1

Assembly and operating instructions for Ubbo

Maker 2

2

Index Introduction : .................................................................................................................................................................... 3

1. Part list ...................................................................................................................................................................... 4

2. Tooling ..................................................................................................................................................................... 14

3. Shell assembly ......................................................................................................................................................... 17

4. Mast assembly ........................................................................................................................................................ 18

5. Tilt assembly ........................................................................................................................................................... 20

6. Black box wiring ...................................................................................................................................................... 25

7. Tablet holder assembly ........................................................................................................................................... 27

8. Chassis assembly (outer face) ................................................................................................................................. 30

9. Chassis assembly (lower face) ................................................................................................................................. 32

10. Wiring I ................................................................................................................................................................ 39

11. Robot assembly ................................................................................................................................................... 50

12. Wiring II ............................................................................................................................................................... 52

13. Tests 1 and Arduino program installation ........................................................................................................... 55

14. APK installation and configuration ...................................................................................................................... 56

15. Tests II ................................................................................................................................................................. 60

16. Web Page ............................................................................................................................................................ 61

3

Introduction :

This guide shows how to setup and to self-assembly the robot as a kit. It provides also explanations on its physical

functioning. The CD provided with the robot includes the source code as well as some explanation on how the software

works.

Some parts are pre-soldered, pre-drilled and other preparation operations to allow the assembly the robot with the

minimum of tools. Nevertheless, we suggest beginner makers to fully read the installation and operating instructions

before assembling the robot in order to clearly understand how it works. In this context, Udacity

(http://www.udacity.com) or OpenClassroom (https://openclassrooms.com) should be a useful link.

Critical elements such as electrical connections are repeated several times in order to avoid all connection

mistakes.

In case of any doubt, whatever it is on the robot assembly or on the supplied piece parts, you can contact Axyn

Robotique :

by e-mail :

support@axyn.fr

by phone :

+33 9 50 97 50 61

by postal mail :

AXYN Robotique

Pépinière d’entreprises innovantes Michel Caucik

100 impasse des Houillères

13590 Meyreuil, PACA, France

4

Part list

Item Qty Picture

Screws and

hardware

Screw BHC M5*12 60

Hexagonal screw

M6*20

11

Screw BHC M3*12 4

Nylon spacer 10mm 30

Electrical terminal box

4*5

4*3

6*2

Hose clamps 10

5

Article Qty Image

Electrical wires 2 bags of 10 (5

colors)

female/female

1 bag of 10

male/female

Electrical wires,

1,5mm²

0,25mm²

3m (red black)

1m (red black)

Scratch tape 20 cm

USB A/ Micro USB

cable

2

USB A / Mini USB

cable

1

USB A / USB B cable 1

Battery connector 1

6

Item Qty Picture

Tilt

Tablet holder + anti-theft cable + 2 small

oval foam plates

(Disassembled item)

1

U shape piece 1

D shape shaft ( with a flat spot at the end) 1

Connecting element with the D shape shaft / U shape holder + its 4 CHC screws and its

setscrew (US standard)

1

Servomotor coupler output /D shape shaft

+ its setscrew

(US standard)+ small locking screw

1

Ball bearings 1

High torque digital servomotor+ small

screws

1

7

Item Qty Picture

Mast

Rods 2

Black spacer 20

Black box + 4

screws

1

Push button with 4

soldered wires

1

5V power supply

line

1,5m

Data cable 1,5m

8

Item Qty Picture

Shell

Pre-drilled shell 1

USB B Extension cable+ 2 flat

Philips-head screw M3*12

1

Obstacles sensors + nut and

ferrule

4

9

Item Qty Picture

Mobile base

White chassis with its 4

motors

1

Mecanum wheels + 4 sets of

screws, nuts and black

washers

Note: be careful, there are 2

left and 2 right wheels. Their

correct positioning is

important. It’s explained in

next chapters of this

installation guide

4

(P1)

Carcass/Mast connection

block

1

(P2)

Carcass/Shell connection

block

1

10

Article Qty Image

(P3)

Carcass/mast connection

block

2

(P4)

Carcass/Shell connection

block

2

Arduino Mega ADK or

compatible[MAD]

1

Mega Sensor shield V2.4

[MS]

1

11

Item Qty Picture

DF-Bluetooth v3 Shield [BT] 1

Motor servo board (ASM)

2

Power Module [PM] 1

5V Relay module for

Arduino [RA]

1

Control board for Servo [CS] 1

12

Item Qty Picture

12V Relay for the Button

[RB]

1

Power bank [PB] 1

4000mAh NiMH battery

1

Battery holder (angle

bracket)

2

Module / Power Module

connection cable Relay

1

Small black plastic washer 1

M5 nuts 3

13

Item Qty Picture

Accessories

12V Battery charger 1

CD with :

Arduino source code

Android source code

Ruby source code

Apk libraries

1

14

2. Tooling

Item Qty Picture

Tools

US standard based

Allen wrench:

US : 7/64 & 3/32

EUR: Complete set

1

Precision

screwdrivers set

1

Mini-pliers set

1

10 mm Open-end

wrench

1

Neoprene glue

1

15

Cutter 1

Protective gloves

1

pair

Protective glasses 1

pair

OPTION : thread lock 1

OPTION : Hot glue

gun with glue sticks

1

16

Prerequisites: use of terminal blocks

The gray and orange terminals are used to pool all cables that are inserted there.

To insert the cable, first make sure that it is bare. Open a clip, insert the wire and close it. The clips can be quite

difficult to open.

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3. Shell assembly Obstacle sensors installation

Tighten nut at sensor

Mount the washer on the shell, clip the sensor, and then tighten the nut

To get an obstacle detection distance of around 20cm, the adjustment screw must be in the shown position. The

adjustment screw allows a detection distance from 1 to 40 cm

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4. Mast assembly Mast assembly

Mount the spacers on a rod as shown on the picture, and then mount the second rod.

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Black box assembly

Insert and screw the push button in the black box, then screw on the black box on the mast as shown on

the picture below

Adding cables on the mast

Slide the cables in the black box leaving a small overhang of 10 cm (be careful not having a too long overhang driving

to reduce the length at the bottom)

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With the neoprene glue, glue the wires down to the bottom of the mast on the edge

Tip: use a hose clamp to tighten the cables at the bottom of the mast to avoid they have too much freedom

5. Tilt assembly

Ball bearing

Insert the ball bearing on the right side, edge inside

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Spacers

Screw the Nylon spacers as follows: Use the BHC M3*12 screws instead of the small screws supplied in the spacers

bag.

Mount the connecting piece on the U shape piece. Be careful with the mounting direction of the fastening

screw downwards! Be careful with the connecting piece side (on the right hand side)

! Mount the piece securely tightened with 2 screws

The Axyn logo being asymmetric, it can be used as a mark.

22

Adding the coupler on the servomotor

Turn the motor clockwise until stop is reached

To mount the coupler, use the following procedure: hole down, shifted one step to the left

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Screw the screw inside the coupler

Screw the shaft on the coupler

Tip: putting some thread lock or nail polish will avoid a loosening of the small black screw

! Be careful, do not over tighten the small black screw, you could damage the bolt thread

24

U Shape

Positioning of the U shape piece, insert the whole with the servomotor

Tighten the connecting piece fastening screw from the bottom and screw the 4 nuts on the nylon spacers

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6. Black box wiring

At the level of the box, you must get this:

Prepare then the USB cable:

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Here is the way to use the different wires (be careful the servomotor and the base are note using the same color

code.

For the wires connection, you must use a terminal block and proceed as follows:

Wires to connect with each other Function

Thick brown (mast), thick brown (servomotor) , black (USB) , black (button led)

Ground (0V or GND)

Thick blue (mast), red (servomotor), red (USB), red (button led) +5V

Thin yellow (mast), thin yellow (button) +12V permanent

Thin red (mast), thin red (button) +12V temporary

Thin green, thick orange (servo) Data (servo command)

! Be careful not to confuse the 2 red wires coming from the button; one of them (5V) is used for the LED (the

external one) and the other (+12V) is used for the button relay (just near the yellow one)

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7. Tablet holder assembly Rear panel on U shape piece

Add the rear panel of the holder on the U shape piece with 3 M6*20 bolts

28

Tablet holder mounting

Add the gear and the 2 mobile piece parts, then screw the upper plate (at the top only)

Slide the lower mobile piece part by spreading slightly the 2 plates then screw the lower part

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You can add foam trays depending on the tablet. At last, the lower mobile part can be blocked with the padlock. The

padlock is given with its cable. So it allows you reusing it for other purpose (laptop PC, notebook for example). If you

wish using it only for the robot, you can see it at the level of the part which holds the cable.

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8. Chassis assembly (outer face)

31

Fix the Power Bank

Fix the Power Bank (PB) with some scratch (hook and loop) tape.

Relay

Fix the Power Bank (PB) with some scratch (hook and loop) tape.

Power Bank wiring

Cut an USB/Micro USB cable in order to get 2 wires and then strip them. White and green wires are not useful

here. The micro USB is used to recharge the PB (PB_mUSB). USB port is used to 5V supply the robot (PB_USB2A)

Tip: Make a mark with tape in order to distinguish the 2 cables.

32

Wiring Relay Button

You will need to cut and strip the red and black wire (0.25mm²) to be used for control.

4 red 1,5mm² wires go on port 11, 14, 21 and 24. Pass through the central hole every wire except 2 large red from

RB_14 RB_21, which must pass through the other hole (see photo).

The more detailed explanation of the connections is given in Wiring I. For now, just check that the wires go through

the right holes and that the little red is A1 and A2 on the little black.

Wire From Through To Function

Thin black A2 Central hole W2 Ground

Thin red A1 Central hole W6 Command + of RB

Thick red 11 Central hole W5 +5V temporary

Thick red 14 Front hole RA_COM +5V permanent

Thick red 21 Front hole W4 +12V temporary

Thick red 24 Central hole W1 +12V permanent

P2 & P4

Add P2 and P4 parts with M5*12 BHC screws

9. Chassis assembly (lower face) In this phase 16, pictures are taken from an already assembled base. You must not take in account the wiring of the

already mounted parts.

Adding battery

Place the battery as shown on the picture and fix the brackets with the bolts supplied with the nylon spacers.

33

Adding spacers on the chassis

The spacers must be positioned as indicated on the picture:

Assembling the electronic boards with the chassis

In this step, do not take in account the visible wiring on the picture. Install the electronic boards RA, PM, ASM1,

ASM2, (MAD+MS+BT), CS

Assembling P1 and P3 parts

Add the P3 and the P1 to the chassis with M5*12 screws

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35

Add the anti-vibration washer

On the mobile part of the chassis, put out the metal washer and replace it by the black plastic one and screw.

Tips: Use if possible thread lock on the screw. This plastic washer improves the behavior of the chassis against vibration

on the front part.

36

Installation of the wheels on the chassis

Use the long screws, the black plastic washers and the 2 nuts provided in the small bag.

! Be careful with the orientation of the wheels. They should be set as it is shown on the picture below. (From the back

side view, the rolls should draw an arrow pointing toward the front of the chassis).

Tips: Before mounting the wheels, put out the small black screws on the motor shaft adaptor and rescrew them with

thread lock (to resist to vibration).

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Wheel tests

Turn manually each wheel (Be careful to avoid contact risk between the red and black wire of each motor before

testing).

2 issues could be found:

1- A ‘click’ can be heard (the flanges of the encoder on the back of the motor touch the sensor.

Identify the concerned ones and put them straight back.

2- If the motor turns irregularly, i.e. in certain position it’s harder to make it turn, it’s due to a problem of

coaxiality. Just unscrew a little bit the part blocking the bearing to let it find the good position and screw it

again carefully.

38

Installation of the USB B extension cable

Insert the extension cable in the hole on the back of the mega ADK board and plug it on the board.

The small Arduino board dedicated to the tablet servo control (not seen in the picture below) can cause difficulties for

insertion. In this case, you can unscrew it to allow the operation and screw it again when USB connector insertion in

the mega ADK board is ok.

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10. Wiring I

The electrical wiring is designed to:

- allow re-charge of the robot batteries (12V & 5V) at the same time.

- let the robot works without interruption during charger plug/unplug

- power automatically the whole robot with batteries or charger if it’s plugged

- control the power with one button on the top of the robot with only a small current requirement and independently

from the charging

For assembly, you have to use the terminal block (grey & orange). This kind of terminal block connects all the wires

inserted in it. To connect a wire on the terminal block, verify first is correctly stripped on approx. 1cm, open the orange

slot and put the wire till the bottom. Close the orange slot (Watch out to not pinch your fingers).

Be careful to the color of the wires;

Part Ground + Data

Obstacle IR sensor Bleu Brown Black

Tilt servomotor Brown Red Orange

Chassis Black Red Other colors

! Be careful: Do not switch on the button before you reach the phase n°14: tests. Verification has to be performed

before to ensure there is no bad or reversed connections that can cause irreversible damage of certain components

elements;

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You need :

- 4 terminal block with 5 connections (W2 & W3 for the ground,, W1 for permanent +12V, W4 for the temporary

+12V). The permanent +12V is directly linked to the battery or to its charger. The temporary +12V is not

connected when the button is switched off and linked to the battery with the switch is on.

- 1 terminal block of 3 (W5 for the temporary +5V)

- 2 terminal blocks of 2 (W6 for the button wire , W7 for the tablet servo control)

41

Electric wiring of the relay

A1, 11, 14, 21, 24 ports are indicated on the relay

Relay is activated by the button (that will be wired in « Wiring II »). A 12V tension between A1 and A2 will connect

(RB_14 with RB_11) and (RB_24 with RB_21).

The relay is a type DTDT monostable. The 11/14 couple will be used for 5V and the 21/24 couple will be used for 12V.

In this phase, A1 is left unconnected.

Tip: You should make a mark on the different wires to know where each one is connected to from the inside.

Relay port Terminal block Function

RB_A2 (thin black) W2 GND

RB_24 W1 +12V permanent

RB_21 W4 +12V temporary

RB_11 W5 +5V temporary

RB_14 COM of RA +5V permanent

42

Wiring the motors

The motors 1 and 4 are positioned on the front, with the number 4 at the same side as the plug and the Arduino board.

They are linked with the motor controller boards ASM1 and ASM2 as follow: ASM1 powers up the motors M1 & M2,

and ASM2 the motors M3 & M4.

43

Boards wiring

Connector linked with Function

MS_1 W3 Ground

MS_2 W5 Temporary +5V

MS_3 ASM2_3 Temporary +12V

ASM1_4 W4 Temporary +12V

ASM1_5 W3 Ground

ASM1_6 ASM2_6 (red and black wires)

Temporary +12V + GND

Explanation: The mega ADK is powered with +12V (MS_3) (an internal regulator managed the required voltage) for its

use. +5V (MS_2) powers the different parts plugged in the red and black pins of the Mega expansion shield (MS).

The motor controller boards are powered with 12V. The jumper VD=VS should be set. It links the 2 inputs VD & VS. As

described on the mega ADK, an internal voltage regulator manage the internal voltage for the numical components of

the board.

So we use the ASM1_4 as temporary +12V input and the ASM1&2_6 is recuperating this voltage to bring it to the

other board terminals. ASM2_3 is used, in turn, as +12V source for the Mega ADK. Ground (GND) is connected to the

W3 terminal block. So there are on one or the other board, two wires which are connected to GND (ASM1_5) The

Mega shield has a small switch 5V/PWR. It must be positioned on PWR to pass the voltage supplied by the PB.

44

Batteries wiring

Battery is linked to the ground (W2) and to the 12V (W1) thanks to a white connector (marked by « C » on the picture)

45

The Power Bank (PG) is having two USB cables. The micro USB one is used to recharge the PB, the normal USB one is

supplying the 5V (connect it to 2A). The two cables are connected to the same “ground”. However, the micro USB red

wire (PB mUSB) is connected to NO (normally open) of RA2 mini-relay. The normal USB red wire (PB_USB2A) is

connected to NC (normally closed) of RA1 mini-relay. The mini-relay RA3, COM, corresponds to the permanent 5V. He

is connected to the RB_14 connector.

Detailed explanation: the mini-relay selects automatically the +5V source: Power bank by default or Charger when

this one is connected.

The Power Module works when the charger is connected to supply the parts in 5V and to charge the Power Bank

Câblage carte DC/DC au mini relais.

46

Connector Linked with Function

RA_2 PM_3 +5V when loader connected

RA_B PM_7 (red and green), PM_8 (black) Commande du Relais Arduino relay

command

PM_9 CHR +12V when loader connected

PM_10 W2 Ground

When considering the 2 wires coming out from RA_2, one is connected to the PB mUSB the other to PM_3.

The power module has a 5V/VR switch. You must select the position 5V . VR one would allow supplying the voltage

adjustable by the potentiometer. It could change the input voltage upto 12V and so could cause an overvoltage to the

power bank.

You have also to push the small white button (ON position when pushed) to activate it.

47

Charger [CHR] Electrical wiring

At the same time you connect the Power Module PM9 to the CHR plug, you can connect CHR to the ground on the W3

terminal block and the second red wire of the CHR connector to the permanent +12V (W1 terminal block). Detailed

explanation: the permanent +12V and PM_9 are not linked because, if it was the case, the 4000mAh battery would

supply the power module which transforms the 12V in 5V. This specific board is supplying the power bank (through

the connection between PM_3 and RA_2). Their Grounds being common, it would drive to discharge one battery (4Ah

one) to supply another one (10Ah). So, robot autonomy would be reduced.

Logic wiring

At this point, it is possible to connect the motor feedback sensors which indicate motors speed and allow the Mega

ADK to control them (closed loop command) .The Mega ADK can also be connected to the servo boards.

The motor sensors have 4 wires. Be careful, they don’t use always the same code. To identify them, you have to look

at their starting point when considering the electronic board at the motor level. The most outside corresponds to the

B (4) signal and the most inside one to the +.

For example, PIN 19: (4 motor 2) corresponds to the most outside wire (so sensor B) from the motor 2; He has to be

connected to the PIN 19 of the Mega ADK.

PIN 22: (3 motor 3) corresponds to the third wire (from inside out), so A sensor of the motor. He has to be connected

to the PIN 22 of the Mega ADK. And so on.

For the Mega ADK connectors towards the servo cards, please consider the following examples:

PIN 2: (E1 ASM1): starting from PIN 2 to go to the E1 of board 1. The board 1 (ASM1) is the one controlling the motors

1 and 2.

PIN 11: (E2 ASM2): starting from PIN 11 to go to the E2 of board 2. The board 2 (ASM2) is the one controlling the

motors 3 and 4.

Other examples:

Pin 14: TX Bluetooth board must link the Mega ADK to the small Bluetooth shield located also on the Mega ADK

Pin 16: Serial 2 for Arduino Servo controller : to link to CS (see the picture in Wiring II)

Pin 24 : Proximity sensor Front : must be linked to the thin black wire from the front sensor (to be done with the

Wiring II phase)

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Pinout

-------

Pin 0: NC

Pin 1: NC

Pin 2: (E1 ASM 1) PWM wheel Front Right

Pin 3: (M1 ASM 1) DIR wheel Front Right

Pin 4: (3 motor 1) Encoder signal A wheel Front Right

Pin 5: (E2 ASM 1) PWM wheel Back Right

Pin 6: (M2 ASM 1) DIR wheel Back Right

Pin 7: NC

Pin 8: (E1 ASM 2) PWM wheel Back Left

Pin 9: (M1 ASM 2) DIR wheel Back Left

Pin 10: NC

Pin 11: (E2 ASM 2) PWM wheel Front Left

Pin 12: (M2 ASM 2) DIR wheel Front Left

Pin 13: NC

Pin 14: TX Carte Bluetooth

Pin 15: RX Carte Bluetooth

Pin 16: Serial 2 for Arduino Servo controller

Pin 17: (3 motor 2)Encoder signal A wheel Back Right

Pin 18: (4 motor 1)Encoder signal B wheel Front Right

Pin 19: (4 motor 2)Encoder signal B wheel Back Right

Pin 20: (4 motor 3) Encoder signal B wheel Back Right

Pin 21: (4 motor 4) Encoder signal B wheel Front Left

Pin 22: (3 motor 3) Encoder signal A wheel Back Right

Pin 23: (3 motor 4) Encoder signal A wheel Front Left

Pin 24: Proximity sensor Front

Pin 25: Proximity sensor Right

Pin 26: Proximity sensor Back

Pin 27: Proximity sensor Left

49

Here is how is wired the charger plug. When this plug is connected, it links together all the 12V (the permanent 12V

and the Power Module input). The charger can supply all the elements of the robot (battery 4Ah and Power Bank 10

Ah + mobile part and upper part of the mast if the switch is in ON position). The LED of the charger turns from red to

green when the 4 Ah battery is full, but it does not indicate if the Power Bank is charged, you must verify it visually (4

green LEDs on the PB)

50

11. Robot assembly Mast – shell - chassis

You must position the mast, the shell and the chassis as follows:

51

First, slide the mast in the shell and then pull the cables of the mast through the central hole.

Screw the mast to P1 and P3 parts with the M6*20 hex screws

Screw the shell on the P2 and P4 parts with the BHC M5*12 screws

Optional: install the USB extension on the shell

52

12. Wiring II Relay wiring

You must take the thin red wire from the mast cable and link it to red wire from the relay (RB_A1)

The thin yellow wire from the mast cable must be linked to W1.

Detailed explanation: the yellow wire is connected to the permanent 12V. When you push on the button (pushed-in

position), it makes contact between the thin yellow and the thin red wire. The thin yellow one turns from

«unconnected » to +12V. It will drive to command the RB , and consequently supplies the electronic boards in +12V

and the elements at the upper part of the mast in +5V

53

Connect the thick marron wire from the mast on W2 (ground)

Connect the thick blue wire from the mast on W5 (temporary 5V)

Obstacles sensors wiring

Sick sensors must be connected as follows:

- Blue ones on W3 (GND)

- Black ones on Mega ADK shield (MS) (please refer to Pinout)

- Brown ones on W4 (temporary +12V)

Servo logical wiring

Link the thin green wire from the mast cable to the female plug. This female plug will have to be connected to the

Servo Controller (CS_PIN11). In fact, this is the data cable which commands the servo position for the tilt.

Last step for the wiring, you have to link MS_PIN16 to the CS PIN as shown on the picture. This link allows the

communication between Mega ADK and CS

54

Verify that logical PINs are well connected (in addition to the motors feedbacks from MS to ASM 1&2)

55

13. Tests 1 and Arduino program installation

Electrical functioning tests

Before electrical functioning testing and in order to avoid all problems, wiring verification is important. It is appropriate

to recheck the Wiring I and Wiring II steps. Here are the connections from the terminal blocks:

Terminal

block

Connected to Function

W1 (+12V) Battery, charger red plug (CHR), thin yellow wire, RB_24 permanent +12V

W2 Battery (GND), W3 (a long wire must link the two terminal blocks in order

to get only one ground), Power Module (PM10), Thick brown wire from the

mast, thin black wire Servo controller (CS_-) , Button relay (RB_A2)

Ground

W3 W2, obstacles sensors blue wires, outlet for charge (CHR-black wire), black

thin wires from USB cables linked to PB, black wire linked to MS1, GND

from ASM1

Ground

W4 RB_21, VD from ASM1, Sick sensors brown wires Temporary +12V

W5 RB_11, CS_+ (red wire ), MS2

+5V temporary

W6 Thin red wire from the mast , RB_A1 ( +12V) relay Command

W7 Thin green wire from the mast , CS_11 Servomotor data

Check the position of the different switches on boards: PM: 5V , ON / MS: PWR Now here is the list of tests to be

done to verify the good electrical functioning of the robot:

Button is OFF position, charger being unconnected.

- Everything must be switched off

Switch the button in ON position, charger being unconnected

- Button lit, micro USB from the mast supplied with 5V (connect a tablet to verify it)

- ASSER1, ASSER2, Mega ADK, CS and shield Bluetooth lit

Button in ON position, charger connected:

- Everything is lit (i.e. previous parts + power module+ Arduino mini-relay Check that the Power Bank is

blinking (it means, it is charging)

Button in OFF position, charger connected

- Only Power Module and Arduino mini relay are lit

- Power Bank is charging (it blinks) and battery is charging ( charger LED is lit in red or green

56

Arduino code upload

If you are connected to internet, the driver managing the Arduino board should be installed automatically. Preferably

use the Arduino 1.0.6 stable version. The « CHECK » button allows verifying that code compiling is correctly executed

and is ready to be uploaded on to the board . The “Upload” button allows sending compiled code in to the board.

Adjustments are depending on the boards:

1) In Arduino select « Tool => type of board => Mega ADK », and also the COM port corresponding to the

USB output on which the Mega ADK board is connected. Upload the « Ubbo Controller » program

2) Same operation as previous one, except that you must select « tool=> type of board => Arduino NG or

older with ATMega8 » for the servomotor controller. You will have to unscrew the board to be able to

connect it and upload « Ubbo_TabletServo ».

Test : Switch on the button ; after a few seconds the tablet must be servo-controlled in its lowest position

(corresponding to 0°)

14. APK installation and configuration

APK installation and configuration

Install the APK on a tablet or a smartphone. The APK should be normally available on Play Store (as Ubbo from Axyn).

It is also available on the CD supplied with the robot.

When the application starts, the following page is appearing:

You have to give a name to the robot. Then you click on “continue”

At any time, you can exit from this page and come back to the previous menu

with the « return » key of the tablet

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With this page, you can create an account or connect with an already existing

account.

Home page

The main screen proposes a main menu with 4 buttons:

58

If you select the « Users management » button, you enter the menu allowing to

grant access to a user enabling him to connect to the tablet from the web page

NB : This email has to be created via the webpage

To validate an account, you just have to give an email. To exit this page and step

back to the previous menu press the « return » key.

Configuration

If you press the third button of the home page, you enter the configuration

page. You can create or erase the already existing robot, and associate the

Bluetooth chassis module. In this case, you have to supply the chassis and the

system will detect the available Bluetooth object. Then you just have to press

the button “associate”! Be careful, you must have before associated the

Bluetooth shield to Android by using the Android menu and then, associate it

another time in the application. The default code is 1234 or 0000. To exit this

page and to step back to the main menu, press the « return » key of the tablet.

On this page, if you click on the button «erase the robot », the application stops

and, at the next session, you start as if it was the first session.

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Always on the « Configuration » page, if you click on the « manual mode »

button, you go directly to the chassis test page. After having clicked on the

« connection » button, the buttons turn from « grey » mode to « blue » one.

Then you can test the robot movements. To exit this mode, you click on « stop

the connection » and with the « return » key of the tablet and step back to

the previous menu.

Connection

If you select the first button (Connection from…), you are launching the

connection between the tablet and the web page. If the remote user is not

yet connected on the web page, the app is waiting for it.

Video feedback on the bottom right means that the connection is correctly

established and there is no firewall problem at first sight.

After a connection is established, if the image is blurry or is displayed late, you

must have an internet flow rate problem. Stop all the internet downloads (PC,

tablet, smartphone). We advise you to make an internet speed test

(www.speedtest.net for example). Minimum requirements are less than

200ms for a ping answer and 400 Kb/s for upload and download (it

corresponds to a 240p picture). Our recommendation is less than 20 ms for

the Ping and a 8Mb/s flow rate in upload and download (for a full HD picture).

To exit this page, click on the « stop the connection » button and step back to

the main menu with the “return” key of the tablet

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15. Tests II Those tests are to do preferably after charging the robot (1 night).

Sensors tests

Go to manual mode

The robot has to stop when meeting an obstacle (except if this one is dusky)

Moving tests

Connect to the robot through internet (https://ubbo.cleverapps.io/users/sign_in) (Chrome recommended)

Try all movements.

Tilt test

Still with internet navigator, move the tilt using slider.

Connection stability test

Disconnect / reconnect several times.

Wiring check

Quickly check that all wires are plugged.

Option: Collage

When everything is working properly, it is recommended, with the glue gun to glue at the connections of all wire on

the cards, to avoid that they will disconnect or loosen.

Assembly of the cover plate

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16. Web Page https://ubbo.cleverapps.io/

Main page for identification if you have already subscribed or the

page to create your account

These information have to be similar to the ones in the memory

of the robot you want to connect with.

Once you are connected, robots list is displayed:

Available robots’ status turns green, you just have to click on the

grey button to start the call:

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The screen is divided into 4 areas:

- The upper right window displays the user’s webcam picture below, the dashboard :

From the left to the right, we get:

o Mute or unmute microphone

o Background image dimension selection: As the image quality is linked to the quality of the Wifi

connection, it is possible to decrease the size of the remote video picture when its quality is bad and

so avoiding pixilation.

o Wifi signal level

o Remaining battery level

o Robot orientation (optional)

o Hang-up

- The background displays the picture from the tablet camera

The joystick can be controlled with the mouse or a touch panel screen. It allows to move forward /backward and

to rotate Arrows allows to move laterally. At last, the bar on the left allows to control the tilt of the tablet.