Wiki: KD 01

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#

Testing KR01 on the Bench (click to enlarge)

There's not much online yet about the robot but there is a blog entry and three YouTube videos:

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#

GPIO pins on a Raspberry Pi A+

PIN	PIN
3V3	+5V
02: SDA (I2C)	+5V
03: SCL (I2C)	GND
04	14: TXD0
GND	15: RXD0
17: ENCODER A2 STBD (white)	18: ENCODER B2 STBD (PCM_CLK) (violet)
27: GPIO 27 (unused)	GND
22: ENCODER A1 PORT (grey)	23: ENCODER B1 PORT (blue) †
3V3 †	24: GPIO 24† Button B on 1.14" Mini Pi TFT Display
10: MOSI†	GND †
9: MISO†	25: GPIO 25†
11: SCLK†	8: CE0†
GND	7: CE1
ID_SD	ID_SC
5: ext clock (grey, from Itsy Bitsy)	GND
6: rosd toggle switch (orange)	12: Button A on 1.14" Mini Pi TFT Display (blue)
13:	GND
19:	16:
26: (unused: conflict with SPI)	20:
GND	21:

† part of cable assembly connecting to Adafruit 2.0" 320x240 Color IPS TFT Display

‡ part of cable assembly connecting to Adafruit 1.14" Mini Pi TFT Display

For sensor wires, wire markings are orange or red for port, green for starboard (just like on a boat).

Tags: KD 01, Robot, Prototype