device Discovery will be in your downloads folder. We recommend moving the program to your documents folder. Core Device Discovery can be used from any location on your computer including external hard drives. Double click the executable file to run the application. When the program is open, it will match the photo below. Version Page 5

6 4. Application Usage Connect your Core Power Distribution Module to your computer. Your computer will see the Core Power Distribution Module as a generic USB hub. Connect additional modules to the Core Power Distribution Module one at a time to allow for the modules to be discovered and install the proper device drivers. Windows: A popup window will appear in the tool tray indicating that device has drivers, been assigned a COM port and is ready for use. If your computer does not install the drivers, the modules will not be found by the application. To fix this, go to and select the setup executable option in the comments column. Installing this driver will allow the modules to communicate with the computer. Mac: In most cases, each module connected will be assigned a tty USB port within a short time of connecting. Once the tty number is assigned, the module is ready for use. Click the Refresh button to update the device windows with the currently connected controller. Version Page 6

7 NOTE: Servo and Motor Controllers must be connected to 12V with the red LED turned ON to be read properly by the Core Device Discovery. Clicking Save Output will save valuable information about the controllers you have connected to a text file. If you are having trouble with a module or controller, then save a text file and it to support@modernroboticsinc.com with a detailed description of the problem and testing steps. Indicator Legend: = No Module/Controller Detected = Core Control Module Found = Unknown Device OR Servo/Motor w/o 12V power = Module/Controller Require Reprogramming White Button Selected Mode Dark Button Available Mode Light Button - Commands Indicator COM Port Firmware Version Manufacturer FTDI Serial Number Device Name Upgrade Firmware Advanced Testing Options Green Input value is good Red Input value is incorrect or out of range Gray Input disabled, Read only Version Page 7

8 5. Core Power Distribution Module The Core Power Distribution Module is equipped with four LEDs as status indicators. Under normal operation, all four LEDs should be illuminated with a power supply and USB host connected. USB Enable 3.3 V 12 V 5 V 12 V Indicates a 12 V supply is connected and the power switch is turned on. 5 V Indicates the 5 V circuit is working properly. 3.3 V Indicated the 3.3 V circuit is working properly. USB Enable Indicates a USB host is connected to the Mini USB port. Note: The Core Power Distribution Module does not appear in the Core Device Discovery device windows. The seven device windows represent the seven ports of the Core Power Distribution Module in an arbitrary order. For more information and testing instructions for the Core Power Distribution Module, go to Version Page 8

9 6. Core Device Interface Module Advanced Options The Core Device Interface Module has one green LED to indicate a connection to a 5 V USB host. The Core Device Interface Module can be directly connected to the computer via USB or connected through your Core Power Distribution Module. For more information and testing instructions for the Core Device Interface Module, go to 5 V Click the Advanced button on the home screen to open the advanced window. Version Page 9

10 6.1. On Board LEDs The Red and Blue on board LEDs can be controlled by checking or unchecking the boxes PWM Outputs There are two ports available for generating pulse width modulation. There are two parameters that must be set to generate a PWM output. The On Time parameter is a measure from rising edge of the wave form to the next falling edge. The Period parameter is a measure of the rising edge of the wave form to the next rising edge. Version Page 10

11 6.3. Digital I2C Ports The Digital I2C Ports window is split into three sections; Address List, I2C Commands and Change Address. If the number is preceded by 0x then that is a hexadecimal number, otherwise it is a decimal number Address List The Address List displays all connected and properly working I2C sensors and their I2C Address. Third party sensors may not be displayed the same I2C Commands The I2C Commands section is used for reading data from and writing data to an I2C sensor. The Address field is the I2C address of a sensor that was found in the Address List. The Register field is the location within the sensor where data can be read or written. For more information on the register layouts and usage of Modern Robotics I2C sensor, go to tation.pdf. Performing a read of a register location must be done by pressing the READ button or checking the Poll Read checkbox, which will then display the register value in the Value field. Writing to a register requires a value to be typed into the Value field. The value is written to the register within the sensor when the WRITE button is pressed Change I2C Address The Change Address section is very important when using two of the same I2C sensors on the same I2C bus. For both sensors to work they must have different I2C address, otherwise they will both communicate at the same time causing garbage data to be returned. With only one of the sensors connected, type the current I2C address into the Current field. The name of the sensor will appear in place of if a Modern Robotics Sensor is detected. Then the new address must be typed into the New Addr field. The new address must range from 0x10 0xEE and be an even number. Once the Change Address button is pressed, the Address List section will update with the new I2C address of the sensor. Version Page 11

12 6.4. Analog/Digital Inputs The Analog and Digital inputs display the raw value returned by the sensor. The Analog sensors will return values ranging from The Digital sensors will return a 0 or 1. A connected sensor to the analog or digital ports will be read automatically and displayed Analog Outputs The Analog Output feature generates a voltage with either DC current or AC current represented by a sine, square or triangle wave form. There is a 4mA max current per Analog Output port. Once the values are typed in, the Update Analog Out must be pressed to apply the values to the port. Mode Voltage Range Frequency Range Voltage Output (DC) -4 V +4V N/A Sine Wave Output (AC) 0 ±4 V (8 V p p) 1 Hz 5000 Hz Square Wave Output (AC) 0 ±4 V (8 V p p) 1 Hz 5000 Hz Triangle Wave Output (AC) 0 ±4 V (8 V p p) 1 Hz 5000 Hz Version Page 12

13 7. Core Legacy Module Advanced Options The Core Legacy Module has one red LED to indicate a connection to a 5 V USB host. The Core Legacy Module can be directly connected to the computer via USB or connected through your Core Power Distribution Module. For more information and testing instructions for the Core Legacy Module, go to 5 V Click the Advanced button on the home screen to open the advanced window. Version Page 13

14 7.1. On Board LEDs There are four on board LEDs that can be controlled by checking or unchecking the boxes Sensor Ports The Core Legacy Module has six sensor ports to connect HiTechnic sensors and controllers. To perform an analog read, connect a legacy analog or digital sensor to the sensor port on the Core Legacy Module. A single read can be made by clicking the READ button or constantly poll a reading by checking the Poll Read checkbox. The returned reading will appear in the Analog Reading field. To communicated via I2C a legacy I2C sensor or legacy motor/servo controller must first be connected. If the number is preceded by 0x then that is a hexadecimal number, otherwise it is a decimal number. Click the I2C Address button to show the address of the attached I2C device. Enter the register location per the device s register map into the Register Location field. Performing a read of a register location must be done by pressing the READ button or checking the Poll Read checkbox, which will then display the register value in the Value field. Writing to a register requires a value to be typed into the Value field. The value is written to the register within the sensor when the WRITE button is pressed. Note: Port S4 and S5 can enable 9 V for use with the legacy NXT Ultrasonic Sensor. (Coming soon to Core Device Discovery) Version Page 14

15 8. Core Motor Controller Advanced Options The Core Motor Controller has one red LED to indicate a connection to a 12 V power. The Core Motor Controller can be directly connected to the computer via USB or connected through your Core Power Distribution Module. There must be 12 V power applied with the red LED on when testing or the controller will not be detected properly by the computer. For more information and testing instructions for the Core Motor Controller, go to 5 V Click the Advanced button on the home screen to open the advanced window. Version Page 15

16 8.1. Current Status The status window displays vital information about the status of the motor on the port and the battery voltage Motor Controls The Motor Control window contains all the tools necessary to fully test a Core Motor Controller and motor. There are three operating modes a motor port can be set to; Constant Power, Constant Speed and Run to Position. There are also two stopping modes, Brake and Float. Brake will halt the motor when a power of zero is applied and hold at the current encoder position. This means that in Brake mode at a power of zero the motor shaft cannot be rotated. Float will cause the motors to coast to a stop and will not hold the encoder position. This means that in Float mode at a power of zero the motor shaft can continue to rotate. User Defined Power Current Applied Power Motor Type and PID/Ratio User Defined Encoder Position Current Encoder Position Set PID/Ratio (Gray if set) Currently in Power Mode Resent Current Encoder Value Brake/Float Mode Apply user defined power and encoder position Constant Power Mode Constant Motor Power Mode applies the same amount of power to the motor regardless of the load on the motor. Motor power ranges from Version Page 16

17 8.2.2 Constant Speed Mode Constant Motor Speed Mode applies a power to the motor to maintain the same rotational speed. Therefore, when applying ±100% power in Constant Speed Mode the resulting power will be 85% of the maximum power. This is necessary if the load becomes greater on the motor and requires more power to be applied to maintain a constant speed Run to Positon Mode Run to Position Mode will run the motor until the encoder reaches the user defined encoder position. When using run to position a power of 100% the power applied will be 85% of the maximum. This is necessary if the load becomes greater on the motor and requires more power to be applied to maintain constant encoder counts on both motors. Enter in the power and encoder target values before clicking Update. When using this mode, always apply a positive power. The motor will turn in the direction according to the encoder target position Motor Type The Core Motor Controller supports a few types of motors including Matrix, AndyMark and Tetrix with support for other motors in the future. Selecting a motor type changes the P, I, D and Ratio parameters which are vital to using the motor with encoders. The PID and Ratio parameter were found through extensive testing on special equipment. Once a motor type it set, it will remain set until it is changed by the user. Version Page 17

18 9. Core Servo Controller Advanced Options The Core Servo Controller has one red LED to indicate a connection to a 12 V power. The Core Servo Controller can be directly connected to the computer via USB or connected through your Core Power Distribution Module. There must be 12 V power applied with the red LED on when testing or the controller will not be detected properly by the computer. For more information and testing instructions for the Core Servo Controller, go to 5 V Click the Advanced button on the home screen to open the advanced window. Version Page 18

19 9.1. Standard Servo Use The standard Core Servo Controller range is from 0.75 ms to 2.25 ms per port when a value of 0 or 255 is applied respectively. The Servo Enable box must be pressed for the servos to move according to the entry value. Once the servos are enabled, a user entry value can be entered in the green box from Once the value is set to the desired target value, click Update Values to apply the changes to the Core Servo Controller. Clicking Update Values will update the values of all six servo ports simultaneously Extended Range Servo Use The extended Core Servo Controller range is from 0.5 ms 2.5 ms per port when a value of 0 or 255 is applied respectively. This will allow for a greater operating range on the selected servo port. Take great caution when using the extended servo range as a valid entry of could exceed the mechanical limit of the servo causing irreversible damage to the servo. Once a servo port is put in extended range mode, it will remain there until the user changes it back to standard range mode. This mode can only be changed using Core Device Discovery and not the Android SDK or Windows DLL. Version Page 19

20 10. Firmware Upgrade via Core Device Discovery The Core Device Interface, Core Legacy Module, Core Motor Controller and Core Servo Controller all support firmware upgrades from home with version 2.0 or higher. If any modules are on version 1.5 or 1.6, they must be sent back to the Modern Robotics offices for update and inspection. Refer to for more information on sending modules in for update. All modules can be both upgraded and downgraded to any available firmware Upgrade a Module To upgrade a module, click the Upgrade button found in the device window. The most current version of the firmware will be selected by default. Click the dropdown menu to select a different firmware version to load on the module. Click Program Device to start programming the selected firmware on to the module. Once complete, the current version will be updated and the module will be ready for use. The home screen will need to be refreshed to show the updated firmware number. Version Page 20