• 990.011 MuIn dsNav - Getting started

    Steps to initially check the good functionality of the dsNav board:

    1 - PowerUp the board using a power supply from 6 to 12Vdc: as soon as the board is powered up the "Power ON LED" will be lighted up; L1 and L2 board start blinking alternatively at 1 second period, 20% duty cycle. This confirms the board is correctly powered, the quartz clock is running at the right frequency and the basic connections are OK.

    2 - If the XBee module is plugged in, the "ASSOC" LED must blinks.

    3 - Connect the computer to the board with a valid serial connection to "UART 2" pin header or via XBee as described in manual.
    Warning: If You use a TTL/RS232/USB adapter, please check voltage selector pads on the back of the board in order to select proper UART voltage level: 3.3 or 5V
    Start your preferred terminal emulation program on the computer. Set up communication at 57600 bps N81.
    Note: If you use XBees, remember to set them to 57600bps using XCTU:

    At every dsNv board reset you can see a string on your terminal similar to:

    dsPid33 2.2.3 Guiott 06-10

    Note: As already said: if the message doesn't appear please press the Reset button on board. If message still not appear, please check communication settings and wirings.
    The string shows the version of the firmware on the board (in this case ver. 2.2.3 compiled on june 2010) and confirms the dsNav board is correctly sending data.

    4 - With the same connection and terminal emulation program send "@z" (case sensitive) string. This is the very basic elements of the embedded communication protocol. The dsNav board answers back with the string: "@.z.-mary had a little lamb-." where the "." character may be displayed differently on your terminal because they are non printable characters:

    This confirms the bidirectional communication is active.

    5 - During this communications, if you are using XBees, the "RSSI" LED must be lighted up.

    6 - If the motors are not yet connected, you can test the dsNavConsole functionality enabling the debugging mode with the dedicated button.
    Note: When you launch dsNavConsole, remember to set the COM port where the board is connected by pressing "Config" button on main panel:

    Type the number of serial port you're using in the textbox near baudrate as shown by available com-ports list
    , then press "Send" button. Selected com port in the list will be blue highlighted
    When speed, angle or position are set, the dsNav board answers back with a dummy value to confirm the entire protocol is working fine.
    Note: Remember to press red button marked as "Rx GO" on the main panel in order to receive responses from Board
    If the hardware (motors and encoders) are all the same of Rino robotic platform, you can start immediately on driving your robot with the console, otherwise you need to set the mechanical parameters in advance.