The QBot 2 Kinect is mounted on a structure that allows the Kinect to be oriented horizontally as well as tilted
downward for various viewing positions. The QBot 2 Kinect structure has four thumb screws (two on each side)
as shown in Figure 2.13b. To adjust the Kinect's viewing angle, loosen all of the thumb screws slightly but do not
remove them all the way. Tilt the Kinect to the desired angle and tighten all of the thumb screws. The maximum
and minimum angles are designed to allow the kinect to be oriented facing stright ahead (tilted at 0 degrees) as well
as at an angle of 21.5 degrees such that the ground in front of the QBot 2 in the viewing angle as shown in Figure
2.13c.
2.6 QBot 2 sensors interface
This section describes the blocks that are used to read the QBot 2 sensors in Simulink
r
and write outputs to the
QBot 2 motors. The QUARC
r
Hardware-In-the-Loop (HIL) blockset it used to communicate with Quanser
r
data
acquisition cards. For detailed information on the HIL blockset see the QUARC
r
HIL user guide in the Matlab
r
help
under QUARC Targets | User's Guide | Accessing Hardware.
2.6.1 QBot 2 I/O
The QBot 2 provides an interface to the I/O of the Kobuki robot platform including its wheel encoders, sensors, and
motor outputs as well as several DAQ I/O channels for user expansion, which can be used to interface to a variety
of third-party sensors and actuators. The I/O of the QBot 2 DAQ includes:
• 4 analog inputs
• 8 reconfigurable digital I/O
• 4 PWM outputs
• 2 encoder inputs
• 1 UART
• 1 SPI
• 1 I
2
C
2.3 shows the location of the I/O listed above on the QBot 2 DAQ.
The Kobuki platform provides the following I/O:
• 2 wheel encoder inputs
• 2 wheel speed outputs
• 2 digital LED outputs
• 4 digital power enable outputs
• 3 analog and digital cliff sensors
• 2 analog motor current inputs
• 3 digital bumper sensors
• 3 digital wheel drop sensors
• 3 digital buttons
• 2 overcurrent sensors
• 2 wheel PWM measurements
QBOT 2 - User Manual
DRAFT - April 14, 2015
To Next Page
Loading...