Neato XV-11 - Revision history

Hash: Added a period.

2022-09-03T01:19:44Z

Added a period.

Hash at 02:06, 23 October 2020

2020-10-23T02:06:52Z

Hash at 03:35, 22 October 2020

2020-10-22T03:35:42Z

Hash at 03:16, 22 October 2020

2020-10-22T03:16:27Z

Hash at 03:15, 22 October 2020

2020-10-22T03:15:13Z

Hash at 04:35, 6 October 2020

2020-10-06T04:35:12Z

Hash: /* Open source Linux for Neato */

2020-05-05T14:51:57Z

Open source Linux for Neato

Hash: /* Open source Linux for Neato */

2020-04-27T03:42:59Z

Open source Linux for Neato

Hash: /* Neato XV series WiFi remote control */

2020-04-27T03:31:21Z

Neato XV series WiFi remote control

Hash at 03:24, 27 April 2020

2020-04-27T03:24:22Z

@@ Line 1,079: / Line 1,079: @@
 EagleCAD LCD PCB Files:
-I’ve reverse engineered the LCD peripheral board into EagleCAD, just in case it comes in handy
+I’ve reverse engineered the LCD peripheral board into EagleCAD, just in case it comes in handy.
 '''IMPORTANT DISCLAIMER''': I did my best to determine all the dimensions, but there are likely some minor inaccuracies. Looking at the XV-11’s case, the LCD PCB fits snugly in the outline and all the buttons and LED’s have to line up nicely with the plastic to work properly. If for whatever reason you want to use these files to produce a custom LCD peripheral board, just be warned it may not work (but this is probably your best chance at a template for one).

← Older revision		Revision as of 02:06, 23 October 2020
Line 1:		Line 1:
−	[[File:Neato~~-xv~~-11.jpg~~\|thumb~~\|alt=\|Neato XV-11 Robotic Vacuum]]The Neato XV-11([[wikipedia:Neato_Robotics\|Wikipedia]]) is a robot which vacuum’s your house. It is unlike any other however because it includes a low cost 360 degree laser distance scanner (LIDAR See [[wikipedia:Lidar\|Wikipedia]]). This can be removed from the XV-11 and used in your own robotics projects or used within the XV-11 with the help of the Robot Operating System (ROS). The pages within this wiki document interfacing methods into the XV-11 and is open to anyone who wants to help. For $399 you can’t find a better robotics platform in my opinion, definitely worth the cost even if you do nothing more than strip it down for parts. You will find it is very well constructed by some people who definitely know about robotics.	+	[[File:Neato XV-11.jpg\|alt=\|thumb\|Neato XV-11 Robotic Vacuum]]
		+	The Neato XV-11([[wikipedia:Neato_Robotics\|Wikipedia]]) is a robot which vacuum’s your house. It is unlike any other however because it includes a low cost 360 degree laser distance scanner (LIDAR See [[wikipedia:Lidar\|Wikipedia]]). This can be removed from the XV-11 and used in your own robotics projects or used within the XV-11 with the help of the Robot Operating System (ROS). The pages within this wiki document interfacing methods into the XV-11 and is open to anyone who wants to help. For $399 you can’t find a better robotics platform in my opinion, definitely worth the cost even if you do nothing more than strip it down for parts. You will find it is very well constructed by some people who definitely know about robotics.

	'''''This content has been migrated from [https://web.archive.org/web/20180721051927/http://xv11hacking.wikispaces.com/ xv11hacking.com] which is no longer available.'''''		'''''This content has been migrated from [https://web.archive.org/web/20180721051927/http://xv11hacking.wikispaces.com/ xv11hacking.com] which is no longer available.'''''

← Older revision		Revision as of 03:35, 22 October 2020
Line 1:		Line 1:
−	[[File:Neato-xv-11.jpg\|thumb]]The Neato XV-11([[wikipedia:Neato_Robotics\|Wikipedia]]) is a robot which vacuum’s your house. It is unlike any other however because it includes a low cost 360 degree laser distance scanner (LIDAR See [[wikipedia:Lidar\|Wikipedia]]). This can be removed from the XV-11 and used in your own robotics projects or used within the XV-11 with the help of the Robot Operating System (ROS). The pages within this wiki document interfacing methods into the XV-11 and is open to anyone who wants to help. For $399 you can’t find a better robotics platform in my opinion, definitely worth the cost even if you do nothing more than strip it down for parts. You will find it is very well constructed by some people who definitely know about robotics.	+	[[File:Neato-xv-11.jpg\|thumb\|alt=\|Neato XV-11 Robotic Vacuum]]The Neato XV-11([[wikipedia:Neato_Robotics\|Wikipedia]]) is a robot which vacuum’s your house. It is unlike any other however because it includes a low cost 360 degree laser distance scanner (LIDAR See [[wikipedia:Lidar\|Wikipedia]]). This can be removed from the XV-11 and used in your own robotics projects or used within the XV-11 with the help of the Robot Operating System (ROS). The pages within this wiki document interfacing methods into the XV-11 and is open to anyone who wants to help. For $399 you can’t find a better robotics platform in my opinion, definitely worth the cost even if you do nothing more than strip it down for parts. You will find it is very well constructed by some people who definitely know about robotics.

	'''''This content has been migrated from [https://web.archive.org/web/20180721051927/http://xv11hacking.wikispaces.com/ xv11hacking.com] which is no longer available.'''''		'''''This content has been migrated from [https://web.archive.org/web/20180721051927/http://xv11hacking.wikispaces.com/ xv11hacking.com] which is no longer available.'''''

@@ Line 1: / Line 1: @@
-[[File:Neato-xv-11.jpg|thumb]]<br />
+[[File:Neato-xv-11.jpg|thumb]]The Neato XV-11([[wikipedia:Neato_Robotics|Wikipedia]]) is a robot which vacuum’s your house. It is unlike any other however because it includes a low cost 360 degree laser distance scanner (LIDAR See [[wikipedia:Lidar|Wikipedia]]). This can be removed from the XV-11 and used in your own robotics projects or used within the XV-11 with the help of the Robot Operating System (ROS). The pages within this wiki document interfacing methods into the XV-11 and is open to anyone who wants to help. For $399 you can’t find a better robotics platform in my opinion, definitely worth the cost even if you do nothing more than strip it down for parts. You will find it is very well constructed by some people who definitely know about robotics.
-'''''This content has been migrated from the old [https://web.archive.org/web/20180721051927/http://xv11hacking.wikispaces.com/ xv11hacking.com] website'''''
+'''''This content has been migrated from [https://web.archive.org/web/20180721051927/http://xv11hacking.wikispaces.com/ xv11hacking.com] which is no longer available.'''''
 ==Connecting to ROS==

← Older revision		Revision as of 03:15, 22 October 2020
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−	~~<br />~~[[File:Neato-xv-11.jpg\|thumb]]'''''This content has been migrated from the old [https://web.archive.org/web/20180721051927/http://xv11hacking.wikispaces.com/ xv11hacking.com] website'''''	+	[[File:Neato-xv-11.jpg\|thumb]]<br />
		+
		+	'''''This content has been migrated from the old [https://web.archive.org/web/20180721051927/http://xv11hacking.wikispaces.com/ xv11hacking.com] website'''''

	What is the Neato XV-11 you ask??		What is the Neato XV-11 you ask??

← Older revision		Revision as of 04:35, 6 October 2020
Line 1:		Line 1:
−	<br />[[File:Neato-xv-11.jpg\|thumb]]'''''This content has been migrated from the old [https://web.archive.org/web/~~20120107080436~~/http://xv11hacking.wikispaces.com/ xv11hacking.com] website'''''	+	<br />[[File:Neato-xv-11.jpg\|thumb]]'''''This content has been migrated from the old [https://web.archive.org/web/20180721051927/http://xv11hacking.wikispaces.com/ xv11hacking.com] website'''''

	What is the Neato XV-11 you ask??		What is the Neato XV-11 you ask??

@@ Line 532: / Line 532: @@
 *Mystery .raw file \LinuxSrc\rootfs\etc\test_map.raw (400KB). Could this be sample LIDAR data?
 *Contents of the file \LinuxSrc\rootfs\etc\Issue: “Welcome hackers!”. :
-*[[:File:Readme.txt|Readme.txt]] of the LinuxSrc folder
+*[[:File:Neato XV-11 Readme.txt|Readme.txt]] of the LinuxSrc folder
 <br />

@@ Line 526: / Line 526: @@
-The source contains few Neato specific bits related to the operation of the robot, however some intresting details are disclosed:
+The source contains few Neato specific bits related to the operation of the robot, however some interesting details are disclosed:
 *The unpopulated footprint (J2) on the PCB Rev 64 is indeed a SD Card footprint, and the source reveals that the kernel has SD Card support.
-*The presense USB Gadget drivers of suggests that the Neato has USB OTG support and “Ethernet over USB” capabilities (unconfirmed)
+*The presence USB Gadget drivers of suggests that the Neato has USB OTG support and “Ethernet over USB” capabilities (unconfirmed)
 *Mystery .raw file \LinuxSrc\rootfs\etc\test_map.raw (400KB). Could this be sample LIDAR data?
 *Contents of the file \LinuxSrc\rootfs\etc\Issue: “Welcome hackers!”. :
@@ Line 548: / Line 548: @@
 Accessing this device offers a limited console over USB serial with no local echo.
-Contents of the folder LinuxSrc\boot indicate that U-boot is, or was used as, bootloader on the Neato at some point “''Hopefully u-boot doesn’t make it to production, but if it does..'', LinuxSrc\boot\arch\arm\cpu\lpc313, line 453.
+Contents of the folder LinuxSrc\boot indicate that [http://www.denx.de/wiki/U-Boot U-boot] is, or was used as, bootloader on the Neato at some point “''Hopefully u-boot doesn’t make it to production, but if it does..'', LinuxSrc\boot\arch\arm\cpu\lpc313, line 453.
 The Neato bootloader console does not support any of the standard U-boot commands.
@@ Line 612: / Line 612: @@
 [[File:Neato XV-11 Early PCB Version.jpg|thumb|'''Neato XV-11 Early PCB Version''']]
 {| class="wikitable"
-! colspan="3" |Neato XV-11 BOM and Parts identification
+! colspan="4" |Neato XV-11 BOM and Parts identification
 |-
 |Ref. Desg.
@@ Line 996: / Line 990: @@
 [[File:Neato XV-11 Map bathroom1.gif|thumb]]
 [[File:Neato XV-11 Map bathroom2.gif|thumb]]
 Warning: This feature seems to be missing in the current (v2.6) firmware.)
@@ Line 1,068: / Line 1,063: @@
 [[File:Neato XV-11 LCD panel front labels.png|thumb|Neato XV-11 LCD panel front ]]
 [[File:Neato XV-11 LCD panel back labels.png|thumb|Neato XV-11 LCD panel back ]]
-'''IMPORTANT LCD INFORMATION!!!''' As you can see in the first image, the LCD is labeled “GVLCM128128G 13572A” on its backside. Googling this brings up the following LCD producer: Golden Vision. However, this exact LCD is not listed on their site, but this similar one is. All the measurable specs are similar (dimensions are approximately the same - the XV-11’s LCD measures approximately 61.6 mm x 55.1 mm x 4.36 mm, which is a bit thicker, probably due to the backlight; 128 x 128 resolution). The only differences I could find are the small white line above the ribbon cable at the bottom of the “similar” LCD isn’t present on the XV-11 LCD, and the ribbon cable of the “similar” LCD is 24 pins, not 25 (so the “similar” LCD CANNOT BE USED AS A REPLACEMENT - IT WOULDN’T BE PIN COMPATIBLE!). Anyway, the company only lists a few 128x128 LCD’s in production (none of which match the XV-11’s), so this narrows down the list of possible LCD controllers used in the XV-11’s LCD to just the ST7541 (others are possible but you could say these are more likely since we know this is the only chip the company uses in their 128x128 greyscale LCD’s). We can’t be sure until we test out driving this LCD standalone (on my TODO list for the next 2 weeks - I’m waiting on a FFC Ribbon Cable Breakout to come in from New Haven Display (look here if interested), but from what the datasheet says and the fact that only 2 of the LCD’s ribbon cable pins are appear to have data running thru them, it seems like the LCD is controlled by i2c from the main board (see below for pinouts).
+'''IMPORTANT LCD INFORMATION!!!''' As you can see in the first image, the LCD is labeled “GVLCM128128G 13572A” on its backside. Googling this brings up the following LCD producer: [http://www.golden-vision.cn/ Golden Vision]. However, this exact LCD is not listed on their site, but [http://www.golden-vision.cn/productxs.asp?id=24 this similar one] is. All the measurable specs are similar (dimensions are approximately the same - the XV-11’s LCD measures approximately 61.6 mm x 55.1 mm x 4.36 mm, which is a bit thicker, probably due to the backlight; 128 x 128 resolution). The only differences I could find are the small white line above the ribbon cable at the bottom of the “similar” LCD isn’t present on the XV-11 LCD, and the ribbon cable of the “similar” LCD is 24 pins, not 25 (so the “similar” '''LCD CANNOT BE USED AS A REPLACEMENT - IT WOULDN’T BE PIN COMPATIBLE!'''). Anyway, the company only lists a few 128x128 LCD’s in production (none of which match the XV-11’s), so this narrows down the list of possible LCD controllers used in the XV-11’s LCD to just the [http://www.tstonramp.com/~pddwebacc/ics_app%20notes/sitronix/ST7541_12.pdf ST7541] (others are possible but you could say these are more likely since we know this is the only chip the company uses in their 128x128 greyscale LCD’s). We can’t be sure until we test out driving this LCD standalone (on my TODO list for the next 2 weeks - I’m waiting on a FFC Ribbon Cable Breakout to come in from New Haven Display ([http://www.newhavendisplay.com/index.php?main_page=product_info&cPath=91_123&products_id=1100 look here if interested]), but from what the datasheet says and the fact that only 2 of the LCD’s ribbon cable pins are appear to have data running thru them, it seems like the LCD is controlled by i2c from the main board (see below for pinouts).
@@ Line 1,087: / Line 1,082: @@
 I’ve reverse engineered the LCD peripheral board into EagleCAD, just in case it comes in handy
-IMPORTANT DISCLAIMER: I did my best to determine all the dimensions, but there are likely some minor inaccuracies. Looking at the XV-11’s case, the LCD PCB fits snugly in the outline and all the buttons and LED’s have to line up nicely with the plastic to work properly. If for whatever reason you want to use these files to produce a custom LCD peripheral board, just be warned it may not work (but this is probably your best chance at a template for one).
+'''IMPORTANT DISCLAIMER''': I did my best to determine all the dimensions, but there are likely some minor inaccuracies. Looking at the XV-11’s case, the LCD PCB fits snugly in the outline and all the buttons and LED’s have to line up nicely with the plastic to work properly. If for whatever reason you want to use these files to produce a custom LCD peripheral board, just be warned it may not work (but this is probably your best chance at a template for one).
 *[[:File:Neato_XV-11_LCD_Board.zip|Neato_XV-11_LCD_Board.zip]]

@@ Line 498: / Line 498: @@
 That was the basic idea which led to realization of the full wireless remote control.
-As you may know, you can manually control Neato right out of the box by connecting it to any computer via usb and, through any terminal program, send commands to robot (for some reason article describing command list on official Neato site is unreachable at this moment, but you can get it by typing ‘help’). The way you can control Neato movements is described here: [[#XV-11 API Commands]]
+As you may know, you can manually control Neato right out of the box by connecting it to any computer via usb and, through any terminal program, send commands to robot (for some reason article describing command list on official Neato site is unreachable at this moment, but you can get it by typing ‘help’). The way you can control Neato movements is described here: [[#XV-11 API Commands|XV-11 API Commands]]
 This is really great, but how can one use it for robot’s intended purpose if he or she is limited by the length of the wire? Of course you can take a laptop!  But for me it was not the answer. Luckily, my friend recently has brought a compact (very compact) WiFi router (Commonly available from eBay as “2g/3g/4g wifi router”, also known as HAME MPR-A5 and MIFI-F5. MPR-A1 and clones are likely to work as well if you manage to fit them in. Some additional material is available on http://my-embedded.blogspot.com/2013/12/mini-4g-router-rt5350f.html) and suggested that we should try to embed it into my Neato.

@@ Line 66: / Line 66: @@
 From this point you need to create your own map using gmapping and save the map so a map of your area is loaded when launching 2dnav_neato. gmapping needs to be modified from the base install on your system at this point to correct the reversed laser scan data. This wiki will be updated shortly with that procedure. gmapping is what will allow you to create a map of your surroundings which you will use to navigate.
-[[#top]]
 ==Disassembly and Reassembly==
 Pictorial instructions for disassembling and reassembling an XV-11 can be found at the [http://www.hbrobotics.org/ Homebrew Robotics Club] wiki linked off of the page: [http://hbrobotics.org/wiki/index.php?title=Dave%27s_XV-11_notes Dave’s XV-11 Notes]. There are a few other XV-11 notes there as well, such as how to tap into the battery supply, and I’ll be adding more as I go along. I’m too lazy to update two wiki’s so I’ve decided to make the HBRC wiki my ‘home’ and cross-link from here to there and there to here. Anyway, the disassembly/reassembly instructions were done because I kept forgetting where all the screws go.