This is the preliminary documentation for the __[KD01]__ robot, a 2 wheel (plus caster) differential drive robot. It shares the same software, chassis components, basic drive train, motor encoders and controllers as the [KR01].
!! Description
[{Image src='attach/KD01/KD01-side.jpg' link='attach/KD01/KD01-side.jpg' width='400' caption='KD01 side view (click to enlarge)' align='right' class='imgFloatRight'}]
There's not much online yet about the robot but there is a blog entry and three YouTube videos:
* [Differential Drive|https://robots.org.nz/2021/02/03/differential-drive/] (NZPRG blog entry)
* [KD01 Moth Behaviour|https://youtu.be/uoozN5BdepA]
* [KD01 Rotate in Place Test|https://youtu.be/HICrQzAZPow]
* [KD01 Rotate in Place|https://youtu.be/HFRrQuXLtvk] (first try)
!! I2C Bus
Things change all the time, but here's a sample of what's on the robot:
{{% i2cdetect -y 1}}
{{{
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- 15 -- -- 18 -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- 38 -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- 48 -- 4a -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- 74 -- -- 77
}}}
* 0x15 : ThunderBorg motor controller
* 0x18 : RGB Encoder breakout
* 0x38 : HT0740 Switch (wired to cooling fan)
* 0x48 : ADS1015 AD converter
* 0x4A : BNO085 IMU
* 0x74 : starboard RGBMatrix5x5
* 0x77 : port RGBMatrix5x5
!! GPIO Pin Usage
[{Image src='https://service.robots.org.nz/wiki/attach/GPIO/raspberry-pi-pinout.png' width='900' caption='GPIO pins on a Raspberry Pi A+' align='center'}]
%%small
|| PIN || PIN
| %%org 3V3 %% | %%red +5V %%
| __02__: SDA (I2C) | %%red +5V %%
| __03__: SCL (I2C) | %%grn GND %%
| __04__ | __14__: TXD0
| %%grn GND %% | __15__: RXD0
| __17__: %%prp ENCODER A2 STBD %% (white) | __18__: %%prp ENCODER B2 STBD %% %%gry (PCM_CLK) %% (violet)
| __27__: GPIO 27 (unused) | %%grn GND %%
| __22__: %%prp ENCODER A1 PORT %% (grey) | __23__: %%prp ENCODER B1 PORT %% (blue) %%sup † %%
| %%org 3V3 %% %%sup † %% | __24__: GPIO 24%%sup † %% __Button B on 1.14" Mini Pi TFT Display__
| __10__: MOSI%%sup † %% | %%grn GND %% %%sup † %%
| __9__: MISO%%sup † %% | __25__: GPIO 25%%sup † %%
| __11__: SCLK%%sup † %% | __8__: CE0%%sup † %%
| %%grn GND %% | __7__: CE1
| %%gry ID_SD %% | %%gry ID_SC %%
| __5__: ext clock (grey, from Itsy Bitsy) | %%grn GND %%
| __6__: rosd toggle switch (orange) | __12__: __Button A on 1.14" Mini Pi TFT Display__ (blue)
| __13__: | %%grn GND %%
| __19__: | __16__:
| __26__: (unused: conflict with SPI) | __20__:
| %%grn GND %% | __21__:
%%
%%small
† part of cable assembly connecting to [Adafruit 2.0" 320x240 Color IPS TFT Display|https://www.adafruit.com/product/4311] \\
‡ part of cable assembly connecting to [Adafruit 1.14" Mini Pi TFT Display|https://www.adafruit.com/product/4393]
%%
For sensor wires, wire markings are orange or red for port, green for starboard (just like on a boat).
----
[{Tag KD01 Robot Prototype}]