KD 01
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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  

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