Khepera IV Expansion Turret

 

K4 expansion BACK The expansion turret can be plugged on the top of the Khepera IV to improve the capabilities of the Khepera IV. This turret will provide many different options to the Robot:
· Laser Range Finder (LRF) connection capability (Hokuyo URG-04LX-UG01)
· StarGazer (indoor global position and bearing) connection capability
· Additional battery for a larger autonomy with the K4 external charger pack
· IOs accessibility

With the expansion turret it is now possible to connect and use on the same Khepera robot a LRF module and a stargazer module at the same time.

 

The expansion turret give access of different GPIO’s of the Khepera by soldering a wire :

  • – Main ground
  • +3.3V supply output (max 2A)
  • +5V supply output (max 2A)
  • COM3 Tx (ttyS2), GPIO166
  • COM3 Rx (ttyS2), GPIO165
  • Interrupt 1 input, GPIO10
  • Interrupt 2 input, GPIO186
  • I2C SCL, GPIO184
  • I2C SDA, GPIO185
  • SPI MISO, GPIO173
  • SPI MOSI, GPIO172
  • SPI CLK, GPIO171
  • SPI CS1, GPIO175
  • PWM1, GPIO144
  • Kh4 battery Voltage
  • COM1 Rx (ttyS0), GPIO151
  • COM1 Tx (ttyS0), GPIO148
 K4 expansion BOT

 

 

Here is the possible configurations with the expansion turret :

 

K4 expansion K4 expansion with battery
K4 expansion turret alone Expansion turret with additional battery inserted in
K4 LRF K4 SG
K4 expansion turret with LRF sensor Hokuyo URG-04LX-UG01 K4 expansion turret with Stargazer module
 K4LRF+SG  K4LRF+SG on K4
 K4 expansion turret with LRF, Stargazer and additional battery  Left setup on the Khepera IV

 

 

Recommended price for the expansion turret only : 390 CHF (excluding local taxes and shipping costs)

 

Find your local distributor.

 

User Manual

Software

  • will be included in the new Libkorebot library

 

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