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Chapter 1 : Getting ready

The CRX10 is an autonomous mobile robot platform for education

in elementary, middle or high schools, training and research.

CRX10 supports MSRDS, SPL (Simple Programming Language), AVR (C languages)

and Android programming languages.

· Clean and modern design

· Microsoft VPL visual programming language support

· Voice recognition, joystick and other various services are represented graphically via VPL

· 9 robot activities or services in VPL

· 2 wheel to 4 wheel transformable structure, for driving stability robot

has double wide wheels

· Robots can roll over bumps. Maximum slop is about 15 degree.

· 3 rubber ring-shaped coverings !t around a wheel rim to protect it

and enable a close contact with the ground. For easy coverings maintenance

there are special “U” type notches on rims.

· Audio source tracking, autonomous obstacle avoidance, line tracing

· 64 LED-based display

· 4 user programmable function buttons

· Built-in rechargeable lithium-ion battery

· Detachable payload tray

Understanding CRX10

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CRX10 speci!cations

· dimension : 192x197x79.5 (LxWxH)

· processor : Atmega 128, Atmega 88 Dual Processor

· motor : DC Geared motor [Encoder type] / 30:1 / 12VDC

· wheels : 4wheel drive to 2wheel drive conversion type

· wheel diameter : 60.1mm

· speed up to 1m/s

· payloadup to 10kg

· detachable tray : -holes : 32 -hole distance : 30mm

- “L” type slots for tray attaching

· Sensors : -IR "oor sensors: 7 -Obstacle detection PSD sensors : 3

-Sound localization sensors: 4 -Digital camera : Option

· Display : Dot Matrix : 8x8, Buttons : 4

· Connections : -cable : UART(RS232) -wireless : Bluetooth(2.4GHz, Max : 1Km)

· Program downloader : USB to ISP

· Battery : Li-ion 11.1V, 2.6A or AAA Battery 6ea(9V) -RunTime more than 8 hrs

· Battery Charger : -Input : 100-240VAC -Output : 12.6Vdc, 1.2A

-Charge time : 1 hour 45

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CRX10 structure

CRX10 Description

- Front and side view

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Autonomous vehicle

Robot uses 3 Infrared sensors for obsta-

cle avoiding and autonomous drive.

Line tracking

Robot uses an IR sensor to detect and

track line.

Main functions

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Payload

Up to 10 kg

Maximum angle of

surmountable slope

Max slope that robot is able to climb

about 15°

Main functions

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360 degree rotation robot

Robot can rotate through a full 360 de-

gree. Great robot maneuverabilty can be

used for implementing obstacle avoid-

ance algorithms.

Counterclockwise rotation

Counterclockwise rotation

Main functions

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Remote communication

Robot is equiped with a antenna to ex-

tend the communication distance. Re-

mote communication up to 1 km.

Audio source tracking

Robot has 4 built-in microphones for

sound localization and tracking.

Main functions

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Demountable structure

Robot can be easily upgraded and

customized.

Dot Matrix

8x8 LED Dot Matrix is used to repre-

sent characters, symbols and images

Main functions

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VPL Visual Programming Language

Robot supports Microsoft VPL. User

can set up the Bluetooth communica-

tion between robot and PC via VPL.

AVR training (Micro Controller)

User can learn microcontroller progra

mming (ATmega128 and ATmega88)

using C language.

Main functions

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Simple Programming Language

Robot supports Microsoft SPL. User

can set up the Bluetooth communica-

tion between robot and PC via SPL.

Android

Robot supports Android. User can de-

velop smartphone applications

Main functions

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System Block Diagram

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System Block Diagram

Overall structure is divided into ATmega128 and ATmega88, there is a serial

port (RS232c) for wired connection and Bluetooth module for wireless com-

munication. For communication robot uses SPI protocol. The control board uses

external 9V DC power supply, for powering each module separately control

board includes 5V line and 3.3 V regulator. I/O and A/D operates separately

from processor (128, 88).

First, user should download !rmware via USB to ISP communication cable and

then set up Dot Matrix, Buzzer, DC Motor Drive, Encoder, Function buttons (5

I/O modules), IR and PSD sensor (2 A/D models). Atmega 88 processor can’t be

edited by the user. It contains default LED (1 I/O module) and 4 A/D modules

(Mice, Battery check, IR and circuit check setups).

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When the power is on, the power LED located on the right side of robot

next to LED display will light red and when the Bluetooth is on, the LED

located on the left side of robot next to LED display will light blue.

LED indicators and function buttons

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1 2 3 4 5 6LED state

Descruotion

Function

buttonsDescription

Function buttons

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CRX10 Installation

- Supported types of communication

- Communication

type Communication description

1Bluetooth wireless

Ex) smartphone and wireless communication

2UART wired

Ex) Laser sensor, camera etc.

3ISP for upgrading ATmega 128

Ex) HEX format

speed bit parity stop bit "ow control

115200bps 8 bit no 1 bit no

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- Charging Method

CRX10 charging

- CRX10 charging scheme

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Software installation

MSRDS installation

$ We o%fer MSRDS CD-Rom and training consultations

AVR Studio installation

- AVR STUDIO

content : ATmega Chip series Development Tool

Source website :

http://www.atmel.com/dyn/products/tools_card.asp?tool_id=2725

Installation !le : !nd it on site

- WIN-AVR

content : Suite of executable software development tools for Atmel AVR

Source website :

http://sourceforge.net/projects/winavr/!les/WinAVR/20081205/

Installation !le: WinAVR-20081205-ins tall.exe

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Android Installation(Eclipse)

1. Java JDK(Java Development Kit)

Content: Java Development Tool

Source website :

http://www.oracle.com/technetwork/java/javase/downloads/index.html

Installation !le : jdk-6u23-windows-i586.exe

2. Eclipse

Content: Java Development Tools

Source website :

http://www.eclipse.org/downloads/

Installation !le: eclipse-java-helios-SR1-win32.zip

3. ADT(Android Development Tool) Eclipse Plugin

Content : Eclipse Plugin, Android development tool

Source website :

Execute Eclipse, Help>Install New Software ADT installation

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4. Adroid SDK(Software Development Kit)

Content : Android Software Development Kit

Source website :

http://developer.android.com/sdk/index.html

Installation !le: Android-sdk_r09-windows.zip

5. AVD(Android Virtual Device)

content : Android Virtual device

Source :

Execute Eclipse, Window>Android SDK and AVD Manager > create AVD

SPL Simple Programming Language installation

$ We o%er SPL CD-Rom and training consultations

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Chapter 2 : CRX10 usage guide

CRX10 control protocol

Instructions

- Protocol CRX10 PC

number code number code number code

0 STX 12 IRS-5 24 Torque-B

1 Lenth 13 IRS-6 25 Bumber

2 Check_sum 14 IRS-7 26 Key

3 Command 0 15 MIC-1 27 SP

4 Command 1 16 MIC-2 28 SP

5 PSD-1 17 MIC-3 29 SP

6 PSD-2 18 MIC-4 30 SP

7 PSD-3 19 Encoder-10 31 ETX

8 IRS-1 20 Encoder-11

9 IRS-2 21 Encoder-20

10 IRS-3 22 Encoder-21

11 IRS-4 23 Torque-A

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PC CRX10

number code number code number code

0 STX 8 DM-data 0 16 Buzzer

1 Lenth 9 DM-data 1 17 SP

2 Check_sum 10 DM-data 2 18 SP

3 Command 1 11 DM-data 3 19 SP

4 Command 2 12 DM-data 4 20 SP

5 Motor data 1 13 DM-data 5 21 ETX

6 Moter data 2 14 DM-data 6

7 DM-Command 0 15 DM-data 7

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Motor control

Encoder control

CODE ENCODER-10 ENCODER-11

Descriptionleft motor

forward and backwardLeft side motor speed

Value 0 or 1 0 ~ 1 m/s

CODE TORQUE-A TORQUE-B

Description left motor torque right motor torque

Value 0 ~ 255 0 ~ 255

CODE ENCODER-20 ENCODER-11

Descriptionright motor

forward and backwardRight side motor speed

Value 0 or 1 0 ~ 1 m/s

CODE PDS-1 PDS-2 PDS-3

Description 1st sensor 2nd sensor 3rd sensor

Value 100mm ~ 800mm 100mm ~ 800mm 100mm ~ 800mm

Motor control

- IR distance sensor

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Floor sensor

CODE IRS-4 IRS-5 IRS-6

Description

Value

CODE IRS-1 IRS-2 IRS-3

Description

Value

CODE IRS-7

Description

Value

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microphones

I/O control method

Button

DISPLAY (8x8)

CODE MIC-1 MIC-2 MIC-3 MIC-1

Description

Value

CODE BUTTON

Description

Value

CODE DM-Command

Description

Value 0~9, A~Z

Next page...

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Buzzer

Battery voltage

0x00~0xFF 0x00~0xFF 0x00~0xFF 0x00~0xFF

0x00~0xFF 0x00~0xFF 0x00~0xFF 0x00~0xFF

DISPLAY (8x8)

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Q No rim c verings?

A

Q No wheel or wheel fell o% the robot?

A

Q No Bluetooth connection?

A

Q Is robot on? Is it getting power?

A

Q Do you have a sensor problem?

A

Q No download conncetion?

A

Chapter 3 : Troubleshooting

MEMO

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Technical support

Before contacting Customer Service, please refer to the

CRX10’s Manual. If you have any further questions please contact

the Customer Center at service@cnrobot.co.kr

CNRobot Customer Center Address

#306, Bussiness Incubation Center, Mokwon Univ, 21 Mokwon Gil,

Seo-ku, Daejeon, Korea <302-729>

Website

www.cnrobot.co.kr

TEL / FAX

+82-42-536-2266 / +82-42-536-1472

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Failure to follow these terms and conditions could result in

death or injury

Make sure that the plug is properly inserted in the outlet or

else !re/electric shock will be caused.

If the product will not be used for an extended period,

remove the battery to prevent leakage.

To avoid the robot from being entangled, no materials made

of fabric should be in front of it.

Make sure that your DC and battery charger connected in a

proper way.

Do not sit or stand on robot or else product damage will be

caused.

Avoid water/ liquid or else product defects will be caused.

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Any performance of repairs or alternations by any person

other than the original supplier will invalidate the warranty.

Do not use any other type of battery charger. This could

lead to damage to the robot and personal injury

Do not touch charger if your hands are wet or else !re/

electric shock will be caused.

Please don’t tightly pull and drag the power cord or replace

it, or else the !re/electric shock will be caused.

Avoid !re and anything "ammable or else the !re/electric

shock will be caused.

Keep !ngers, hair, all other body parts and clothing away

from moving and rotating parts of the robot.

Failure to follow these terms and conditions can result in minor

injurity or product damage

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