Regbot first setup - Revision history

Jca: /* IMU */

2025-12-30T19:06:09Z

IMU

← Older revision		Revision as of 21:06, 30 December 2025
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	=== IMU ===		=== IMU ===

	To measure the robot tilt, an IMU is used, ~~this need~~ calibration.		To measure the robot tilt, an IMU is used, which needs calibration.

	Go to the IMU tab.		Go to the IMU tab.

	The ~~Gyro should show some noise, if~~ not~~, then you may have an old IMU (MPU9150) and this will not work~~. ~~Ask for a replacement (they are ordered 12 feb 2025, but not delivered, expected to arrive 12 mar 2025 - from China, sorry /jca)~~		The accelerometer does not need calibration for the purpose at hand.

	====Gyro====		====Gyro====

Jca at 19:04, 30 December 2025

2025-12-30T19:04:14Z

← Older revision		Revision as of 21:04, 30 December 2025
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	Press Edit, change the ID, press "Apply" and after that "Save to flash".		Press Edit, change the ID, press "Apply" and after that "Save to flash".

			=== Robot settings ===

	The other settings should be:		The other settings should be:
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	* Wheel radius: 0.03 (m) - measure is better.		* Wheel radius: 0.03 (m) - measure is better.
	* Sample time: 0.001 (sec)		* Sample time: 0.001 (sec)

			The sample time can be adjusted, but in most cases 1ms fine. The IMU cannot run faster than a 1-ms sample time. If the IMU is disabled (unplugged) and the line sensor is off (in the Edge tab), then a sample time of 0.1ms is possible.

			The motor test uses 0.3ms as the sample time.

	=== IMU ===		=== IMU ===

Jca: /* ID */

2025-02-12T13:44:39Z

← Older revision		Revision as of 15:44, 12 February 2025
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	=== ID ===		=== ID ===

	The ID must match the robot.		The ID must match the robot. If ID is zero, then no configuration can be saved.

	If ~~not~~, go to the "Robot" tab.		If ID is wrong, go to the "Robot" tab.

	Press Edit, change the ID, press "Apply" and after that "Save to flash".		Press Edit, change the ID, press "Apply" and after that "Save to flash".

Jca: /* Balance point */

2025-02-12T13:39:46Z

Balance point

← Older revision		Revision as of 15:39, 12 February 2025
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	* Press "Edit"		* Press "Edit"
	* Keep the robot at the balance point		* Keep the robot at the balance point
	* The tilt angle should now be zero, if not adjust the IMU board y-angle. If tilt is too high, then reduce the angle.		* The tilt angle should now be zero (within +/- 1 degree); if not, adjust the IMU board y-angle. If the tilt is too high, then reduce the angle.
	* Press apply		* Press apply
	* Press "save o flash"		* Press "save to flash"

	=== Control ===		=== Control ===

Jca: /* IMU */

2025-02-12T13:38:13Z

IMU

← Older revision		Revision as of 15:38, 12 February 2025
Line 32:		Line 32:

	The Gyro should show some noise, if not, then you may have an old IMU (MPU9150) and this will not work. Ask for a replacement (they are ordered 12 feb 2025, but not delivered, expected to arrive 12 mar 2025 - from China, sorry /jca)		The Gyro should show some noise, if not, then you may have an old IMU (MPU9150) and this will not work. Ask for a replacement (they are ordered 12 feb 2025, but not delivered, expected to arrive 12 mar 2025 - from China, sorry /jca)

	~~If working.~~

	====Gyro====		====Gyro====

Jca: /* Control */

2025-02-12T13:36:34Z

Control

← Older revision		Revision as of 15:36, 12 February 2025
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	* Press "save o flash"		* Press "save o flash"

	==== Control ====		=== Control ===

	Switch to the "control" tab.		Switch to the "control" tab.

Jca: Created page with "Back to Regbot == Initial settings == After a "factory reset", a few settings are needed. Assuming that the robot is connected using the USB cable. The Regbot GUI is running and connected to the robot. I.e. robot time and name is updated. === ID === The ID must match the robot. If not, go to the "Robot" tab. Press Edit, change the ID, press "Apply" and after that "Save to flash". The other settings should be: * Hardware: 9 * Wheel base: 0.15 (m) - measure is..."

2025-02-12T13:36:16Z

Created page with "Back to Regbot == Initial settings == After a "factory reset", a few settings are needed. Assuming that the robot is connected using the USB cable. The Regbot GUI is running and connected to the robot. I.e. robot time and name is updated. === ID === The ID must match the robot. If not, go to the "Robot" tab. Press Edit, change the ID, press "Apply" and after that "Save to flash". The other settings should be: * Hardware: 9 * Wheel base: 0.15 (m) - measure is..."

New page

Back to [[Regbot]]

== Initial settings ==

After a "factory reset", a few settings are needed.

Assuming that the robot is connected using the USB cable.
The Regbot GUI is running and connected to the robot.
I.e. robot time and name is updated.

=== ID ===

The ID must match the robot.

If not, go to the "Robot" tab.

Press Edit, change the ID, press "Apply" and after that "Save to flash".

The other settings should be:
* Hardware: 9
* Wheel base: 0.15 (m) - measure is better
* Gear: 9.68
* Pulses per rev: 48
* Wheel radius: 0.03 (m) - measure is better.
* Sample time: 0.001 (sec)

=== IMU ===

To measure the robot tilt, an IMU is used, this need calibration.

Go to the IMU tab.

The Gyro should show some noise, if not, then you may have an old IMU (MPU9150) and this will not work. Ask for a replacement (they are ordered 12 feb 2025, but not delivered, expected to arrive 12 mar 2025 - from China, sorry /jca)

If working.

====Gyro====

* Press the "calibrate" while the robot is standing still.
* Press "save to flash"

==== Balance point ====

The IMU is almost upside down, so the board y-angle must be set between 160 and 180 degrees.

* Press "Edit"
* Keep the robot at the balance point
* The tilt angle should now be zero, if not adjust the IMU board y-angle. If tilt is too high, then reduce the angle.
* Press apply
* Press "save o flash"

==== Control ====

Switch to the "control" tab.

All controllers are disabled as default.
The first use is without a controller, which is needed to make a mission.

* Click on "Velocity"
* Enable controller (checkmark)
* Set Kp to 0 (zero)
* Enable "Feed forward"
* Set Kf to 1.
* Set output limit to 8 (V)
* Press "OK" to save
* Press "save to flash"

== Test ==

* Make sure the power switch is on (else it is running on USB power)

Go to the "Mission tab"

In the "Mission lines" field enter something like:

log=1:time=0.01
vel=3: dist=0.5
vel=0: time=1

* Press "save to robot" and ensure that it replies "No errors found".
* Press "save to flash"

Lift the robot and
* Press "start" (or the green start button on the robot)

It should now move forward 0.5m.

== Test balance ==

This requires that the IMU is working and available!

With the robot on the floor (no cable)

* Supporting it in a close-to-balance position (and be prepared to catch if it fails to balance)
* Press the green start button twice.

It should now keep its balance for 5 seconds.