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Kaia.ai platform robot firmware

This repo contains:

Please visit the Support Forum!

List of supported LiDAR/LDS sensors is here.

Installation and setup

  • download the latest code by Code -> Download ZIP on this page
    • alternatively, download the latest or an older release by clicking Releases on this page; click on Assets -> Source code to download the firmware
  • open the downloaded ZIP file
    • navigate inside the "firmware-xxx" folder
    • copy everything inside the "firmware-xxx" folder to your Arduino sketch folder. That includes both the Arduino sketch and the libraries folder.
  • watch the video below to
    • install the ESP32 tool chain version 2.0.17 (NOT 3.0.x)
    • ignore Arduino IDE library installation in the video
    • build, upload firmware
    • upload sketch data
  • follow the configuration instructions on this page
Watch the one-time PC setup, firmware upload instructions video

Configuration

Once you have uploaded firmware and the sketch data) to your Kaia.ai-compatible robot:

  • wait for your robot to enter the AP (WiFi access point) mode
    • the robot enters the AP (WiFi access point) mode whenever the robot fails to connect to WiFi
  • Alternatively, force your robot to enter the AP mode by performing a "factory reset":
    • Press the "EN" (reset) button on your ESP32 board.
    • Next, immediately after that (within 1 second) press the ESP32 "BOOT" button and hold it for 10+ seconds.
    • The ESP32 board LED will blink fast.
    • Release the "BOOT" button once the ESP32 board LED stops blinking.
  • connect to your robot's WiFi (MAKERSPET)
  • navigate your browser (PC or mobile handset) to 192.168.4.1
  • configure your robot and its WiFi connection:
    • input your WiFi name, password
    • select your robot's model
    • select your robot's laser sensor from the list of supported LiDAR/LDS
    • select your robot's motor model
  • press the "Configure and Connect" button
    • disconnect from your robot's WiFi and reconnect back to your own WiFi

This blog post discusses the configuration in more detail.

kaiaai_robot_configurator

Compatible Motors

Brushless (BLDC) Motors

  • BLDC motors with these specifications should (generally) work:
    • 9..24V voltage (higher voltage increases efficiency)
    • models JGA25-2418, JGA25-2430; 24.4mm outer diameter
    • ~190..450 no-load (max) RPM, ~140..350 rated RPM
    • JST SH 1.0mm 5-pin connector on the back (PWM, CW/CCW, VMOT, GND, FG)
    • built-in BLDC driver and encoder
    • ~0.5..1.5 Kg*cm rated torque
  • Examples
    • CHR-GM25-BL2418 24V 200RPM 270PPR
    • JGA25-BL2418 24V 245RPM 630PPR
    • CHR-GM25-BL2418 24V 260RPM 204PPR
    • JGA25-BL2418 24V 408RPM 127.8PPR
    • CHR-GM25-BL2418 24V 450RPM 120PPR

Brushed Motors

  • Brushed motors with these specifications should (generally) works
    • 9..24V voltage (higher voltage increases efficiency)
    • GA25-370 size; 24.4mm outer diameter
    • ~190..450 no-load (max) RPM, ~140..350 rated RPM
    • quadrature encoder (e.g. outputs two signals: ENC_A and ENC_B)
    • 6-pin connector (VMOT+, VMOT-, ENC_A, ENC_B, VENC+, GND)
  • N20 motors
    • can be connected, but not recommended due to their low power
  • a compatible motor driver is required when using brushed motors
    • TB6612FNG max 13.5V, max 1.2A average per motor; one TB6612FNG controls two motors
    • L298N supports 24V, max 2A average per motor; one L298N controls two motors
    • DRV8871 supports 24V, max 3.6A peak; one DRV8871 controls ONE motor
    • DRV8833, DRV8835 (IN/IN mode)

Where to Purchase Motors/Components

  • AliExpress
  • Ebay
  • Amazon
  • online robotics specialty stores
    • robotshop.com
  • in India
    • robu.in, zbotic.in, robokits.co.in, robocraze.com, roboticsdna.in, probots.co.in, roboindia.com, flipkart.com, digikey.in, mouser.in, in.element14.com

Choosing a Motor

  • choose a motor with a minimum rated torque of ~0.5Kg*cm (a guess). Your motor must have enough torque
    • to accelerate the weight of your robot reasonably quickly, let's say 2lbs or so
    • to drive over thick carpet, floor mats, etc.
  • for the given rated torque, choose a motor with the highest RPM
    • the higher the motor RPM, the faster your robot can drive
  • we recommend 24V BLDC ~400 RPM motors, e.g. JGA25-BL2418 24V 408RPM 127.8PPR
    • these motors are fast, powerful and (generally) long-lasting
  • 12V BLDC ~300 RPM is the second choice
    • often 12V BLDC offer less torque at the same RPM compared to 24V BLDC motors
  • if you cannot get a BLDC motor, get yourself a brushed GA25-370 motor with encoder
    • this motor is (generally) less powerful compared to the recommended BLDC motors
    • brushed motors (generally) do not last as long as BLDC motors
  • if you cannot get a GA25-370 motor, you can use N20 motors as the last resort
    • N20 motors have considerably less torque compared to the recommended motors
    • However, some N20 motors with low RPM (e.g. <=100RPM) do offer sufficient torque

Change Log

v0.7.0

  • set Maker's Pet mini as the default robot
  • added more N20 motors
  • set/get LDROBOT LD14P rotation speed- MAKERSPET_MINI works
  • added YDLIDAR X4-PRO (not tested)

v0.6.0

  • MAKERSPET_MINI works
    • tested with YDLIDAR SCL, LDROBOT LD14P

v0.5.0

  • motor driver
    • brushed motor support: drivers TB6612FNG, LM298N, DRV8871 and others with same IN1, IN2 control input logic
    • N20 motors supported
    • quadrature encoders
    • reverse motor direction, reverse motor encoder - for wiring convenience
  • web configuration
    • additional options including PID, motor drive type, motor encoder type
    • LiDAR scan frequency option
    • automatically loads values from previous configuration
  • ROS properties
    • motors: get max RPM, derated max RPM, target RPM, current RPM
    • motor encoders: get current value, get/set PPR (pulses per revolution), get TPR (ticks per revolution)
    • motor PID: get/set Kp, Ki, Kd, update period, PID mode on-error vs. on-measurement
    • robot base: get model name, base diameter, tire diameter, wheel base
    • LiDAR: get current scan rate, LiDAR model,
  • code refactored into separate files for readability
    • motor controller code moved into its own library
  • added support for YDLIDAR SCL
  • set micro-ROS client key using ESP32 MAC for smoother micro-ROS reconnect
  • refactored code into separate files

v0.4.1

  • added Delta-2A 230400 baud version (vs old 115200 baud)
  • added Delta-2B
  • added motor voltage to configuration
  • added Camsense X1

v0.4.0

  • moved from KaiaaiTelemetry to KaiaaiTelemetry2 message
    • added battery voltage telemetry
    • added WiFi RSSI telemetry
  • added LDROBOT LD14P laser distance scan sensor
  • included all library dependencies in library/ to make the code self-contained
    • do not use Arduino IDE Library manager
    • instead, just copy everything to your Arduino sketch folder
  • included the ESP32 sketch data upload tool in tools/

v0.3.0

  • added 3irobotix Delta-2A, Delta-2G
  • library version dependencies
  • requires Kaia.ai ROS2 image kaiaai/kaiaai-ros-dev:humble-02-11-2024 or kaiaai/kaiaai-ros-dev:iron-02-11-2024

v0.2.0

  • added LiDAR/LDS laser distance scan sensors support
    • YDLIDAR X3, X3-PRO
    • Neato XV11
    • SLAMTEC RPLIDAR A1
  • library version dependencies
  • requires Kaia.ai ROS2 image kaiaai/kaiaai-ros-dev:humble-02-05-2024 or kaiaai/kaiaai-ros-dev:iron-02-05-2024

v0.1.0

  • initial release
  • supports sensors
    • YDLIDAR X4, X2/X2L
    • LDS02RR
  • robot model configuration via web browser
  • requires libraries
  • requires Kaia.ai ROS2 image kaiaai/kaiaai-ros-dev:humble-01-28-2024 or kaiaai/kaiaai-ros-dev:iron-01-28-2024

1/21/2024

  • updated to match PID_Timed v1.1.0 library
    • PID_Timed v1.1.0 replaced constant #define with class constants to fix namespace collisions
  • added LDS library as dependency
    • refactoried and moved YDLIDAR X4 into LDS library
    • added support for Xiaomi 1st gen LDS02RR laser distance scan sensor
  • started moving #define constants into CONFIG class to clean up namespace
  • added motor choices
  • miscellaneous cleanup

12/02/2023

  • BREAKING ESP32 pinout assignment change to support the newly ESP32 breakout board
    • the new ESP32 breakout board works
    • the motor pin change fixes the "motor kick" upon ESP32 hard reboot
    • the LDS pin change fixes the LDS motor enabled by ESP32 upon hard reboot
    • MOT_FG_RIGHT has changed from GPIO27 to GPIO35_IN
    • LDS_MOT_EN has changed from GPIO12_OUT to GPIO19
    • MOT_CW_LEFT has changed from GPIO32 to GPIO23
  • requires micro_ros_kaia Arduino library version 2.0.7-any.3 minimum
  • added ROS2 parameter server
    • works successfully
  • added lds.motor_speed parameter
    • controls the laser distance sensor motor speed
    • type double; set lds.motor=0 to stop LDS motor; set lds.motor=1.0 for maximum speed
    • set lds.motor=-1.0 for LDS default motor speed
  • added minimum micro_ros_kaia library version check
    • Arduino build errors out at compile time if the library version is too old
  • renamed some #define symbols from YDLidar-specific to generic LDS

Acknowledgements