firebird v hardware manual v1.08 2012-10-12

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Fire Bird V ATMEGA2560 Hardware Manual

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,




FIRE BIRD V

HARDWARE MANUAL

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A 2




Version 7.00

15th August 2012

Documentation author

%ac-itanand Malewar& NEX Robotic !"t# $td#+r# Anant Malewar& NEX Robotic !"t# $td#

re!its "A#$ha%etica##&'

Adit*a %-ar)a& NEX Robotic

A)e* A.te& NEX RoboticA)it /ada"& NEX Robotic

A-i- Gud-e& '%E& M#Tec-& ((T Bo)ba*

Be-lul %utarwala& NEX Robotic

Gaura" $o-ar& NEX RoboticGuruline- R# '%E& M#Tec-& ((T Bo)ba*

(nder.reet Arora& EE& M#Tec-& ((T Bo)ba*!ro1# a"i Ar*a& '%E& ((T Bo)ba*

!ro1# rit-i Ra)a)rit-a)& '%E& ((T Bo)ba*

unal 3o-i& NEX Robotic Nandan %alun4e& RA& '%E& ((T Bo)ba*

!rati) !atil& NEX Robotic

!reeti Mali4& RA& '%E& ((T Bo)ba*

!ra4-ar Go*al& '%E& M#Tec-& ((T Bo)ba*Ra"ira B-atane& RA& '%E& ((T Bo)ba*

Ro-it '-au-an& NEX Robotic

Raani4ant %awant& NEX Robotic%aurab- Benali& RA& '%E& ((T Bo)ba*

Vaib-a" +a-e& RA& '%E& ((T Bo)ba*

Vib-ooti Ver)a& '%E& M#Tec-& ((T Bo)ba*Vinod +eai& NEX Robotic

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A




Notice

T-e content o1 t-i )anual are ubect to c-ane wit-out notice# All e11ort -a"e been )ade toenure t-e accurac* o1 content in t-i )anual# Howe"er& -ould an* error be detected& NEX

Robotic welco)e *our correction# /ou can end u *our 7uerie 8 uetion at

in1o9ne:;robotic#co)

'ontent o1 t-i )anual i releaed under t-e 'reati"e 'o))ence cc b*;nc;a licene# For leal

in1or)ation re1er to< -tt.<88creati"eco))on#or8licene8b*;nc;a8#08lealcode

• Ro%ot(s e#ectronics is static sensiti)e. Use ro%ot in static *ree en)ironment.

• Rea! the har!+are an! so*t+are manua# com$#ete#& %e*ore using this ro%ot

Rec&c#ing,Al)ot all o1 t-e robot .art are rec*clable# !leae end t-e robot .art to t-e rec*clin .lant

a1ter it o.erational li1e# B* rec*clin we can contribute to cleaner and -ealt-ier en"iron)ent 1or

1uture eneration#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A =

mailto:[email protected]

http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode

http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode

mailto:[email protected]




Re)ision Histor&,

,# >er )ut o t-rou- t-e Fire Bird V? Hardware and %o1tware )anual

be1ore uin t-e robot#

2# T-i -ardware )anual i a..licable 1ro) Main board Verion ,, dated ,2 t-

Auut 20,2 onward and ATMEGA2560 )icrocontroller board Verion @

dated ,5t- Auut 20,2#

# 'r*tal o1 t-e ATMEGA2560 )icrocontroller i u.raded to ,=#@=56MH

1ro) ,,#052M- in all t-e Fire Bird V ATMEGA2560 robot deli"ered on

or a1ter ,t +ece)ber 20,0# T-i docu)entation i u.dated coniderin

cr*tal 1re7uenc* a ,=#@=56MH#

=# Followin are t-e u.rade )ade in Main board Verion ,, dated ,2 t-

Auut 20,2 and ATMEGA2560 )icrocontroller board Verion @ dated ,5 t-

Auut 20,2#

• Main board u..ort an* )icrocontroller wor4in on #V and 5V#

• Cn;board NiMH Batter* c-arer alon wit- batter* le"el indicator#

• Au:iliar* .ower connector and batter* c-arin connector are e.arated

and re7uire a inle uni1ied connector 1ro) t-e A' ada.ter#

• )) (R .ro:i)it* %enor are re.laced wit- 5)) (R !ro:i)it* enor 1or

better rane#

• ti)e reduction in .ower conu)ed b* (R .ro:i)it* enor#• Added u..ort 1or @ c-annel w-ite line enor wit- all @ enor calibration

.otentio)eter on )ain board#

• All Motor& %enor .od D batter* connector are re.laced wit- reli)ate 25,0

t*.e connector 1or better reliabilit*#

• Added Fue .rotection#

• Re)o"able batter* .ac4 wit- Velcro batter* tra.#

• Botto) acr*lic .late i re.laced wit- -i- trent- alu)inu) )etal .late#

• Ea* to re.lace )otor t-an .re"iou )odel#

• Added u..ort 1or Ma:Boti: >ltraonic Rane %enor#• Added .in to )eaure inal trent- o1 XBee wirele )odule#

• $arer -eat in4 area 1or t-e on;board "oltae reulator#

• Tin .lated .ower and )otor trac4 1or 1urt-er increain .ower ratin o1 t-e

)ain board#





-n!e

1. -ntro!uction 7

2. /ire ir! V AMEA2530 4

. Using /ire ir! V Ro%ot 1

6. in /unctiona#it& 74

5. U$gra!ing Ro%ot(s Har!+are 44

3. ase! ontro# Using 8eria# ommunication 93

7. Ro%ot ontro# using :U-( *or /ire ir! V AMEA2530 111

4 Errata 121





1. -ntro!uction

T-an4 1or c-ooin t-e Fire Bird V )obile robotic .lat1or)# Fire Bird V will -el. *ou ain

e:.oure to t-e world o1 robotic and e)bedded *te)# it- -el. o1 it inno"ati"e arc-itecture

and ado.tion o1 t-e C.en %ource !-iloo.-*? in it o1tware and -ardware dein& *ou will be

able to create and contribute to co).le: a..lication t-at run on t-i .lat1or)& -el.in *ouac7uire e:.ertie a *ou .end )ore ti)e wit- t-e)#

8a*et& $recautions,

• Robot? electronic i tatic eniti"e# >e robot in tatic 1ree en"iron)ent#

• Read t-e ae)blin and o.eratin intruction be1ore wor4in wit- t-e robot#

• (1 robot? batter* low buer tart bee.in& i))ediatel* c-are t-e batterie#

• To .re"ent 1ire -aard& do not e:.oe t-e e7ui.)ent to rain or )oiture#

• Re1rain 1ro) di)antlin t-e unit or an* o1 it acceorie once robot i ae)bled#

• '-are t-e NiMH batter* onl* wit- t-e c-arer .ro"ided on t-e robot#

• Ne"er allow NiMH batter* to dee. dic-are#• Mount all t-e co).onent wit- correct .olarit*#

• ee. w-eel awa* 1ro) lon -air or 1ur#

• ee. t-e robot awa* 1ro) t-e wet area# 'ontact wit- water will da)ae t-e robot#

• To a"oid ri4 o1 1all& 4ee. *our robot in a table .oition#

• +o not attac- an* connector w-ile robot i .owered CN#

• Ne"er lea"e t-e robot .owered CN w-en it i not in ue#

• +iconnect t-e batter* c-arer a1ter c-arin t-e robot#

-na$$ro$riate ;$eration,

(na..ro.riate o.eration can da)ae *our robot# (na..ro.riate o.eration include& but i notli)ited to<

• +ro..in t-e robot& runnin it o11 an ede& or ot-erwie o.eratin it in irre.onible)anner#

• (nter1acin new -ardware wit-out coniderin co).atibilit*#

• C"erloadin t-e robot abo"e it .a*load ca.acit*#

• E:.oin t-e robot to wet en"iron)ent#

• 'ontinuin to run t-e robot a1ter -air& *arn& trin& or an* ot-er ite) i entanled in t-e

robot? a:le or w-eel#

• All ot-er 1or) o1 ina..ro.riate o.eration#

• >in robot in area .rone to tatic electricit*#

• Read care1ull* .arara.- )ar4ed wit- caution *)bol#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A @




2. /ire ir! V AMEA2530

T-e Fire Bird V robot i t-e 5 t- in t-e Fire Bird erie o1 robot# Firt two "erion o1 t-e robot

were deined 1or t-e E)bedded Real;Ti)e %*te) $ab& +e.art)ent o1 'o).uter %cience and

Enineerin& ((T Bo)ba*# T-ee .lat1or) were )ade co))erciall* a"ailable 1ro) t-e "erion

onward# All t-e Fire Bird V erie robot -are t-e a)e )ain board and ot-er acceorie#+i11erent 1a)il* o1 )icrocontroller can be added b* i).l* c-anin to. )icrocontroller

ada.ter board# Fire Bird V u..ort ATMEGA2560 AVR& !IV5,R+2 I05, and $!'2,=I

ARM@ )icrocontroller ada.ter board# T-i )odularit* in c-anin t-e )icrocontrollerada.ter board )a4e Fire Bird V robot "er* "eratile# /ou can alo add *our own cuto)

deined )icrocontroller ada.ter board#

/ire ir! V AMEA2530 "AVR' /ire ir! V 49V51RD2 "4051'

/igure ir! V L2164 "ARM7 DM-'

/igure 2.1, /ire ir! V Ro%ots

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A I




/igure 2.2, AMEA2530 "AVR'< 49V51RD2 "4051' an! L2164 ARM7

microcontro##er a!a$ter %oar!s *or /ire ir! V

/igure 2. /ire ir! V AMEA2530 ro%ot





2.1 A)atars o* /ire ir! V Ro%ot

All Fire Bird V Robot -are t-e a)e uni1ied arc-itecture# All Robot ue t-e a)e )ain boardand )icrocontroller ada.ter board#

/ire ir! V /ire ir! V an= /ire ir! V ;mni!irectiona# Ro%ot

/ire ir! V -nsect /ire ir! V Hea$o! /ire ir! V 6WD +ith ri$$er

/igure 2.6, A)atars o* /ire ir! V Ro%ot

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,0




2.2 /ire ir! V #oc= Diagram,

/igure 2.5, /ire ir! V AMEA2530 ro%ot %#oc= !iagram

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,




. Using /ire ir! V Ro%ot

(n t-i c-a.ter "ariou co).onent o1 t-e robot and t-eir .rinci.al o1 o.eration are e:.lained in

detail# (t i "er* i).ortant t-at uer o t-rou- c-a.ter be1ore tartin to ue robot#

/ire ir! V ro%ot has 3 im$ortant mo!u#es,

,# !ower )anae)ent

2# %enin# Actuation loco)otion

=# Ct-er .eri.-eral

5# 'o))unication

6# (ntellience )icrocontroller

/igure .1 /ire ir! V AMEA2530 ro%ot





.1 onnections

/igure .2, /ire ir! V AMEA2530 ro%ot %ottom )ie+

/igure ., AMEA2530 microcontro##er a!a$ter %oar!

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,=




/igure .6, o$ )ie+ o* the main %oar!





/igure .5, ottom )ie+ o* the main %oar!

/igure .3, Microcontro##er a!a$ter %oar! soc=et connection num%ers on the main %oar!





.2 o+ering u$ /ire ir! V

Fire Bird V -a on board rec-areable #6V& 2#,A- Nic4el Metal H*dride batter* w-ic- can

.ower t-e robot 1or a..ro:i)atel* 2 -our# Batter* i 1i:ed uin Velcro tra. o t-at it can be

re.laced eail*# (n cae t-e e:.eri)ent are to be .er1or)ed 1or an e:tended .eriod& robot can

alo be .owered b* e:ternal au:iliar* .ower u..l*#

/igure .7, o+er 8+itch

/igure .4, onnecting the %atter& on the /ire ir! V main %oar!

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,@




Fiure #@ -ow t-e .ower witc-# !ower witc- can eit-er be LB! Batter* !ower or LA!

Au:iliar* !ower .oition# -en au:iliar* .ower or batter* c-arer connector i not connected&robot can be turned CN w-en .ower witc- i in B! .oition# >e o1 Au:iliar* .ower to .ower

t-e robot 1or e:tended a)ount o1 ti)e will be co"ered in ube7uent ection#

For t-e a1et* durin tran.ortation& robot? batter* i diconnected# Be1ore connectin batter* to

t-e robot& )a4e ure t-at robot i turned CFF# To do t-i& )o"e t-e .ower witc- toward t-e

LA!# Fiure #I -ow t-e batter* connector# (nert batter* 5 .in reli)ate connector in t-eoc4et# To turn CN t-e robot& )o"e .ower witc- toward t-e LB!#

T-e NiMH batterie are 1ull* c-ared be1ore deli"er*# Howe"er& NiMH batterie will et

dic-ared o"er t-e .eriod o1 ti)e# T-ere1ore it reco))ended to c-are t-e batterie be1oreuin t-e robot#

Robot i .re;loaded wit- a .rora) to )o"e robot in re.eatedl* in 1orward& bac4ward& le1t and

ri-t direction#

Re1er to ection #= 1or batter* c-arin# For runnin t-e robot on batter* .ower or au:iliar* .ower& re1er to t-e ection #5 and #6#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,I




. o+er management s&stem on the /ire ir! V

Fire Bird V i .owered b* #6V rec-areable Nic4el Metal H*dride batter* .ac4# T-e batter*"oltae can "ar* between ,2V 1ull* c-ared to IV dic-ared# Batter* .ac4 -ould not be

dic-ared below IV ,V .er cell 1or e:tended batter* li1e# Fire Bird V robot -a on;board

intellient NiMH batter* c-arer w-ic- 1ollow t-e correct c-arin .ro1ile 1or t-e batterie# Toa"oid an* accidental da)ae to t-e batterie& do not ue e:ternal batter* c-arer#

Warning, '-are t-e batter* a .er t-e intruction i"en in t-i )anual# +o not ue an*

e:ternal c-arer to c-are t-e batter*# >in e:ternal c-arer )a* da)ae t-e batter* .er)anentl*#

!ower )anae)ent bloc4 on t-e Fire Bird V .er1or) 1ollowin 1unction#,# Batter* "oltae )onitorin and %)art batter* c-arin

2# Reulated u..l* 1or on;board .a*load

# Batter* current eninO

> urrent sensing is an o$tiona# accessor&.





..1 atter&Fire Bird V i .owered b* #6V rec-areable Nic4el Metal H*dride batter* .ac4# -en 1ull*

c-ared& batter* .ac4 i"e ,2V and w-en it i 1ull* dic-ared& "oltae dro. to about IV# NiMH batter* .ac4 -a 5 .in 25,0 reli)ate connector w-ic- will 1it into t-e connector on t-e

)ain board onl* in one orientation# +o not 1orce t-e connection in an* ot-er wa*#

/igure .9, atter& onnector on the main %oar!

/igure .10, atter& *or /ire ir! V AMEA2530

in Num%er /unction

,&2 Batter* !oiti"e V''

T-er)itor

=&5 Batter* Neati"e GN+

a%#e .1, atter& connections





..2 o+er sources an! )o#tage regu#ation on the main %oar!

Fire Bird V i .ri)aril* .owered b* NiMH batter*# (n order to continue ue 1or loner durationwit-out worr*in about t-e batter* ettin low& robot can be .owered b* e:ternal .ower ource

w-ic- i alo 4nown a au:iliar* .ower ource# Au:iliar* u..l* .ro"ide reulated ,2V& ,A).

u..l*# -en robot i .owered b* batter*& it can ue )a:i)u) o1 2A). current w-ile Au:iliar*u..l* will .ro"ide onl* ,A). current#

Robot .ower i di"ided in two e.arate .ower rail# LV Mot %u..l* .ro"ide .ower to all t-e

noi* de"ice on t-e robot uc- a )otor and ot-er -ea"* load# LV Batt %u..l* .ower )oto1 t-e electronic on t-e robot# Mot o1 t-e *te) on t-e robot are .owered b* #V and 5V "ia

"oltae reulator#

1. V att 8u$$#&

LV Batt %u..l* tand 1or tabilied u..l* co)in 1ro) t-e batter*# T-i u..l* line i

ued to .ower al)ot all t-e .a*load on t-e robot#

-en batter* i al)ot dic-ared about 0K .ower re)ainin and onboard .a*load drawcurrent in e:ce o1 2 a).ere& t-en t-e batter* "oltae can 1all below 6#V )o)entar*#

Voltae reulator will not be able to 1unction .ro.erl* below 6#V and t-eir out.ut will 1all below 5V# (n t-i cae t-e )icrocontroller can reet# To e:tend t-e uable batter* li1e and to

reduce t-e .robabilit* o1 )icrocontroller ettin reet w-en batter* i about to 1ull*

dic-are& diode +@ alon wit- t-e ca.acitor '5= i ued# -en batter* "oltae uddenl*dro.& diode +@ .re"ent t-e re"ere 1low o1 t-e current and ca.acitor '5= )aintain "oltae

wit-in a1e li)it 1or about ,00 )illiecond# For t-i duration ca.acitor '5= act a )all

batter*# %i)ilar arrane)ent i done in t-e LV Mot %u..l* uin diode + and ca.acitor'5# T-i c-e)e e:tend uable rane o1 t-e 1ull* c-ared batter*#

2. V Mot 8u$$#&LV Mot %u..l* tand 1or )otor u..l*# (t i ued to .ower +' )otor and ot-er -ea"*load w-ic- -a"e lot o1 current 1luctuation# (t i t-e noiet u..l* line on t-e robot# (t

-ould be ued 1or -ea"* load t-at re7uire lare a)ount o1 current# T-i u..l* can be

"aried between IV to ,,#V de.endin on t-e batter* c-arin tate and t*.e o1 .owerource batter* 8 au:iliar* .ower ued# T-i line can u..l* additional 500)A to t-e

e:ternal load#

/igure .11, Vo#tage regu#ators on the main %oar!

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A 2,




. 5V 8&stem

L5V %*te) i ued to .ower "ariou )odule o1 t-e robot w-ic- doe not re7uire -i-

current and w-ere "oltae tabilit* i "er* i).ortant# (t i ued to .ower loic u..l* o1 t-e('& %-ar. enor & $'+ etc# (t i t-e )ot table ource o1 t-e u..l* on t-e )ain board# (t

can ource =00)A current 1or t-e e:ternal load#

6. .V 8ensorL#V %enor i ued to .ower I (R .ro:i)it* enor& u. to @ w-ite line enor# (n 1ull*

loaded Fire Bird V robot t-i u..l* -ould not be ued to .ower e:ternal load -a"in current

re7uire)ent )ore t-an ,00)A#

5. .V Wire#ess mo!u#e

#V irele )odule u..l* i ued to .ower XBee wirele )odule#

3. .V att Mon su$$#&

Batt Mon %u..l* .ro"ide #V to t-e %)art batter* )onitorin and c-arer circuit#

Note, A.art 1ro) t-ee 1our "oltae reulator Fire Bird V ATMEGA2560 -a two "oltae

reulator 1or .owerin )icrocontroller and er"o )otor on t-e )icrocontroller ada.ter oc4et#.. urrent sensing.Fire Bird V robot can ene it current conu).tion uin o.tional Hall E11ect current enorA'%@,2 8 A'%@,=#

/igure .12, urrent sensing in /ire ir! V

%enor? current enin ele)ent i located between batter* .oiti"e ter)inal and robotelectronic# -en no current i 1lowin t-rou- t-e enor& it i"e 2#5V out.ut# T-i out.ut

"alue reduce b* ,I5)V .er a).ere o1 current 1low i1 5 A).ere current enor i intalled# (1 20

A).ere current enor i intalled t-en "alue i reduced b* ,00)V .er a).ere# T-i enor i ano.tional acceor*# -en t-i enor i abent& t-e enin .at- i -orted wit- 0 o-) reitor or

wit- a wire# For )ore in1or)ation on t-e enor o.eration& re1er to it data-eet w-ic- i located

in t-e L+ata-eet 1older o1 t-e docu)entation '+#

..6 atter& #o+ in!ication

Fire Bird V ue )art batter* )onitorin *te) baed on (' BAT0,# -en batter* "oltaeoe below IV& buer tart i"in one lon bee. 1ollowed b* 2 -ort bee. wit- dela* o1 -al1

econd# At t-e a)e ti)e red led )ar4ed in 1iure #,= tart 1la-in#





.6 atter& harging

Fire Bird V i .owered b* #6V NiMH rec-areable batter*# T-e on;board NiMH c-arer willc-are t-e batter* in to 5 -our de.endin on t-e batter* tate#

Batter* c-arer c-ec4 tate o1 batter* be1ore initiatin t-e c-arin .roce# -ile c-arin t-e batter*& b* loo4in at batter* "oltae& current and te).erature it elect o.ti)al c-arin

alorit-)# Batter* c-are tatu i indicated b* a buer& a red $E+ and a reen $E+ -own in

1iure #,=#

/igure .1, onnection *or %atter& charging

/igure .16, atter& charging status in!icator LEDs ? u@@er





3. harge termination !ue to %atter& *ai#ure,

At an* ti)e durin batter* c-arin i1 robot detect 1ailure in t-e batter* t-en it to. batter*

c-arin and buer i"e , "er* lon bee. wit- a "er* -ort dela* in between# (n t-i cae batter* need to be re.laced#

Note, Buer i -ared between batter* )onitorin circuit and )ain )icrocontroller oc4et#

-m$ortant,

(1 *ou are uin batter* w-ic- i not ued 1or lon ti)e t-en *ou -a"e to c-are it anddic-are it at leat 1ew ti)e to brin t-e batter* to it 1ull torae ca.acit*# To do t-i *ou

can load an* )otion .rora) 1ro) t-e LE:.eri)ent 1older w-ic- i located in t-e

docu)entation '+ and dic-are t-e batterie a1ter c-arin#

Warning,

Ne"er e"er atte).t to c-are t-e robot w-ile it .owered on# (n cae& i1 robot i .owered u. 1irt

and i1 *ou inert t-e batter* c-arin oc4et& it will not enter in c-arin )ode# (n cae& w-en*ou inert batter* c-arin oc4et 1irt and tart c-arin& and t-en .ower u. t-e robot& t-e robot

will be .owered u. and at t-e a)e ti)e batter* will et c-ared# T-i i a "er* danerou

cenario w-ere robot batter* c-arin circuit )a* et con1ued becaue o1 noie 1ro) )otor

and bot- batter* and robot )a* et .er)anentl* da)aed#





.5 o+ering the ro%ot on %atter& $o+er

To turn CN t-e robot on t-e batter* .ower& )a4e ure t-at batter* i connected to t-e robot and)o"e t-e .ower witc- toward bac4 direction B! a -own in t-e 1iure #@

Warning,

+o not run t-e robot i1 batter* i low# (t will reduce t-e batter* li1e c*cle#

.3 o+ering the ro%ot on aui#iar& $o+er

>nder nor)al condition robot i .owered b* on;board batter*# (n order to do e:.eri)ent 1or

loner duration wit-out worr*in about t-e batter* runnin low& robot can alo be .owered b*e:ternal .ower ource# Au:iliar* .ower ource .ro"ide reulated ,2V& ,A). u..l* to t-e

robot#

/igure .15, Ro%ot o+ering )ia atter& an! Aui#iar& su$$#&

To run t-e robot on t-e au:iliar* .ower& ue 1ollowin te.<

,# +iconnect t-e batter* b* re)o"in t-e 5.in reli)ate connector on t-e )ain board w-ic-i located at t-e botto) o1 t-e robot# re1er to 1iure #I

2# Mo"e t-e .ower witc- to t-e B! .oition re1er to 1iure ## T-i i o11 tate 1or

Au:iliar* .ower )ode#

# 'onnect A' ada.ter in t-e )ain# 'onnect ot-er end o1 A' ada.ter in t-e A>X !Rreli)ate )ale connector on t-e )ain board connector on t-e ri-t ide and turn on t-e

A' ada.ter#=# Now to turn on t-e robot& )o"e .ower witc- toward LA! 1iure ##

Warning,

+o not connect au:iliar* .ower w-ile batter* i connected to t-e robot# (n uc- cae& robot will

eit-er run on t-e batter* .ower or on au:iliar* .ower de.endin on t-e .oition o1 t-e witc-#

Robot can not be turned o11 in t-i cenario#





.7 atter& Maintenance

(1 not ued& 1ull* c-ared NiMH batter* can et co).letel* dic-ared wit-in 1ew wee4#

Alwa* c-are t-e batter* be1ore ue# (1 1ull* c-ared batter* i 4e.t in torae 1or about a

)ont- and a1terward e"en i1 it i 1ull* c-ared aain& it can deli"er onl* ,8 rd .ower o1 it ratin#

(n uc- cae& to retore t-e batter* to it 1ull .otential aain& .er1or) at leat 2; c-aredic-are c*cle#

To enure lon li1e& c-are batter* at leat once a wee4 and dic-are it till robot tart i"in batter* low warnin# Be1ore torae& c-are t-e batter* aain#

For dic-arin t-e batter* 7uic4l*& *ou can load an* .rora) 1ro) t-e LE:.eri)ent 1older o1

t-e docu)entation '+# !rora) in"ol"in )otion dic-are batter* 7uic4l*# /ou can .ut robotu.ide down and let )otor run 1or 1ater dic-are#

+iconnect t-e batter* connector i1 robot i to be tored 1or lon duration#

.7A urrent #imiting an! short circuit $rotection,(n t-e Verion ,, o1 )ain board& older .ad 1or t-e 1ue are added# T-ee .ad are -ortedtoet-er a -own in le1t ide i)ae o1 1iure #,I# /ou can )ount 1ue o1 2A to ,0A ratin on

t-ee .ad a -own in t-e ri-t ide i)ae o1 1iure #,6#

/igure .13, ;$tiona# /use on the main %oar!

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A 2@




.4 Motion contro#

Fire Bird V robot -a two @5 R!M +' eared )otor in di11erential dri"e con1iuration alonwit- t-e t-ird cater w-eel 1or t-e u..ort# Robot -a to. .eed o1 about 2=c) .er econd# >in

t-i con1iuration& t-e robot can turn wit- ero turnin radiu b* rotatin one w-eel in cloc4wie

direction and ot-er in countercloc4wie direction# !oition encoder are )ounted on bot- t-e)otor? a:le to i"e a .oition 1eedbac4 to t-e )icrocontroller#

/igure .17, D geare! motors an! $osition enco!ers

Motion control in"ol"e "elocit* and direction control# Motor are controlled b* $2+ dual

)otor dri"er w-ic- can .ro"ide u. to 600)A o1 current to eac- )otor# To c-ane t-e directiono1 t-e )otor& a..ro.riate loic le"el Hi-8$ow are a..lied to $2+? direction control .in#Velocit* control i done uin !ule idt- Modulation !M#

$E+ are connected at t-e in.ut tae o1 t-e )otor dri"er 1or 7uic4 inter.retation o1 t-e )otion

co))and#

/igure .14, Motor Dri)ers

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A 2I




u#se Wi!th Mo!u#ation *or )e#ocit& contro#,

!ule widt- )odulation i a .roce in w-ic- dut* c*cle o1 contant 1re7uenc* 7uare wa"e i)odulated to control .ower deli"ered to t-e load i#e# )otor#

+ut* c*cle i t-e ratio o1 :;N (# -ere :;N( i CN ti)e and :( i t-e ti)e .eriod o1 t-ewa"e# !ower deli"ered to t-e )otor i .ro.ortional to t-e :;N( ti)e o1 t-e inal# (n cae o1

!M t-e )otor react to t-e ti)e a"erae o1 t-e inal#

!M i ued to control total a)ount o1 .ower deli"ered to t-e load wit-out .ower loe w-ic-enerall* occur in reiti"e )et-od o1 .ower control#

/igure .19, u#se Wi!th Mo!u#ation "WM'

Fiure #, -ow t-e !M wa"e1or) 1or )otor "elocit* control# (n cae A& CN ti)e i 0K

o1 ti)e .eriod# T-i wa"e -a )ore a"erae "alue and -ence )ore .ower i deli"ered to t-e

)otor# (n cae B& t-e )otor will run lower& a t-e CN ti)e i ut ,0K o1 ti)e .eriod#

For t-e Fire Bird V ATMEGA2560 "erion& loic le"el 1or t-e )otor direction control i i"en in

t-e table #=#

Microcontro##er in /unction

!$ C'5A !ule widt- )odulation 1or t-e le1t )otor "elocit* control

!$= C'5B !ule widt- )odulation 1or t-e ri-t )otor "elocit* control!A0 $e1t )otor , direction control

!A, $e1t )otor 2 direction control

!A2 Ri-t )otor , direction control

!A Ri-t )otor 2 direction control

a%#e ., in *unctions *or the motion contro#





D-RE-;N

LE/

WD "L'

A0 "L1'

LE/

/WD"L/'

A1 "L2'

R-H

/WD"R/'

A2 "R1'

R-H

WD"R'

A "R2'

WM

L "WML' *or

#e*t motor

L6 "WMR' *or

right motor

FCRAR+ 0 , , 0A .er "elocit*

re7uire)ent

REVER%E , 0 0 ,A .er "elocit*

re7uire)ent

R(GHT (Left wheel

forward, Right wheel

backward)0 , 0 ,

A .er "elocit*

re7uire)ent

$EFT(Left wheel

backward, Right wheel

forward,), 0 , 0

A .er "elocit*

re7uire)ent

%CFT R(GHT(Left wheel

forward,, Right wheel

stop)0 , 0 0

A .er "elocit*re7uire)ent

%CFT $EFT(Left wheel

stop, Right wheel

forward,)0 0 , 0


%CFT R(GHT 2 (Left

wheel stop, Right wheel

backward)0 0 0 ,


%CFT $EFT 2 (Left

wheel backward, Right

wheel stop), 0 0 0

A .er "elocit*

re7uire)ent

HAR+ %TC! 0 0 0 0A .er "elocit*

re7uire)ent

%CFT %TC! Free

runnin to.X X X X 0

a%#e .6, Logic ta%#e *or motor !irection contro#

e can ober"e all t-e co))and i"en on t-e $E+ located at t-e to. ri-t ide on t-e robot#

Fiure #20 -ow t-e location and 1unction o1 indicator $E+ related to )otion control#

/igure .20, Motion status LED in!ication on the /ire ir! V main %oar!





Note, ', and '2 )otor connector are ued in o)nidirectional and = w-eel dri"e robot# $E+

1or ', )otor c-annel are .reent i1 ', )otor c-annel i ued#

Warning,

Au:iliar* .ower can u..l* current u. to , A).ere w-ile Batter* can u..l* current u. to 2

A).ere# -en bot- )otor o1 t-e robot c-ane direction uddenl* wit-out to..in& it .roducelare current ure# -en robot i .owered b* Au:iliar* .ower w-ic- can u..l* onl* , A).ereo1 current& udden direction c-ane in bot- t-e )otor will caue current ure w-ic- can reet

t-e )icrocontroller becaue o1 udden 1all in "oltae# (t i a ood .ractice to to. t-e )otor 1or

at leat 0#5 econd be1ore c-anin t-e direction# T-i will alo increae t-e ueable ti)e o1 t-e

1ull* c-ared batter*#

Robot -a two (' -older 1or two $2+ )otor dri"er wit- eac- -a"in two 6 .in 25,0

reli)ate connector 1or two +' )otor# Eac- 6 .in reli)ate connector .ro"ide connection 1ort-e +' )otor and t-e aociated .oition encoder# Eac- connector can dri"e )otor wit- u. to

600)A current ratin# Fiure #,I -ow t-e location o1 t-e two $2+ dual )otor dri"er on

t-e )ain board# $e1t ide $2+ dri"e ', and '2 )otor and ri-t ide $2+ dri"e $e1t andRi-t ide )otor# (n t-e two w-eel dri"e robot le1t ide $2+ i abent a it not ued -owe"er

to ue ', and '2 )otor dri"er c-annel *ou can inert $2+ in t-e le1t ide (' -older#

/igure .21, Motion contro# connections on the main %oar!

onnector Name Descri$tion

$ $e1t )otor connector ,R Ri-t )otor connector 2

', ', )otor connector

'2 '2 )otor connector

E:ternal Motor (nter1ace !ort,

$oic inal o1 .in =@ to 55 o1 t-e )ain board oc4et 1or inter1acin e:ternal -i- .ower)otor dri"er 1or $&R and ', )otor

E:ternal Motor (nter1ace !ort2

$oic inal o1 .in 66 to 6I o1 t-e )ain board oc4et 1or inter1acin e:ternal -i- .ower)otor dri"er 1or '2 )otor

a%#e .5, Use o* connectors o* the motion contro# mo!u#e





in No. /unction

, V''& 5V %*te)

2 !oition Encoder data

N'

= GN+

5 Motor 2

6 Motor ,a%#e .3, Motor connector $ort $in connections

/igure .22, 8chematic o* the motion contro# mo!u#e an! the $osition enco!er





/igure .2, Motion status LED in!ication in terms o* microcontro##er a!a$ter soc=et $in

num%er

L5V *te) u..l* i ued 1or dri"in $2+ loic circuit# LV Batt Mot i ued to u..l*

.ower to t-e )otor# '22 P '25 and '2 P '2 i ued 1or noie u..reion# $oic inal to

dri"e t-e two $2+ co)e 1ro) t-e .in =@ to 55 and .in 66 to 6I o1 t-e )icrocontrollerada.ter board oc4et# $oic le"el on t-e .in =@ to 55 are alo connected to t-e )otion $E+ t-e

)ain board a -own abo"e#

u -N

N;

in name U8ED /;R 8tatus Main oar!

in No.

5 C'A8A(N,8!E !M out.ut 1or '2 )otor dri"e Cut.ut 6I

I C'5A8!$ !M 1or le1t )otor# Cut.ut 50

C'5B8!$= !M 1or ri-t )otor# Cut.ut 5=

=0 C'5'8!$5 !M 1or ', )otor# Cut.ut =I

@, !A@ '2;2 $oic in.ut 2 1or '2 )otor dri"e Cut.ut 66

@2 !A6 '2;, $oic in.ut , 1or '2 )otor dri"e Cut.ut 6@

@ !A5 ',;2 $oic in.ut 2 1or ', )otor dri"e Cut.ut =

@= !A= ',;, $oic in.ut , 1or ', )otor dri"e Cut.ut =@

@5 !A $oic in.ut , 1or Ri-t )otor Ri-t bac4 Cut.ut 5

@6 !A2$oic in.ut 2 1or Ri-t )otor Ri-t

1orwardCut.ut 55

@@ !A,$oic in.ut 2 1or $e1t )otor $e1t

1orwardCut.ut 52

@I !A0 $oic in.ut , 1or $e1t )otor $e1t bac4 Cut.ut 5,

a%#e .7, onnections o* the motor !ri)er +ith the AMEA2530 microcontro##er





onnecting /ire ir! V ro%ot %oar! to %igger ro%ot

$2+ )otor dri"er on t-e )ain board can onl* .ro"ide current u. to 600)A .er )otor# (1 *ouwant to dri"e bier robot uin Fire Bird V )ain board t-en re)o"e $2+ )otor dri"er 1ro)

t-eir (' oc4et# /ou can inter1ace -i- .ower )otor dri"er uc- a Hercule or Hercule lite

1ro) NEX Robotic w-ic- can dri"e )otor u. to 6V and 0A). to t-e e:ternal )otorinter1ace .ort# $ocation o1 $2+ (' i -own in 1iure #,I and E:ternal Motor (nter1ace .ort

, and E:ternal Motor (nter1ace !ort 2 in 1iure #2,#

/igure .26, Hercu#es series 0Am$. Motor Dri)ers

-m$ortant,

Gi"e -i- current .ower u..l* to t-e )otor dri"er directl* wit-out oin t-rou- Fire Bird V

)ain board and )a4e ure t-at Robot round and )otor dri"er round are co))on#





.9 osition Enco!ers

!oition encoder i"e .oition 8 "elocit* 1eedbac4 to t-e robot# (t i ued in cloed loo. tocontrol robot? .oition and "elocit*# !oition encoder conit o1 lotted dic w-ic- rotate

between o.tical encoder o.tical tran)itter and recei"er# -en lotted dic )o"e in between

t-e o.tical encoder we et 7uare wa"e inal w-oe .ule count indicate .oition and ti)e .eriod 8 1re7uenc* indicate "elocit*#

C.tical encoder MC'@I,, i ued a .oition encoder on t-e robot# (t conit o1 (R $E+ andt-e .-oto tranitor )ounted in 1ront o1 eac- ot-er e.arated b* a lot and encaed in blac4

o.a7ue cain and 1acin eac- ot-er t-rou- narrow window# -en (R li-t 1all on t-e .-oto

tranitor it et in to aturation and i"e loic 0 a t-e out.ut# (n abence o1 t-e (R li-t it i"eloic , a out.ut# A lotted encoder dic i )ounted on t-e w-eel i .laced in between t-e lot o1

MC'@I,,# -en encoder dic rotate it cut (R illu)ination alternatel* becaue o1 w-ic- .-oto

tranitor i"e 7uare .ule train a out.ut# Cut.ut 1ro) t-e .oition encoder i cleaned uin

%c-)itt trier baed in"erter not ate (' '+=0,06#

/igure .25, D geare! motors an! $osition enco!ers





O !oition encoder o1 t-e )otor ', i connected to t-e (NT@ .in o1 t-e ATMEGA2560

)icrocontroller "ia olderin .ad !,# (NT@ interru.t .in i alo connected to bootloader witc-

and T%C!,@I "ia .ad on )icrocontroller oc4et# (1 *ou want to ue .oition encoder o1 ',&t-en )a4e ure t-at bootloader code i re)o"ed 1ro) t-e t-e ATMEGA2560 )icrocontroller

and olderin .ad 1or T%C!,@I connection on t-e )icrocontroller oc4et i o.en# A1ter t-ee

two .recaution are ta4en& older .ad !, on t-e )ain board to connect ', )otor .oitionencoder to t-e ATMEGA2560 )icrocontroller oc4et# T-i i "er* i).ortant# (1 not done t-en

becaue o1 .ule 1ro) ', )otor .oition encoder& ATMEGA2560 )icrocontroller will o in to

boot )ode# Fiure #2I -ow location o1 t-e .ad !, on t-e )ain board#

/igure .24, a! 1 o$en an! +ith short





a#cu#ation o* $osition enco!er reso#ution,

ase 1, Ro%ot is mo)ing *or+ar! or %ac=+ar! "enco!er reso#ution is in mm'

-eel dia)eter< 5#,c)

-eel circu)1erence< 5#,c) O #,= Q ,6#0,=c) Q ,60#,=)) Nu)ber lot on t-e encoder dic< 0

!oition encoder reolution< ,6#2 )) 8 0 Q 5#==)) 8 .ule#

ase 2, Ro%ot is turning +ith one +hee# rotating c#oc=+ise +hi#e other +hee# is rotating

anti c#oc=+ise. enter o* rotation is in the center o* #ine $assing through +hee# ae# an!

%oth +hee#s are rotating in o$$osite !irection "enco!er reso#ution is in !egrees'

+itance between -eel Q ,5c)

Radiu o1 'ircle 1or)ed in 600 rotation o1 Robot Q +itance between -eel 8 2

Q @#5 c)

+itance 'o"ered b* Robot in 600 Rotation Q 'ircu)1erence o1 'ircle traced Q 2 : @#5 : #,=

Q =@#, c) or =@,))

Nu)ber o1 w-eel rotation o1 in 600 rotation o1 robot

Q 'ircu)1erence o1 Traced 'ircle 8 'ircu)1erence o1 -eel

Q =@, 8 ,60#,=

Q 2#=,

Total .ule in 600 Rotation o1 Robot

Q Nu)ber o1 lot on t-e encoder dic 8 Nu)ber o1 w-eel rotation o1 in 600 rotation o1 robot Q 0 : 2#=,

Q II#2 a..ro:i)atel* II

!oition Encoder Reolution in +eree Q 60 8 II

Q =#00 deree .er count





ase , Ro%ot is turning +ith one +hee# stationar& +hi#e other +hee# is rotating c#oc=+ise

or anti c#oc=+ise. enter o* rotation is center o* the stationar& +hee# "enco!er reso#ution is

in !egrees'

(n t-i cae onl* one w-eel i rotatin and ot-er w-eel i tationar* o robot will co).lete it

600

rotation wit- tationar* w-eel a it center#Radiu o1 'ircle 1or)ed in 600 rotation o1 Robot Q +itance between -eel

Q ,5 c)

+itance 'o"ered b* Robot in 600 Rotation Q 'ircu)1erence o1 'ircle traced

Q 2 : ,5 : #,=

Q =#20 c) or =2 ))

Nu)ber o1 w-eel rotation o1 in 600 rotation o1 robot

Q 'ircu)1erence o1 Traced 'ircle 8 'ircu)1erence o1 -eel

Q =2 8 ,60#,=

Q 5#II2

Total .ule in 600 Rotation o1 RobotQ Nu)ber o1 lot on t-e encoder dic 8 Nu)ber o1 w-eel rotation o1 in 600 rotation o1 robot

Q 0 : 5#II2

Q ,@6#=6 a..ro:i)atel* ,@6

!oition Encoder Reolution in +eree Q 60 8,@6

Q 2#0=5 deree .er count





.10 8har$ -R range sensors

For accurate ditance )eaure)ent& robot ue %-ar. (R rane enor# Robot can be 1itted wit-1i"e (R rane enor a -own in 1iure #2# %-ar. (R rane enor conit o1 (R $E+ and

linear ''+ arra*& bot- enca.ulated in t-e -ouin wit- .reciion len ae)bl* )ounted in

1ront o1 t-e)# (R $E+ wit- t-e -el. o1 t-e lean tran)it a narrow (R bea)# -en li-t -it t-eobtacle and re1lect bac4 to t-e linear ''+ arra*& de.endin on t-e ditance 1ro) t-e obtacle&

anle o1 t-e re1lected li-t "arie# T-i anle i )eaured uin t-e ''+ arra* to eti)ate

ditance 1ro) t-e obtacle# (t i"e a)e re.one to di11erent colored obect a )eauredditance i 1unction o1 t-e anle o1 re1lection and not on t-e re1lected li-t intenit*#

Fiure #0 -ow t-e internal o1 t-e enor# Fiure #, e:.lain -ow c-ane in t-e ditance1ro) t-e obtacle can be )eaured b* )eaurin anle o1 re1lection o1 t-e re1lected li-t bea)

1ro) t-e obtacle# %ince enor )eaure)ent i baed on trianulation and not on intenit* o1 t-e

re1lected li-t& it i i))une to diturbance caued b* a)bient li-t#

%enor i"e out analo "oltae corre.ondin to anle o1 re1lection# Relation-i. between t-e

anle o1 re1lection and out.ut "oltae i not linear becaue o1 triono)etr* in"ol"ed# T-ee

enor -a"e blind .ot in t-e rane o1 0)) to o)e .eci1ic ditance de.endin on t-e t*.e o1t-e enor# (n t-e blind .ot reion enor i"e incorrect readin# Table # i"e in1or)ation

about enin rane and t-e blind .ot ditance 1or t-e .articular enor#

/igure .29, 8har$ 8ensors mounte! on /ire ir! V

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A =0




/igure .0, -n*rare! Range *in!er sensor an! its insi!e )ie+

/igure .1, Distance measurement %ase! on ange# o* re*#ection

Fire Bird V u..ort t-ree t*.e o1 (R rane enor 1ro) %-ar. Microelectronic#

G!2+,20 G!2+,2 G!2/0A02/

/igure .2, 8har$ -R Range sensors *or /ire ir! V

8ensor Range #in! 8$ot

G!2+,20X 0c) to 20c) =c) to 0c)

G!2/0A02/ I0c) to ,0c) ,0c) to 0c)

G!2/0A02 ,50c) to 20c) 20c) to 0c)

a%#e .9, 8har$ -R Range sensors co)erage

/igure ., Distance Vs. ;ut$ut )o#tage o* 2D120< 2B0A02BC an! 2B0A02BC

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A =,




Fiure # -ow t-e t*.ical out.ut c-aracter o1 t-e G!2+,20& G!2+,2 and G!2/0A02/

enor# (n t-ee ra.- X a:i re.reent ditance 1ro) t-e obtacle and / a:i re.reent t-e

out.ut "oltae# T-e enor? out.ut c-aracteritic i li-tl* loarit-)ic in nature -ence to ett-e ditance in )illi)eter we -a"e to ue 1ollowin 1or)ula#

+itance in )) 1or G!2+,20 Q ,0#00O,#008 0#00,2=0I@5O1loat A+' "alue 0#005 P0#=2

+itance in )) 1or G!2/0A02/ Qint,0#00 O 2@#6 O ,#00 8 1loatdoubleA+'SValuedouble,#,5=6U

U

-N

No.

in name U8ED /;R U $in correct

-; setting

,5 C'=A8!H%-ar. (R rane enor , to 5 diable#

Turn o11 t-ee enor& w-en out.ut i loic ,OCut.ut

I=!58A+',8!'(NT2

,

A+' in.ut 1or %-ar. (R rane enor 5 (n.ut Floatin

I5!=8A+',28!'(NT2

0A+' in.ut 1or %-ar. (R rane enor = (n.ut Floatin

I6!8A+',,8!'(NT,

A+' in.ut 1or %-ar. (R rane enor (n.ut Floatin

I@!28A+',08!'(NT,

IA+' in.ut 1or %-ar. (R rane enor 2 (n.ut Floatin

II !,8A+'8!'(NT,@ A+' in.ut 1or %-ar. (R rane enor , (n.ut Floatin

a%#e .10, onnections o* the 8har$ -R range sensors an! its $o+er contro# M;8/Es

+ith the AMEA2530 microcontro##er

O %-ar. (R rane enor enablin and diablin i co"ered in ection #,0A





.10A A)oi!ing sensor inter*erence in mu#tiro%ot en)ironment

Man* o1 t-e enor ued in t-e Fire Bird V e)it o)e ort o1 inal to ene t-e obect uc- a%-ar. (R rane enor& ultraonic rane enor& (R .ro:i)it* enor& w-ite line enor etc#

All t-ee enor are 4nown a acti"e enor#

(1 )an* robot wit- uc- acti"e enor are .laced in a)e .ace t-en t-eir enor will inter1ere

wit- eac- ot-er# Cnl* wa* to o.erate )an* robot in a)e .ace wit-out a))in eac- ot-er

enor i to ue& enor on eac- robot in ti)e di"iion )ulti.le:in wa*# T-i can be done b**nc-roniin eac- robot enor witc-in uin wirele )odule uc- a XBee& iFi or

Bluetoot- o1 t-e robot#

All t-e enor on t-e Fire Bird V robot can be turned on or o11 b* o1tware# T-i enable Fire

Bird V to wor4 in )ultirobot en"iron)ent wit-out a))in eac- ot-er#

/igure .6, 8har$ -R range sensor(s $o+er contro# circuit

Fiure #2 -ow t-e location o1 t-e %-ar. (R rane enor on t-e robot# T-e* are nu)bered1ro) , to 5 in t-e cloc4wie direction# Fiure #= -ow t-e c-e)atic o1 t-e MC%FET and

u).er w-ic- control witc-in on8o11 o1 t-e enor# %-ar. (R rane enor , to 5 are

controlled b* t-e MC%FET M,# !H .in,5 o1 t-e ATMEGA2560 )icrocontroller i connectedto t-e %-ar. (R rane enor .ower witc-in circuit "ia .in o1 t-e )ain board oc4et# %-ar.

enor can be turned on and o11 b* witc-in circuit "ia )icrocontroller w-en 3u).er 3,;

-own in 1iure #= i o.en abent# (1 u).er i inerted t-en enor re)ain .er)anentl* CN#Microcontroller will no be able to turn t-e) CFF t-e enor once t-i u).er i inerted#

-en )icrocontroller .in i at loic low& Tranitor T2 i o11 -ence ate o1 MC%FET M, i

.ulled u. at 5V w-ic- turn on t-e MC%FET w-ic- turn on t-e %-ar. (R rane enor# -en$oic , i a..lied at t-e bae o1 tranitor T2 it et turn on and it .ull down t-e ate o1 t-e

MC%FET M, to turn it CFF# $ocation o1 t-e u).er i -own in 1iure #I#

%a)e wa* -ite line enor and (R .ro:i)it* enor can be witc-ed CN and CFF& w-ic- can

bee .er)anentl* turned CN b* .lacin re.ecti"e u).er# T-eir witc-in circuit are dicued

in t-eir re.ecti"e to.ic#





8ensors Main %oar! soc=et $in

num%er

AMEA2530 u

in

Logic state

%-ar. (R rane enor , to 5 !H .in ,50< %enor are turned on

,< %enor are turned o11

w-ite line enor le1t&

center& ri-t=0 !G2 .in @0

0< %enor are turned on

,< %enor are turned o11

(R .ro:i)it* enor , to I = !H .in ,= 0< %enor are turned on,< %enor are turned o11

a%#e .11, 8ensor $o+er contro# $ins an! um$ers "Assuming corres$on!ing um$er at 1

is o$en'

/igure .5, 8ensor status in!icator LEDs

3u).er , et i -own b* red rectanle in 1iure #5# (t conit o1 et o1 = u).er# Cn 8 C11

tatu o1 t-e enor i -own b* *ellow $E+ are -i-li-ted b* blue rectanle# CN $E+

indicate t-at enor i CN# Table #,,A -ow t-e 1unction o1 t-ee u).er and corre.ondinenor .ower indicatin $E+#

um$er Name /unction

"-* um$er is inserte!'

8ensor $o+er

in!icating LEDname

urrent consum$tion

3,;,$'+ B$ Turn on $'+ bac4 li-t $'+ Bac4;li-t 20)A

3,;2(R!Turn on all I (R .ro:i)it*

enor(R!

5,)A all I (R .ro:i)it*

enor

3,;%HAR!Turn on intalled %-ar. (R

rane enor%HAR! 25)A .er enor intalled

3=;,$ Turn on all w-ite line enor $,6)A t*.ical 1or c-annel

w-ite line enor

a%#e .11A, 8ensor $o+er on um$ers an! LED in!icators

-m$ortant

• Robot are 1actor* -i..ed wit- all u).er inerted# %o a .er 1actor* ettin all enor

will re)ain .er)anentl* CN# (1 *ou are not oin to witc- enor on8o11 uinMC%FET t-en lea"e u).er a it i#

• %-ar. G!2/0A02 enor bod* i )ade u. o1 conducti"e .latic# Hence 1oa) ta.e iadded a an inulator between t-e enor and t-e )etal tri. w-ic- -old t-e enor in

.lace# (1 t-i iolation i not .ro"ided t-en enor will et .artiall* o11 w-en

corre.ondin MC%FET i turned o11# (n uc- cae enor will till conu)e .ower and)i-t i"e incorrect readin w-en enor i turned o11# To a"oid t-i )all inulator 1oa)

i inerted between t-e enor and t-e )etal tri.e w-ic- -old t-e enor in .lace#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ==




.11 -n*rare! $roimit& an! !irectiona# #ight intensit& sensors

(n1rared .ro:i)it* enor are ued to detect .ro:i)it* o1 an* obtacle in t-e -ort rane# (R .ro:i)it* enor -a"e about ,0c) enin rane# T-ee enor ene t-e .reence o1 t-e

obtacle in t-e blind .ot reion o1 t-e %-ar. (R rane enor# Fire Bird V robot -a I (R

.ro:i)it* enor# Fiure #6 -ow t-e location o1 t-e I (R .ro:i)it* enor# %enor arenu)bered a , to I 1ro) le1t to ri-t in cloc4wie direction# (n all t-e )anual a)e nu)berin

con"ention will be ued 1or addrein t-e .articular (R enor#

(n t-e abence o1 t-e obtacle t-ere i no re1lected li-t -ence no lea4ae current will 1low

t-rou- t-e .-oto diode and out.ut "oltae o1 t-e .-oto diode will be around #V# A obtacle

co)e cloer& )ore li-t et re1lected and 1all on t-e .-oto diode and lea4ae current 1lowint-rou- t-e .-oto diode tart to increae w-ic- caue "oltae acro t-e diode to 1all#

/igure .3, Eight -R $roimit& sensors on /ire ir! V

-en enabled I (R .ro:i)it* enor co)bined toet-er conu)e about 5,)A current# /ou

can a"e .ower b* turnin on t-ee enor onl* w-en re7uired# Re1er to table #,,& t-eeenor can be turned o11 b* a..l*in loic , 5V to t-e .in no# = o1 t-e )ain board# To enable

t-ee enor .er)anentl* connect t-e (R! u).er on 3, o1 )ain board# For u).er location

re1er to 1iure #I#





/igure .4, 8ensor ontro# 8+itches an! um$ers

Name /unction

3, $'+ Bac4;li-t Enable8+iable u).er (R .ro:i)it* enor Enable8+iable u).er

%-ar. enor Enable8+iable u).er

-ite line enor Enable8+iable u).er

M, D T2 MC%FET M, and Tranitor T2 1or %-ar. (R rane enor witc-in

T D T= Tranitor T and T= 1or (R !ro:i)it* %enor witc-in

T5 D T6 Tranitor T5 and T6 1or -ite $ine %enor witc-in

a%#e .12, 8ensor ontro# 8+itches an! um$ers *unctions

-NN

;

in name

"AMEA2530

master u'

U8ED /;R 8tatus

,5 X'28 !H2 (R .ro:i)it* enor , to I diable#Turn o11 t-ee enor w-en out.ut i loic , O

Cut.ut

I !08A+'I8!'(NT,6 A+' in.ut 1or (R .ro:i)it* analo enor 5 (n.ut Floatin

0 !F@A+'@8T+( A+' in.ut 1or (R .ro:i)it* analo enor =OO (n.ut Floatin

, !F68A+'68T+0 A+' in.ut 1or (R .ro:i)it* analo enor OO (n.ut Floatin

2 !F5A+'58TM% A+' in.ut 1or (R .ro:i)it* analo enor 2OO (n.ut Floatin

!F=8A+'=8T' A+' in.ut 1or (R .ro:i)it* analo enor ,OO (n.ut Floatin

a%#e .1, onnections o* the -R roimit& sensors an! its $o+er contro# transistor +ith

the AMEA2530 microcontro##er "main microcontro##er'

O For )ore detail re1er to ection #,0 and #,2#

OOFor uin Analo (R .ro:i)it* ,& 2& and = enor -ort t-e u).er 32 on t-e)icrocontroller ada.ter board# For )ore detail re1er to ection #,#6# To ue 3TAG "ia

e:.anion lot o1 t-e )icrocontroller oc4et re)o"e t-ee u).er#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A =@




-N

N;

in name

"AMEA4 s#a)e u'

U8ED /;R

,= %%8C',B !B2

(%! (n %*te) !rora))in and %!( 'o))unication wit-

ATMEGA2560# O

,5 MC%(8C'2 !B

,6 M(%C !B=

,@ !B5 %'

, A+'6 A+' in.ut 1or (R .ro:i)it* analo enor @

22 A+'@ A+' in.ut 1or (R .ro:i)it* analo enor I

2I !'5 A+'58%'$ A+' in.ut 1or (R .ro:i)it* analo enor 6

a%#e .16, onnections o* the -R roimit& sensors +ith the AMEA4 "s#a)e

microcontro##er'

> -n 8&stem $rogramming an! Mu#tiF$rocessor communication %et+een master an! sa#)e

microcontro##er

MC%(& M(%C& %' and %% .in o1 ATMEGA2560 )ater )icrocontroller are connected to t-e

(%! (n %*te) .rora))in .ort a well a t-e %!( bu o1 ATMEGAI la"e )icrocontroller#Hence to do (%! *ou need to diconnect u).er 3= on t-e )icrocontroller ada.tor board# To

acce data 1ro) t-e la"e )icrocontroller ATMEGAI o"er %!( bu 3u).er 3= on t-e

)icrocontroller oc4et need to be connected#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A =I




.12 White Line 8ensor,

-ite line enor are ued 1or detectin w-ite line on t-e round ur1ace# -ite line are ued

to i"e robot ene o1 localiation# -ite line enor conit o1 a -i-l* directional .-oto

tranitor 1or line enin and bri-t red $E+ 1or t-e illu)ination# +ue to t-e directional nature

o1 t-e .-oto diode it doe not et a11ected wit- a)bient li-t unle it i "er* bri-t#

/igure .9, White #ine sensor

/igure .60, White Line sensor

-en t-e robot i not on a w-ite line& a)ount o1 li-t re1lected i le& -ence le lea4ae current1low t-rou- t-e .-oto tranitor# (n t-i cae& t-e line enor i"e an out.ut in t-e rane o1 2V

to #V# -en t-e enor i on a w-ite line& )ore li-t et re1lected reultin in coniderable

increae in t-e lea4ae current w-ic- caue "oltae acro t-e enor to 1all between 2 to 0#,V#

!ower to t-e red $E+ o1 w-ite line enor i controlled !G5 o1 ATMEGA2560 )icrocontroller

to e:tend robot? batter* li1e# %witc-in action o1 t-e .ower control circuit i e:actl* a)e a

.ower witc-in circuit o1 (R .ro:i)it* enor a dicued in ection #,,# $ine enor can be .er)anentl* turned on b* inertin u).er in t-e 3u).er 3,;=# For )ore in1or)ation re1er to

1iure #5 and table #,,#

Fiure #=,a -ow c-e)atic o1 t-e w-iteline enor )odule on t-e )ain board and 1iure #=2

-ow location o1 .otentio)eter 1or t-e w-ite line enor calibration# %tandard Fire Bird V robot

-a c-annel w-ite line enor )odule# (t can alo be ea)lel* u.raded to @ c-annel w-ite

line enor )odule uin t-e a)e connector# Main board -a .otentio)enter 1or @ c- w-ite lineenor# For )ore in1or)ation reardin u.rade& re1er to t-e a..lication note in t-e a..lication

note ection in t-e docu)entation '+#

-m$ortant,

%tandard Fire Bird V robot i -i..ed wit- .otentio)entr 1or c-annel w-ite line enor

)odule# Additional = .otentio)enter can be readl* oldered on t-e )ain board# Fiure #=2

-ow all e"en .otentio)enter but robot i -i..ed wit- onl* .otentio)entr 1or le1t& centreand ri-t ide w-ite line enor#





/igure .61a. White #ine sensor mo!u#e on main %oar! schematic

/igure .61%. White #ine sensor schematic

Note,

-ite line enor nu)ber = t o@ ue A+' o1 t-e ATMEGAI la"e )icrocontroller#





/igure .62, otentiometers *or +hite #ine sensor ca#i%ration

/igure .6, White #ine sensor $in connections "White #ine 8ensor oar!'

/igure .66, White #ine +hite #ine sensor connector $in con*iguration on main %oar!

in No. /unction, -ite line enor , $e1t enor +ata Cut

2 -ite line enor , $E+ "ia .otentio)eter

-ite line enor 2 'enter %enor +ata Cut

= -ite line enor 2 $E+ "ia .otentio)eter

5 -ite line enor Ri-t enor +ata Cut

6 -ite line enor $E+ "ia .otentio)eter

@ -ite line enor = +ata Cut

I -ite line enor = $E+ "ia .otentio)eterO





-ite line enor 5 +ata Cut

,0 -ite line enor 5 $E+ "ia .otentio)eterO

,, -ite line enor 6 +ata Cut

,2 -ite line enor 6 $E+ "ia .otentio)eterO

, -ite line enor @ +ata Cut

,= -ite line enor @ $E+ "ia .otentio)eterO

,5 GN+,6 GN+

,@ -ite $ine witc-3u).er# Re1er to 1iure #=,a and #=,b

,I -ite $ine witc-3u).er# Re1er to 1iure #=,a and #=,b

, V %enor u..l*

20 V %enor u..l*

a%#e .15, White #ine sensor $in connections

O !otentio)eter 1or w-ite line enor no# 5 to @ need to be oldered and are not included in t-e

.ac4ae# T-e* are not oldered at t-e 1actor*#

in

No

AMEA2530 master

microcontro##er $in name

U8ED /;R 8tatus

@0 !G28A$E%-ar. (R rane enor 2& & = and red $E+ o1w-ite line enor ,& 2& diable# O

Turn o11 t-ee enor w-en out.ut i loic ,

Cut.ut

= !F8A+' '-annel 1or A+' $e1t in.ut 1or w-ite line enor (n.ut Floatin

5 !F28A+'2'-annel 2 1or A+' 'enter in.ut 1or w-ite line

enor(n.ut Floatin

6 !F,8A+','-annel , 1or A+' Ri-t in.ut 1or w-ite line

enor(n.ut Floatin

a%#e .13 White #ine sensor connections +ith AD o* AMEA2530 "Master

microcontro##er'

O For )ore detail re1er to ection #,0 and #,2#

inNo.

AMEA4 s#a)emicrocontro##er $in name

U8ED /;R

,= %%8C',B !B2

(%! (n %*te) !rora))in and %!( 'o))unication wit-

ATMEGA2560# O

,5 MC%(8C'2 !B

,6 M(%C !B=

,@ !B5 %'

2 !'0 A+'0 A+' in.ut 1or w-ite line enor =

2= !', A+', A+' in.ut 1or w-ite line enor 58%er"o .od

25 !'2 A+'2 A+' in.ut 1or w-ite line enor 6

26 !' A+' A+' in.ut 1or w-ite line enor @8%er"o .od

a%#e .17 onnections o* the -R roimit& sensors +ith the AMEA4 "s#a)e

microcontro##er'





> -n 8&stem $rogramming an! Mu#tiF$rocessor communication %et+een master an! sa#)e

microcontro##er

MC%(& M(%C& %' and %% .in o1 ATMEGA2560 )ater )icrocontroller are connected to t-e(%! (n %*te) .rora))in .ort a well a t-e %!( bu o1 ATMEGAI la"e )icrocontroller#

Hence to do (%! *ou need to diconnect u).er 3= on t-e )icrocontroller ada.tor board# To

acce data 1ro) t-e la"e )icrocontroller ATMEGAI o"er %!( bu 3u).er 3= on t-e)icrocontroller oc4et need to be connected#

White Line sensor ca#i%ration

B* uin tri))in .otentio)eter located on t-e to. center o1 t-e )ain board& line enor can

be calibrated 1or o.ti)al .er1or)ance# $ine enor are 1actor* calibrated 1or o.ti)al

.er1or)ance# >in t-ee .otentio)eter we can adut t-e intenit* o1 t-e red $E+ o1 t-e w-ite

line enor# %eniti"it* adut)ent i needed& w-en color contrat between t-e w-ite and non;w-ite ur1ace in a w-ite line rid i not ade7uate# (n uc- cae t-e enor can be tuned to i"e

)a:i)u) di11erence between w-ite and non w-ite ur1ace# /ou can alo turn on and turn o11

red $E+ and ta4e enor readin at t-e a)e .lace and nulli1* t-e e11ect o1 t-e a)bient li-t#

Robot co)e wit- a 1le: tri.e .rinted w-ite line# /ou can ue it to calibrrate robot w-ite lineenor b* .uttin t-e) on blace and w-ite enor#

E**ect o* am%ient #ight on the +hite #ine sensors

-ite line enor are -i-l* directional in nature -ence t-e* are i))une to t-e illu)ination1ro) tube li-t or 'F$# Note t-at tube li-t w-ic- ue i).le inducti"e c-oc4 actuall* blin4 50

ti)e a econd and t-i blin4 i ca.tured b* t-e w-ite line enor a A+' can ac7uire data at

"er* 1at rate# Hence it i reco))ended t-at ue 'F$ li-t or tube li-t wit- electronic c-oc4

or ballat# T-ee tube li-t are t-e one w-ic- turn on li4e a bulb wit-out 1lic4erin#

-ite line enor are eentiall* eniti"e .-oto tranitor wit- .reciion len ae)bl*# All t-e .-oto diode and .-oto tranitor are )an* ti)e eniti"e to in1rared t-an to red li-t# Hence1or conitent reult a"oid roo) w-ic- -a"e lare window e"en i1 t-e* -a"e curtain# Alo

a"oid uin robot in area illu)inated wit- 1ila)ent baed bulb a t-e* -a"e lare in1rared li-t

radiation

Wh& re! LEDs are use! instea! o* -R LEDs in the +hite #ine sensorsG

!-oto tranitor are )an* ti)e eniti"e to (R t-an to "iible li-t but we till ue red li-tillu)ination becaue o1 1ollowin reaon<

• Red li-t i nearer to t-e in1rared

• %ince we can ee red li-t it eaier to calibrate it uin e*e

• An* color a..ear blac4 becaue it doe not re1lect "iible li-t# -ic- )ean blac4ur1ace can be ultra"iolet or in1rared in color# (1 blac4 i in1rared color t-en robot w-ite

line enor will not be able to ditinui- between w-ite and blac4 a blac4 will re1lectall in1rared wa"e a e11ecti"el* a w-ite ur1ace# (n cae o1 red illu)ination w-ic- -a

"er* le in1rared radiation e"en in1rared blac4 i till conidered a blac4 w-ic- )a4e

red li-t a color o1 c-oice#





/igure .66c, U#trasonic Range 8ensor inter*acing an! um$er settings

8u$$orte! U#trasonic range sensors

FireBird V robot )ainl* ue EJ0 to EJ= enor 1ro) Ma:Boti:# All t-ee enor are a"ailable

on NEX Robotic webite# Ct-er enor 1ro) Ma:Boti: -a"in co).atible .in )a..in can

alo be ued intead o1 t-ee enor# For )ore detail on co).atibilit*& re1er to t-e re.ecti"eenor? data-eet#

EJ0 to EJ= enor -a"e .rorei"el* )ore directionalit*# Re1er to below 1iure to et rou-

idea o1 t-e enor c-aracteritic#

/igure .66!, Range 8ho+n on 1F*oot gri! to )arious !iameter !o+e#s "courtes&, Maoti

+e%site'





Mounting U#trasonic range sensors,

Fire Bird V robot )ain board -a e).t* lot 1or t-e ultraonic rane enor )ountin# /ou

can directl* older t-e) uin ri-t anled )ale ber tri. or *ou can older 1low older 1e)ale ber tri. on t-e )ain board and inert enor w-ic- i alread* oldered to ri-t anled )ale

ber tri.e# Cnce *ou older 1e)ale ber tri. on t-e )ain board& *ou can not inert %-ar. (R

rane enor in to it#

>ltraonic rane enor -a"e wider bea) anle# E"en i1 t-e* )ounted in wit- enor e:actl*

ri-t anled to t-e )ain board it will ee round 1ew )eter a-ead# (t i ood idea to older t-e)directl* on )ain board and li-t bend t-e) u.ward#





.1 LD -nter*acing

$'+ can be inter1aced in Ibit or = bit inter1acin )ode# (n I bit )ode it re7uire control lineand I data line# To reduce nu)ber o1 (8C re7uired& Fire Bird V robot ue = bit inter1acin

)ode w-ic- re7uire control line and = data line# (n t-i )ode u..er and lower nibble o1 t-e

data8co))and b*te need to be ent e.aratel*# Fiure #=@ -ow $'+ inter1acin in = bit)ode wit- t-ree control line EN Enable& R% Reiter %elect& and R Read 8 rite#

T-e EN line i connected to !'2# T-i control line i ued to tell t-e $'+ t-at )icrocontroller-a ent data to it or )icrocontroller i read* to recei"e data 1ro) $'+# T-i i indicated b* a

-i-;to;low tranition on t-i line# To end data to t-e $'+& .rora) -ould )a4e ure t-at t-i

line i low 0 and t-en et t-e ot-er two control line a re7uired and .ut data on t-e data bu#-en t-i i done& )a4e EN -i- , and wait 1or t-e )ini)u) a)ount o1 ti)e a .eci1ied b*

t-e $'+ data-eet& and end b* brinin it to low 0 aain#

T-e R% line i connected to !'0# -en R% i low 0& data i treated a a co))and or .ecialintruction b* t-e $'+ uc- a clear creen& .oition curor& etc## -en R% i -i- ,& data

bein ent i treated a te:t data w-ic- -ould be di.la*ed on t-e creen#

T-e R line i connected to !',# -en R i low 0& t-e in1or)ation on t-e data bu i beinwritten to t-e $'+# -en R i -i- ,& t-e .rora) i e11ecti"el* 7uer*in or readin 1ro)

t-e $'+#

T-e data bu i bidirectional& = bit wide and i connected to !'= to !'@ o1 t-e )icrocontroller#

T-e M%B bit +B@ o1 data bu i alo ued a a Bu* 1la# -en t-e Bu* 1la i ,& t-e $'+ i

in internal o.eration )ode& and t-e ne:t intruction will not be acce.ted# -en R% Q 0 and R8

Q ,& t-e Bu* 1la i out.ut on +B@# T-e ne:t intruction )ut be written a1ter enurin t-at t-e bu* 1la i 0# Re1er $'+ data-eet .ro"ided in docu)entation '+ 1or uin Bu* 1la#

/igure .65, LD soc=et an! other settings

/igure .63, LD soc=et $in connection

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A 5I




.

/igure .69, LD iming Diagram.

$'+ i inter1aced to t-e .in 22 to 2I o1 t-e )ain board oc4et# $'+ ue 5V %*te) u..l* 1or

it o.eration# For $'+ bac4li-t V Batter* u..l* i ued# Fiure I#=5 -ow $'+ bac4li-t u).er and $'+ contrat control .otentio)eter# (n order to a"e .ower $'+ bac4li-t can be

turned o11 b* re)o"in $'+ bac4li-t u).er# $'+? contrat can be aduted b* $'+ contratcontrol .otentio)eter#





.16 u@@er

Robot -a H .ieo buer# (t can be ued 1or debuin .ur.oe or a attention ee4er 1or a .articular e"ent# T-e buer i connected to !' .in o1 t-e )icrocontroller# Alo t-e a)e

buer i ued in batter* )onitorin circuit to alert t-e batter* low indication#

/igure .50, u@@er

/igure .51, u@@er 8chematic

Buer i dri"en b* B'5=I tranitor# Reitor ,00 i ued to 4ee. tranitor o11& i1 t-e in.ut

.in i 1loatin# Buer will et turned on i1 in.ut "oltae i reater t-an 0#65V#





.15 8- e$ansion $ort on the main %oar!Main board -a %!( connector 1or addin acceorie uc- a robotic ar)& color enor etc#

Fiure #52 -ow it location on t-e )ain board and 1iure #52a -ow it connection#

/igure .52, 8- e$ansion $ort $ins

/igure .52a, 8- e$ansion $ort $ins





.17 U8 communicationFire Bird V? )ain board -a >%B .ort oc4et# Microcontroller accee >%B .ort "ia )ain

board oc4et# All it .in are connected to t-e )icrocontroller ada.ter board "ia )ain boardoc4et connector#

/igure .55, U8 $ort on the /ire ir! V main %oar!

/igure .55a, U8 $ort connections +ith the main %oar! soc=et

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A 6=




.14 Wire#ess communication a!a$tor

Fiure #5@ -ow location o1 t-e oc4et 1or t-e wirele )odule# (t u..ort XBee and XBee !roerie , and erie 2 JiBee wirele )odule 1ro) dii international& RN;XV iFi to erial

)odule and Bluetoot- )odule# Table #20 -ow t-e 1unction o1 t-e tatu indicator $E+ 1or

t-e XBee wirele )odule#

/igure .53, igee +ire#ess mo!u#e schematics

/igure .57, igee +ire#ess mo!u#e an! LED in!icators

LEDonnection to Iee Wire#ess

mo!u#e in no.Descri$tion

A%%C ,5 Aociate $E+

R%%( 6 RX %inal %trent- (ndicator

a%#e .20, Iee +ire#ess mo!u#e LED *unctions-m$ortant,

/ou can c-ane XBee wirele )odule? 1re7uenc* and !an (+& o t-at )ulti.le XBee wirele

)odule can coe:it at t-e a)e ti)e# For )ore in1or)ation on t-i& re1er to LA..lication Note1older w-ic- i located inide t-e LManual and A..lication note 1older in t-e docu)entation

'+#





.19.2 atter& )o#tage sensing

Filtered batter* "oltae i ued 1or batter* "oltae enin# Analo to +iital 'on"erter A+'can )eaure )a:i)u) "oltae o1 5V# Hence batter* "oltae i caled down 1ro) I;,5V to le

t-an 5V uin reitor di"ider networ4 1or)ed b* R,2 and R,# (t cale down t-e "oltae b*

a..ro:i)atel* ,8 o1 t-e actual "alue#

ATMEGA2560 A+' can be ued in I bit or ,0 bit reolution# To calculate "oltae 1ro) t-e

A+'? ac7uired diital "alue in I bit reolution we ue 1ollowin 1or)ula<

V Batter* Q 0#@V A+' "alue O 5V8255 O ,0 # 8 #

V Batter* Q 0#@V A+' "alue O 0#0@0

(n t-e abo"e 1or)ula<

• 0#@V re.reent "oltae dro. acro t-e diode +@ and +# 1or )ore detail re1er to 1iure

#,,#

• 5V8255 re.reent t-e A+' te. reolution

• ,0 # 8 # i a "oltae di"ider 1or)ula

/igure .30, atter& Vo#tage Di)i!er ias ircuit

Note, For ,0 bit reolution re.lace 255 b* ,02=#





.19.6 AMEA2530 Microcontro##er oar! E$ansion 8oc=et

ATMEGA2560 i a 1eature ric- )icrocontroller wit- lot o1 a"ailable (8C .ort# Man* o1 t-e .ort are a"ailable 1or e:ternal ue on t-e u' E:.anion %oc4et# For !in con1iuration o1

e:.anion -eader re1er ection =# 1ro) c-a.ter =#

/igure .3, u E$ansion 8oc=et on the AMEA2530 Microcontro##er oar!

.19.5 8er)o o! 8ensor 8oc=et

%er"o .od enor oc4et i ued to connect e:ternal enor 8 actuator w-ic- are )ounted on .an

8 tilt er"o .od# (t i a I .in 2560 reli)ate connector# Table #22 i"e it .in connection#

/ig .36, 8er)o o! 8ensor 8oc=et

/igure .35, 8er)o $o! sensor connector $in ma$$ing





in No. in Name Descri$tion

, %er"o !C+, 'onnection wit- ATMEGA2560 A+' c-annel ,=

2 %er"o !C+2 'onnection wit- ATMEGA2560 A+' c-annel ,5

G!(C 'onnection wit- ATMEGA2560 C'2A8!B= .in !in no# 2

= At)eaI A+' 'onnection wit- ATMEGAI A+' c-annel ,

5 At)eaI A+' 'onnection wit- ATMEGAI A+' c-annel

6 Ground Ground@ V %/% 5V V''

I V BATT Batter* VoltaeV P ,,V

a%#e .22, 8er)o o! soc=et $in !escri$tion

.19.3 Microcontro##er oar! um$ers

/igure .33, um$ers schematic

Microcontroller board -a = u).er labeled 1ro) 3, to 3= a -own in Fiure #5I and 1iure

#66#

1, 3u).er 3, i ued to elect between t-e >ART2 .in connection o1 ATMEGA2560 on t-eu' E:.anion %oc4et and to t-e onboard FT22 >%B to erial con"erter circuit# -en u).er i

in .oition a -own in t-e 1iure #66& it enable t-e onboard >%B co))unication t-rou->ART2 de1ault tate#

2, -en 32 i on (R !ro:i)it* enor , to = are connected to t-e A+' .in o1 t-eATMEGA2560# -en 32 i o.en& a)e A+' .in can be ued 1or 3TAG on t-e u' e:.anion

oc4et or a A+' 1or e:ternal enor inter1acin# (n t-e de1ault tate 32 i on#

, (1 3 i on& all t-e .in o1 t-e !CRT 3 are connected to t-e $E+ barra.- di.la*# (t can be

ued 1or 7uic4 )eae di.la* 1or debu .ur.oe# (1 3 i o11& $E+ connection i diabled# All

t-e .in o1 t-e !CRT 3 are a"ailable on t-e u' e:.anion oc4et 1or ue a G!(C# (n t-e de1ault

tate 3 i 4e.t on#

6, -en 3= i on& %!( bu between ATMEGA2560 )ater and ATMEGAI la"e i

connected and *ou can acce date 1ro) t-e la"e )icrocontroller# %ince %!( line are alo ued1or (n %*te) !rora))in (%! to load 1ir)ware on t-e )ater and la"e )icrocontroller "ia

%!( .ort *ou need to re)o"e all u).er 1ro) 3= be1ore atte).tin (%!# 3= i 4e.t o.en a

de1ault ettin#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A @0




/ou can alo .rora) robot uin boot loader utilit* "ia >%B .ort# T-i will re)o"e t-e need 1or

1re7uent re)o"al o1 u).er on 3= 1or loadin new 1ir)ware#

-n 8&stem rogramming "-8' soc=ets

/igure .37 -8 8chematic

ATMEGA2560 )icrocontroller ada.ter board -a (%! oc4et 1or t-e ATMEGA2560 and

ATMEGAI )icrocontroller#

Note, To do (n %*te) !rora))in o1 ATMEGA2560 and ATMEGAI )icrocontroller

u).er 3= )ut be abent# For )ore detail re1er to ection #,#6 1or t-e 3=#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A @,




.19.7 /22 U8 to seria# con)erter on UAR 2 o* the AMEA2530 microcontro##er

FT22 i a >%B to TT$ le"el erial con"erter# (t i ued 1or addin >%B connecti"it* to t-e)icrocontroller ada.ter board# it- onboard >%B circuit Fire Bird V can co))unicate eriall*

wit- t-e !' t-rou- >%B .ort wit-out t-e ue o1 an* e:ternal >%B to %erial con"erter#

Microcontroller oc4et ue >%B .ort 1ro) t-e )ain board# +ata tran)iion and rece.tion iindicated uin TX and RX $E+ w-ic- are located near t-e FT22 ('# Re1er to 1iure #5I 1or

$E+ location# To enable >%B to erial co))unication& u).er 3, -ould be con1iured in a

.articular wa*# Re1er to ection #,#6 1or correct u).er ettin#

/igure .34, /22 8chematic

Note, >in bootloader 1ro) NEX Robotic& Robot can be .rora))ed directl* "ia >%B .ortwit-out an* need o1 e:ternal (%! .rora))er# How to ue Bootloader G>( i co"ered in t-e

o1tware )anual#

.19.4 L to R822 con)erter on UAR 1 o* the AMEA2530 microcontro##er

MAX202 (' i ued 1or con"erion o1 t-e TT$ le"el inal o1 t-e >ART , to t-e R%22 le"el# (t

i connected to t-e +B 1e)ale erial connector on t-e )ain board# For )ore detail on t-e-ardware connection re1er to ection #,6#

/igure .39, MAI202 L to R822 con)erter





.19.9 RE/5050 $recision re*erence )o#tage generator

ATMEGA2560 )icrocontroller? A+' c-annel re7uire e:ternal table "oltae re1erence# (n t-ede1ault tate )icrocontroller ue L5V u' %u..l* a a e:ternal re1erence "oltae# (n cae i1 *ou

want to inter1ace )icrocontroller wit- t-e enor w-ere .reciion i "er* i).ortant t-en

REF5050 e:ternal re1erence "oltae enerator can be added on t-e )icrocontroller board# (n t-ede1ault tate "oltae re1erence i directl* ta4en 1ro) L5V u' u..l* b* connectin .in 2 and ,

o1 t-e .ad o1 %3, w-ic- i located ut below t-e 32 on t-e )icrocontroller board# Fiure #@,

-ow )ountin o1 REF5050 and c-ane in t-e older .ad -ortin#

/igure .70, RE/5050 8chematic

/igure .71, Le*tF um$er shorte! to use 5V u as A Re*. RightF RE/5050 is insta##e! an!

um$er shorte! to use its 5V out$ut as re*erence.





.19.10 -nterru$t 8+itch

(nterru.t witc- on t-e )icrocontroller ada.ter board i connected to !E@ (NT@ .in o1 t-e

)icrocontroller# (t -a e:ternal ,0 .ull;u. reitor# -en witc- i .reed& !E@ beco)e loiclow# $ocation o1 t-e interru.t witc- i -own in 1iure #5I#

/igure .72, -nterru$t s+itch

-m$ortant,

Be1ore uin interru.t witc-& enure t-at olderin .ad !, on t-e )ain board i o.en# For )orein1or)ation re1er to 1iure #2I and ection ##

.19.11 8er)o onnectors

T-e )icrocontroller board -a t-ree %er"o connector a -own in 1iure #5I# (t can be ued 1or

dri"in er"o )otor o1 ca)era .od or an* ot-er attac-)ent# !ower 1or t-e er"o connector i

.ro"ided b* t-e L5V er"o u..l* "oltae reulator# Fiure #@ -ow correct orientation o1

t-e er"o )otor connector#

/igure, .7, 8er)o onnectors 8chematic.

/igure, .7a, 8er)o onnectors 8chematic

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A @=




.19.16 AMEA4 8#a)e Microcontro##er

Fire Bird V robot can be inter1aced wit- )ore t-an 0 enor at t-e a)e ti)e# ATMEGA2560doe not -a"e u11icient nu)ber o1 A+' a"ailable o1 enor inter1acin# Hence ATMEGAI

)icrocontroller i connected wit- ATMEGA2560 )icrocontroller o"er t-e %!( .ort# 3u).er 3=

need to be re)o"ed be1ore atte).tin to do (%! wit- ATMEGA2560 and ATMEGAI a t-ere%!( line are connected wit- t-e u).er 3=# For )ore detail on t-e u).er& re1er to t-e ection

#,#6#

/igure .73, AMEA4 8HEMA-

Note, Fir)ware ATMEGAI#-e: 1or t-e ATMEGAI )icrocontroller i located in t-e G>( and

Related Fir)ware 1older in t-e docu)entation '+#





.19.15 AMEA2530 Microcontro##er

ATMEGA2560 i inter1aced directl* to )ot o1 t-e onboard .eri.-eral# (t c-e)atic i -ownin t-e 1iure #@I#

/igure .74, AMEA2530 microcontro##er schematic

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A @@




6. in /unctiona#it&

Fire Bird V ATMEGA2560 )icrocontroller ada.ter board -a two )icrocontroller#

ATMEGA2560 )ater )icrocontroller and ATMEGAI la"e )icrocontroller#

ATMEGA2560 co))unicate wit- ATMEGAI uin %!( bu#

ATMEGA2560 i inter1aced to all t-e i).ortant )odule 1or t-e robot w-ile ATMEGAI

)icrocontroller i inter1aced wit- non critical )odule uc- a (R .ro:i)it* enor 6& @& I&

Robot current enin i1 A'%@,2 current enor i intalled& e:tended w-ite line enorc-annel =& 5& 6& @ and .in on t-e er"o enor oc4et etc#

6.1 AMEA2530 "master' microcontro##er $in con*igurationin

No

in name U8ED /;R 8tatus

, C'0B!G5%la"e %elect %% o1 t-e %!( e:.anion .ort on t-e )ain board

re1er to 1iure #5;;

2 RX+08!'(NTI8!E0 >ART 0 recei"e 1or XBee wirele )odule i1 intalled +e1ault TX+08!E, >ART 0 tran)it 1or XBee wirele )odule i1 intalled +e1ault

= X'08A(N08!E2G!(CO A"ailable on e:.anion lot o1 t-e )icrocontroller

oc4et

5 C'A8A(N,8!E !M out.ut 1or '2 )otor dri"e Cut.ut

6 C'B8(NT=8!E= E:ternal (nterru.t 1or t-e le1t )otor? .oition encoder (n.ut

@ C''8(NT58!E5 E:ternal (nterru.t 1or t-e ri-t )otor? .oition encoder (n.ut

I T8(NT68!E6 E:ternal (nterru.t 1or t-e '2 )otor? .oition encoder (n.ut

'$08('!8(NT@8 !E@

E:ternal (nterru.t 1or (nterru.t witc- on t-e )icrocontroller board& E:ternal (nterru.t 1or t-e ', )otor? .oition encoder&

'onnection to T%C!,@I i1 .ad i -orted& can alo be ued

a Boot loadin witc- OOOOOOOO

(n.ut

,0 V'' 5V

,, GN+ Ground,2 RX+28!H0

>ART 2 recei"e 1or >%B 'o))unication#

For )ore detail re1er to ection #,#@+e1ault

, TX+28!H,>ART 2 tran)it 1or >%B 'o))unication#

For )ore detail re1er to ection #,#@+e1ault

,= X'28!H2(R .ro:i)it* enor , to I enable 8 diable#

Turn o11 t-ee enor w-en out.ut i loic , OOOOOOOCut.ut

,5 C'=A 8 !H%-ar. (R rane enor ,and 5 enable 8 diable#

Turn o11 t-ee enor w-en out.ut i loic , OOOOOOOCut.ut

,6 C'=B 8 !H=

'onnected to R: .in o1 ,t >ltraonic rane enor to trier

t-e ultraonic enor i1 enor i )ounted# Alo A"ailable on

e:.anion lot o1 t-e )icrocontroller oc4etOOOOOOOOO

;;

,@ C'=' 8 !H5 A"ailable on e:.anion lot o1 t-e )icrocontroller oc4et ;;

,I C'2B 8 !H6 A"ailable on e:.anion lot o1 t-e )icrocontroller oc4et ;;, %%8!'(NT08!B0

(%! (n %*te) !rora))in& %!( 'o))unication wit-

ATMEGAI OO& 'onnection to t-e %!( .ort on t-e )ain board#

Alo a"ailable on e:.anion lot o1 t-e )icrocontroller oc4et

20 %'8!'(NT,8!B, Cut.ut

2, MC%(8!'(NT28!B2 Cut.ut

22 M(%C8!'(NT8!B (n.ut

2 C'2A8!'(NT=8!B= %er"o !od G!(C ;;

2= C',A8!'(NT58!B5 !M 1or %er"o )otor ,# OOO Cut.ut

25 C',B8!'(NT68!B6 !M 1or %er"o )otor 2# OOO Cut.ut

26 C'0A8C','8!'(NT@8!B@ !M 1or %er"o )otor # OOO Cut.ut

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A @I




2@ T=8!H@ G!(C A"ailable Cn E:.anion %lot ;;

2I TC%'28!GRT' Real Ti)e 'loc4OOOO

2 TC%',8!G=

0 RE%ET Microcontroller reet

, V'' 5V

2 GN+ Ground XTA$2

'r*tal ,=#@=56 MH= XTA$,

5 ('!=8!$0'onnected to R%%( .in o1 XBee )odule# Alo A"ailable on

e:.anion lot o1 t-e )icrocontroller oc4et#;;

6 ('!58!$, A"ailable on e:.anion lot o1 t-e )icrocontroller oc4et# ;;

@ T%8!$2 A"ailable on e:.anion lot o1 t-e )icrocontroller oc4et# ;;

I C'5A8!$ !M 1or le1t )otor# Cut.ut

C'5B8!$= !M 1or ri-t )otor# Cut.ut

=0 C'5'8!$5 !M 1or ', )otor# Cut.ut

=, !$6 G!(CO A"ailable on e:.anion lot o1 t-e )icrocontroller

oc4et

;;

=2 !$@ ;;= %'$8(NT08!+0 (2' bu 8 G!(C A"ailable on e:.anion lot o1 t-e

)icrocontroller oc4et

;;

== %+A8(NT,8!+, ;;

=5 RX+,8(NT28!+2 >ART, recei"e 1or R%22 erial co))unication +e1ault

=6 TX+,8(NT8!+ >ART, tran)it 1or R%22 erial co))unication +e1ault

=@ ('!,8!+=

G!(CO A"ailable on e:.anion lot o1 t-e )icrocontroller

oc4et

;;

=I X',8!+5 ;;

= T,8!+6 ;;

50 T08!+@ ;;

5, !G08R G!(CO A"ailable on e:.anion lot o1 t-e )icrocontroller

oc4et

;;

52 !G,8R+ ;;

5 !'0 $'+ control line R% Reiter %elect Cut.ut5= !', $'+ control line RRead8rite %elect Cut.ut

55 !'2 $'+ control line ENEnable %inal Cut.ut

56 !' Buer Cut.ut

5@ !'=

$'+ data line =;bit )ode Cut.ut5I !'5

5 !'6

60 !'@

6, V'' 5V

62 GN+ Ground

6 !308RX+8!'(NT

$E+ barra.- di.la* and G!(CO A"ailable on e:.anion

lot o1 t-e )icrocontroller oc4etCut.ut

6= !3,8TX+8!'(NT,065 !328X'8!'(NT,,

66 !38!'(NT,2

6@ !3=8!'(NT,

6I !358!'(NT,=

6 !368!'(NT,5

@0 !G28A$ERed $E+ o1 w-ite line enor enable8diable# OOOOOOO

Turn o11 t-ee enor w-en out.ut i loic ,Cut.ut

@, !A@ '2;2 $oic in.ut 2 1or '2 )otor dri"e Cut.ut





@2 !A6 '2;, $oic in.ut , 1or '2 )otor dri"e Cut.ut

@ !A5 ',;2 $oic in.ut 2 1or ', )otor dri"e Cut.ut

@= !A= ',;, $oic in.ut , 1or ', )otor dri"e Cut.ut

@5 !A $oic in.ut , 1or Ri-t )otor Ri-t bac4 Cut.ut

@6 !A2 $oic in.ut 2 1or Ri-t )otor Ri-t 1orward Cut.ut

@@ !A, $oic in.ut 2 1or $e1t )otor $e1t 1orward Cut.ut@I !A0 $oic in.ut , 1or $e1t )otor $e1t bac4 Cut.ut

@ !3@$E+ Bar Gra.- and G!(CO A"ailable on e:.anion lot o1

t-e )icrocontroller oc4et

I0 V'' 5V

I, GN+ Ground

I2 !@8A+',58!'(NT2 A+' (n.ut For %er"o !od 2(n.utFloatin

I !68A+',=8!'(NT22 A+' (n.ut For %er"o !od ,(n.utFloatin

I= !58A+',8!'(NT2, A+' in.ut 1or %-ar. (R rane enor 5(n.ut

Floatin

I5 !=8A+',28!'(NT20 A+' in.ut 1or %-ar. (R rane enor =(n.ut

Floatin

I6 !8A+',,8!'(NT, A+' in.ut 1or %-ar. (R rane enor (n.ut

Floatin

I@ !28A+',08!'(NT,I A+' in.ut 1or %-ar. (R rane enor 2(n.ut

Floatin

II !,8A+'8!'(NT,@ A+' in.ut 1or %-ar. (R rane enor ,(n.ut

Floatin

I !08A+'I8!'(NT,6 A+' in.ut 1or (R .ro:i)it* analo enor 5(n.ut

Floatin

0 !F@A+'@8T+( A+' in.ut 1or (R .ro:i)it* analo enor =OOOOO(n.ut

Floatin

, !F68A+'68T+0 A+' in.ut 1or (R .ro:i)it* analo enor OOOOO(n.ut

Floatin

2 !F5A+'58TM% A+' in.ut 1or (R .ro:i)it* analo enor 2OOOOO(n.ut

Floatin

!F=8A+'=8T' A+' in.ut 1or (R .ro:i)it* analo enor ,OOOOO(n.utFloatin

= !F8A+' A+' in.ut 1or w-ite line enor ,(n.utFloatin

5 !F28A+'2 A+' in.ut 1or w-ite line enor 2(n.utFloatin

6 !F,8A+', A+' in.ut 1or w-ite line enor (n.ut

Floatin

@ !F08A+'0 A+' in.ut 1or batter* "oltae )onitorin(n.ut

Floatin

I AREF A+' re1erence "oltae .in 5V e:ternal OOOOOO GN+ Ground

,00 AV'' 5V

a%#e 6.1, AMEA2530 microcontro##er $in connections

O Not ued .in are b* de1ault initialied to in.ut and 4e.t 1loatin# T-ee .in are a"ailable on

t-e e:.anion lot o1 t-e ATMEGA2560 )icrocontroller ada.ter board# %o)e .in are e.eciall*reer"ed 1or er"o )otor inter1acin 1or t-e Fire Bird V He:a.od robot#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A I0




OO MC%(& M(%C& %' and %% .in o1 ATMEGA2560 are aociated to t-e (%! (n %*te)

.rora))in .ort a well a t-e %!( inter1ace to ATMEGAI# 3= need to be diconnected

be1ore doin (%!# To co))unicate wit- ATMEGAI u).er 3= need to be in .lace# For )oredetail re1er to ection #,#6#

OOO !CRTB .in5& 6& @ are C',A& C',B& C',' o1 t-e Ti)er,# T-ee .in are connected to t-eer"o )otor oc4et %,& %2& % on t-e )icrocontroller ada.ter board#

OOOO E:ternal 'r*tal o1 2 H i connected to t-e .in !G and !G= to enerate cloc4 1orRT' Real Ti)e 'loc4#

OOOOO For uin Analo (R .ro:i)it* ,& 2& and = enor -ort t-e u).er 32# To ue 3TAG

or inter1ace e:ternal analo enor "ia e:.anion lot o1 t-e )icrocontroller oc4et re)o"et-ee u).er#

OOOOOO AREF can be obtained 1ro) t-e 5V )icrocontroller or 5V analo re1erence enerator ('

REF5050 o.tional# For )ore detail re1er to ection #,##

OOOOOOO %enor? witc-in can be controlled onl* i i1 corre.ondin u).er are o.en# For)ore detail re1er to ection #,, and #,2#

OOOOOOOO E:ternal interru.t 1ro) t-e .oition encoder ', i diabled b* re)o"in -ort on .ad!, near '+=0,06 %c-)itt trier in"erter bu11er to a"oid it wire AN+in wit- t-e interru.t

witc-# Re1er ection # and #,# 1or detail#

OOOOOOOOO Re1er t-e errata ection 1or )ore detail& w-ere )odi1ication re7uired 1or uin !H= .ort .in o1 )icrocontroller#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A I,




6.2 AMEA4 "s#a)e' microcontro##er $in con*iguration

in No. in name U8ED /;R

, (NT,8!+ Not >ed

2 X'8TC%',8!B6 Not >ed

GN+ Ground

= V'' 5V

5 GN+ Ground

6 V'' 5V

@ XTA$,8TC%',8!B6 Not >ed

I XTA$28TC%',8!B@ Not >ed

T, !+5 Not >ed

,0 A(N0 !+6 Not >ed

,, A(N, !+@ Not >ed

,2 ('! !B0 Not >ed

, C',A !B, Not >ed

,= %%8C',B !B2(%! (n %*te) !rora))in and %!( 'o))unication

wit- ATMEGA2560# O

,5 MC%(8C'2 !B

,6 M(%C !B=

,@ !B5 %'

,I AV'' 5V

, A+'6 A+' in.ut 1or (R .ro:i)it* analo enor @

20 AREF 5V

2, GN+ Ground

22 A+'@ A+' in.ut 1or (R .ro:i)it* analo enor I

2 !'0 A+'0 A+' in.ut 1or w-ite line enor =

2= !', A+', A+' in.ut 1or w-ite line enor 58%er"o .od

25 !'2 A+'2 A+' in.ut 1or w-ite line enor 626 !' A+' A+' in.ut 1or w-ite line enor @8%er"o .od

2@ !'= A+'=8%+A A+' in.ut 1or 'urrent %enin (' A'%@,2

2I !'5 A+'58%'$ A+' in.ut 1or (R .ro:i)it* analo enor 6

2 !'6 RE%ET Microcontroller reet

0 !+0 RX+ Not >ed

, !+, TX+ Not >ed

2 !+2 (NT0 Not >ed

a%#e 6.2, AMEA4 microcontro##er $in connections

> MC%(& M(%C& %' and %% .in o1 ATMEGA2560 are aociated to t-e (%! (n %*te) .rora))in .ort a well a t-e %!( inter1ace to ATMEGAI# 3= need to be diconnected

be1ore doin (%!# To co))unicate wit- ATMEGAI u).er 3= need to be in .lace# For )ore

detail re1er to ection #,#6 3=#





6. AMEA2530 Microcontro##er oar! E$ansion 8oc=et

ATMEGA2560 i a 1eature ric- )icrocontroller wit- lot o1 a"ailable (8C .ort# Man* o1 t-e .ort are a"ailable on t-e u' E:.anion %oc4et# Table =# lit t-e connection detail o1 all t-e

.in o1 t-e oc4et#

/igure 6.1, E$ansion Hea!er on Microcontro##er oar!

in No. /unction

, >ART2 TX+ .in o1 ATMEGA2560 "ia 3u).er , u' .in ,

2 >ART2 RX+ .in o1 ATMEGA2560 "ia 3u).er , u' .in ,2

ATMEGA2560 interru.t @ .in 8 '$C 8 ('! u' .in

= C'=B 8 !H= 8 G!(C u' .in ,6& Alo connected to RX .in o1 ,t ultraonic enor

trierin#

5 C'=' 8 !H5 8 G!(C u' .in ,@

6 C'2B 8 !H6 8 G!(C u' .in ,I

@ T+C 3TAGO 8 A+'6O 8 (R .ro:i)it* enor u' .in ,

I T+( 3TAGO 8 A+'@O 8 (R !ro:i)it* enor = u' .in 0

TM% 3TAG O8 A+'5O 8 (R !ro:i)it* enor 2 u' .in 2

,0 T' 3TAGO 8 A+'=O 8 (R !ro:i)it* enor , u' .in ,, ATMEGA2560 %la"e %elect %% .in !B0 u' .in , OO

,2 No 'onnection till t-e "erion 200;,2;0I# 'onnected to V Batt u..l* in "erion 20,0;

,,;25 onward#

, MC%( 8 !B2 u' .in 2,OO

,= %' 8 !B, u' .in 20OO

,5 RE%ET u' .in 0

,6 M(%C 8 !B u' .in 22OO

,@ !$@ 8 G!(C u' .in =2

,I !$6 8 G!(C u' .in =,

, %+A 8 !+, 8 (NT, 8 G!(C u' .in ==

20 %'$ 8 !+0 8 (NT0 8 G!(C u' .in =

2, 5V %*te) Voltae# 'an be ued 1or .owerin u. an* diital de"ice# 'urrent $i)it<

=00)A#

22 5V %*te) Voltae# 'an be ued 1or .owerin u. an* diital de"ice# 'urrent $i)it<

=00)A#

2 Ground

2= Ground

25 ('!, 8 !+= 8 G!(C u' .in =@

26 T= 8 !H@ 8 G!(C u' .in 2@

2@ ('!5 8 !$, 8 G!(C u' .in 6

2I ('!= 8 !$0 8 G!(C u' .in 5& Alo connected to R%%( .in o1 XBee )odule





2 X', 8 !+5 8 G!(C u' .in =I

0 T5 8 !$2 8 G!(C u' .in @

, !G, 8 G!(C u' .in 52

2 !G0 u' .in 5,

T, 8 !+6 8 G!(C u' .in =

= T0 8 !+@ u' .in 50

5 No 'onnection6

@ TX+, 8 (NT 8 !+< 'onnected to t-e MAX 202 1or R%22 co))unication# +o not ue

1or ot-er .ur.oe unle connection wit- MAX 202 i re)o"ed# u' .in =6

I RX+, 8 (NT2 8 !+2< 'onnected to t-e MAX 202 1or R%22 co))unication# +o not ue

1or ot-er .ur.oe unle connection wit- MAX 202 i re)o"ed# u' .in =5

!36 8 G!(C u' .in 6OOO

=0 !3@ 8 G!(C u' .in @ OOO

=, !3= 8 G!(C u' .in 6@ OOO

=2 !35 8 G!(C u' .in 6I OOO

= !32 8 G!(C u' .in 65 OOO

== !3 8 G!(C u' .in 66 OOO

=5 RX+ 8 !30 8 G!(C u' .in 6OOOO

=6 TX+ 8 !3, 8 G!(C u' .in 6=OOOO=@

No 'onnection

=I

=

50

5,

52

5

5=

55

56

a%#e 6., AMEA2530 microcontro##er %oar! e$ansion hea!er ta%#e

Note,

O (n order to ue t-ee .in a 3TAG or a A+' 1or e:ternal enor inter1acin& re)o"e all =connector 1or t-e u).er 2 o1 t-e )icrocontroller board# -en u).er are re)o"ed (R

!ro:i)it* enor , to = will be diconnected 1ro) t-e robot#

OO !in can be ued a %!( bu# T-ee .in are alread* connected to la"e ATMEGAI

)icrocontroller "ia 3= o1 t-e )icrocontroller board# Be1ore uin it a a %!( bu 1or e:ternal

de"ice inter1acin& re)o"e 3= to diconnect ATMEGAI la"e )icrocontroller or ue di11erent .in o1 t-e )icrocontroller a %% la"e elect#

OOO All t-e .in o1 t-e !CRT3 are connected to t-e barra.- $E+ di.la*# -ile uin t-ee .in a G!(C to turno11 t-i barra.- $E+ di.la*& re)o"e u).er 3 o1 t-e )icrocontroller board#

OOOO !30 and !3, can be ued a G!(C a well a TX+ and RX+ 1or >ART # T-ee .in arealo connected to barra.- $E+ di.la*# -ile uin t-ee .in a >ART & u).er 3 )ut be

re)o"ed to diable barra.- $E+ di.la* in order to a"oid loadin on t-e TX+ and RX+ line

o1 t-e de"ice w-ic- i connected wit- t-e ATMEGA2560 )icrocontroller#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A I=




6.6 Microcontro##er a!a$ter %oar! soc=et connections on the main %oar!

/igure 6.2, Microcontro##er a!a$ter %oar! soc=et connections on the main %oar!

in No. in Name u oar! onnection /unction

, '%O ATMEGAI A+'= 'urrent ene analo "alue

2 (R !ro:i)it* enor I ATMEGAI A+'@ (R !ro:i)it* enor I analo "alue

Ground Ground Ground

= >%B +ata !in ,5 o1 FT22 >%B to

erial con"erter oin to

>ART 2 o1 ATMEGA2560

"ia u).er 3,

>%B connection oin to t-e ATMEGA2560

)icrocontroller "ia FT22 >%B to erial

con"erter#

To enable >%B co))unication& et 3u).er ,a -own in t-e 1iure 6#25 >%B +ata; !in ,6 o1 FT22 >%B to

erial con"erter oin to>ART 2 o1 ATMEGA2560





"ia u).er 3,

6 V>%B FT22 .in20 and .in= 5V to

t-e FT22 >%B to erial

con"erter

@ 5V %*te) Not connected 5V %*te) Voltae# 'an be ued 1or .owerinu. an* diital de"ice wit- current li)it o1

=00)A#I 5V %enor Not connected 5V %enor "oltae# 'an be ued 1or additional

enor inter1acin wit-

current li)it< 00)A

5V %enor Not connected 5V %enor "oltae# 'an be ued 1or additionalenor inter1acin wit-

current li)it< 00)A

,0 5V %*te) Not connected 5V %*te) "oltae# 'an be ued 1or .owerin

u. an* diital de"ice wit-

'urrent $i)it< =00)A

,, %HAR! (R Rane %enor , ATMEGA2560 A+' Analo out.ut o1 %-ar. (R rane %enor ,

,2 (R !ro:i)it* %enor , ATMEGA2560 A+'= Analo out.ut o1 (R !ro:i)it* enor ,

, XBee RX+ >ART0 o1 ATMEGA2560 XBee wirele )odule %erial data in

,= XBee TX+ >ART0 o1 ATMEGA2560 XBee wirele )odule %erial data out,5 %HAR! (R Rane %enor 2 ATMEGA2560 A+',0 Analo out.ut o1 %-ar. (R rane enor 2

,6 (R !ro:i)it* %enor 2 ATMEGA2560 A+'5 Analo out.ut o1 (R !ro:i)it* enor 2

,@A R%%( ATMEGA2560 (NT@ To ca.ture t-e R%%( inal

,@B >ltraonic Trier ATMEGA2560 !H=OO To i"e t-e Trier 1or ,t >ltraonic %enor

,I MC%( ATMEGA2560 !in 2, %!( 'o))unication line 1or co))unication

wit- ATMEGAI "ia 3u).er = and 1or

.rora))in ATMEGA2560 in (%! )ode, M(%C ATMEGA2560 !in 22

20 %' ATMEGA2560 !in 20

2, %%( ATMEGA2560 !in ,

22 R% ATMEGA2560 !'0 $'+ Reiter %elect .in 'o))and

2 R ATMEGA2560 !', $'+ Read rite .in 'o))and

2= EN ATMEGA2560 !'2 $'+ Enable .in 'o))and

25 +B5 ATMEGA2560 !'5 $'+ data bit 5

26 +B= ATMEGA2560 !'= $'+ data bit =2@ +B6 ATMEGA2560 !'6 $'+ data bit 6

2I +B@ ATMEGA2560 !'@ $'+ data bit @

2 V Batter* %*te) ATMEGA2560 A+'0 V Batter* %*te) V to ,,#=V de.endin on

batter* tatu# >nreulated %u..l* 1or

additional )odule inter1acin# Ma:i)u)

current ca.acit*< ,A).

2 -ite $ine %enor , ATMEGA2560 A+' Analo out.ut o1 w-ite line enor ,

, -ite $ine %enor 2 ATMEGA2560 A+'2 Analo out.ut o1 w-ite line enor 2

2 -ite $ine %enor ATMEGA2560 A+', Analo out.ut o1 w-ite line enor

%-ar. (R %enor ,and 5+iable

ATMEGA2560 !H TT$8'MC% in.ut# +iable %-ar. (R raneenor& w-en V2 i a..lied# -en VW0#65

%-ar. (R rane enor are turned on#

= (R !ro:i)it* %enor+iable

ATMEGA2560 !H2 TT$8'MC% in.ut# +iable (R .ro:i)it*enor , and I w-en V2 i a..lied# -enVW0#65 (R .ro:i)it* enor are turned on#

5 5V %*te) Not connected 5V *te) Voltae# 'an be ued 1or .owerinu. an* diital de"ice# 'urrent $i)it< =00)A#

6 -ite $ine = ATMEGAI A+'0 Analo out.ut o1 w-ite line enor =

@ -ite $ine 5 ATMEGAI A+', Analo out.ut o1 w-ite line enor 5

I -ite $ine 6 ATMEGAI A+'2 Analo out.ut o1 w-ite line enor 6

-ite $ine @ ATMEGAI A+' Analo out.ut o1 w-ite line enor @





=0 -ite $ine %enor

+iable

ATMEGA2560 !G2 TT$8'MC% in.ut# +iable -ite line enor

w-en V2 i a..lied# -en VW0#65 w-ite line

enor are turned on#

=, %-ar. (R Rane Finder ATMEGA2560 A+',, Analo out.ut o1 %-ar. (R rane enor

=2 (R !ro:i)it* %enor ATMEGA2560 A+'6 Analo out.ut o1 (R !ro:i)it* enor

= (R !ro:i)it* %enor = ATMEGA2560 A+'@ Analo out.ut o1 (R !ro:i)it* enor =

== %-ar. (R Rane Finder = ATMEGA2560 A+',2 Analo out.ut o1 %-ar. (R Rane enor ==5 %-ar. (R Rane Finder 5 ATMEGA2560 A+', Analo out.ut o1 %-ar. (R Rane enor 5

=6 (R !ro:i)it* %enor 5 ATMEGA2560 A+'I Analo out.ut o1 (R !ro:i)it* enor 5

=@ ', , ATMEGA2560 !A= $oic in.ut , 1or ', )otor dri"e

=I ', !M ATMEGA2560 C'5' !M in.ut 1or ', )otor dri"e

= ', 2 ATMEGA2560 !A=5 $oic in.ut 2 1or ', )otor dri"e

50 !M $ ATMEGA2560 C'5A !M in.ut 1or $e1t )otor dri"e

5, $, ATMEGA2560 !A0 $oic in.ut , 1or $e1t )otor dri"e

52 $2 ATMEGA2560 !A, $oic in.ut 2 1or $e1t )otor dri"e

5 R, ATMEGA2560 !A2 $oic in.ut , 1or Ri-t )otor dri"e

5= !M R ATMEGA2560 C'5B !M in.ut 1or Ri-t )otor dri"e

55 R2 ATMEGA2560 !A $oic in.ut 2 1or Ri-t )otor dri"e

56 Not connected Not >ed

5@ Not connected Not >ed5I Not connected Not >ed



6, Not connected Not >ed

62 !oition Encoder $e1t ATMEGA2560 !E=(NT= Cut.ut o1 $e1t .oition encoder 0;5V

6 !oition Encoder Ri-t ATMEGA2560 !E5(NT5 Cut.ut o1 Ri-t .oition encoder 0;5V

6= !oition Encoder '2 ATMEGA2560 !E6(NT6 Cut.ut o1 '2 .oition encoder 0;5V

65 !oition Encoder ', ATMEGA2560 !E@(NT@ Cut.ut o1 ', .oition encoder 0;5V

66 '2 2 ATMEGA2560 !A@ $oic in.ut 2 1or '2 )otor dri"e

6@ '2 , ATMEGA2560 !A6 $oic in.ut , 1or '2 )otor dri"e

6I '2 !M ATMEGA2560 C'A !M in.ut 1or '2 )otor dri"e

6 (R !ro:i)it* %enor 6 ATMEGAI A+'5 Analo out.ut o1 (R !ro:i)it* enor 6

@0 (R !ro:i)it* %enor @ ATMEGAI A+'6 Analo out.ut o1 (R !ro:i)it* enor @

@, B>JJER ATMEGA2560 !' (n.ut& V0#65V turn on t-e Buer

@2 +A' C>T Not connected Not connected

@ R%22 TX+ >ART,RX+ o1

ATMEGA2560 "iaMAX202& TT$ to R%22

'on"erter

R%22 Tran)it& connected to +B erial

connector on )ain board#

@= R%22 RX+ >ART,TX+ o1

ATMEGA2560 "iaMAX202& TT$ to R%22

'on"erter

R%22 Recei"e& connected to +B erial

connector on )ain board#

a%#e 6.6, AMEA2530 Microcontro##er a!a$ter %oar! soc=et connections +ith the main

%oar!

Note,

O '% will i"e out.ut onl* i1 A'%@,2 -all e11ect current enor i oldered on t-e )ain board

OO re1er errata ection o1 t-i )anual

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A I@




5.1 -nsta##ing Iee +ire#ess mo!u#e

/igure 5.2, Mounting the Iee +ire#ess mo!u#e

• Mount t-e JiBee wirele )odule in t-e .ro.er orientation#

• /ou )i-t -a"e to con1iure JiBee wirele )odule to t-e a..ro.riate ettin uin

XBee >%B wirele )odule and X;'T> o1tware# For )ore detail re1er to A..licationnote#

5.2 8etting correct um$er settings on the main %oar!

/igure 5., 8et um$ers as $er the reJuirements "*or more !etai#s re*er to cha$ter '





5. LD mounting

/igure 5.6, LD mounting

• Be care1ul w-ile inertin $'+ connector .in into t-e oc4et on t-e )ain board# %crew in

t-e $'+ 1ir)l* on t-e tud#





5.6 Microcontro##er a!a$ter %oar! mounting

/igure 5.5, AMEA2530 "AVR'< 49V51RD2 "4051' an! L2164 ARM7

microcontro##er a!a$ter %oar!s *or /ire ir! V





/igure 5.3, Microcontro##er a!a$ter %oar! mounting• +o not a..l* unnecear* .reure onto t-e !'B w-ile inertin into t-e connector on

t-e )ain board# '-ec4 1or an* bent .in be1ore inertin t-e !'B# Mount crew on t-e)icrocontroller board#





5.5 8har$ -R Range sensor mounting

8te$ 1, 'ut t-e 1ront ection o1 w-ite connector o1 t-e %-ar. (R rane enor

/igure 5.7, Remo)e *ront co)er o* the +hite connector o* the 8har$ -R range sensor

/igure 5.4, 8har$ -R range sensor mounting =it

8te$ 2, Mount t-e 20)) tud on t-e )ain board& w-ere -ar. enor i to be 1itted# (n 1iure

5#& area -i-li-ted wit- t-e red border -ow t-e )ounted tud 1ro) t-e %-ar. (R raneenor )ountin 4it#

/igure 5.9, Mount 20mm stu!s *rom the 8har$ sensor mounting =it





8te$ , Fi: t-e %-ar. (R rane enor on it -older#

Holder 1or t-e %-ar. (R rane enor i -i-li-ted in t-e 1iure 5#,0 b* blue border#

/igure 5.10, Mounting o* the 8har$ -R range sensor

8te$ 6, Re)o"e t-e *ellow colored .a.er tri.e 1ro) t-e ad-ei"e ta.e 1ro) t-e )etal .latew-ic- i -own in 1iure 5#I#

Fi: t-e )etal .late on to. o1 t-e %-ar. enor and 1it t-e crew#

/igure 5.11, /itting meta# $#ate on to$ o* the 8har$ -R range sensor

• +o not a..l* e:tre)e .reure w-ile .rein down t-e -ar. enor to 1it into t-e

oc4et#

• Ma4e ure t-at *ou re)o"e *ellow .a.er be1ore )ountin t-e )etal .late on t-e %-ar. (R

rane enor#





5.3 Mount to$ Acr&#ic $#ate on the ro%ot

/igure 5.12, -nsta## to$ acr&#ic $#ate





3. ase! ontro# Using 8eria# ommunication

(n t-i c-a.ter& i).le robot control o"er wired >%B 8 erial or wirele )ediu) XBee

wirele )odule i co"ered# >er can e:.and t-i .rotocol 1urt-er to write -i own a..lication#

>in ood .ac4et baed .rotocol& uer can dein a..lication in"ol"in co).le: )ulti robot

co))unication c-e)e wit- robot to robot and robot to !' i)ultaneou co))unication# A)ore bit ad"anced co))unication .rotocol 1or t-e robot control and enor data ac7uiition i

co"ered in t-e c-a.ter @#

3.1, ommunication $rotoco# *or sim$#e ro%ot contro#

haracter A8-- )a#ue Action

4 04 /or+ar!

2 02 ac=+ar!

6 06 Le*t

3 03 Right

5 05 8to$

7 07 u@@er ;n

9 09 u@@er ;**

a%#e 3.1, ontro# comman!s *or the sim$#e ro%ot contro# $rotoco#

Table 6#, -ow t-e i).le robot control .rotocol# >in t-i& robot can be )o"ed in 1orward&

bac4ward& le1t or ri-t direction and it buer can be turned on or o11# /ou can ue an* erial

.ort control o1tware uc- a -*.er ter)inal or ter)inal#e:e etc# For uer 1riendline 4e* o1 t-enu)erical .ad o1 tandard ,0= 4e* L7uert* 4e*board are ued# -en a .articular nu)ber 4e*

i .reed& it A%'(( c-aracter "alue i tran)itted o"er erial 8 >%B .ort# Robot recei"e t-i

A%'(( "alue and baed on it "alue it actuate it )otor& buer etc# e* are )a..ed in t-eintuiti"e wa* on t-e Nu)erical .ad o1 t-e 4e*board#

T-i co))unication .rotocol i co"ered in t-e 1ollowin e:.eri)ent w-ic- are located in t-eLE:.eri)ent 1older in t-e docu)entation '+# All t-ee e:.eri)ent are e:actl* a)e onl*

>ART .ort nu)ber i di11erent#

,# ,AS%erialS'o))unication< %erial co))unication "ia R%22 erial .ort#2# ,BS%erialS'o))unicationS>%B;R%22< %erial co))unication "ia onboard FT22

>%B to %erial 'on"erter

# ,'S%erialS'o))unicationSJiBeeSwirele< %erial co))unication "ia XBee wirele)odule i1 intalled#

%ection 6#2 and 6# co"er robot control uin !'? >%B .ort and XBee wirele )odule#

-m$ortant,

-ile uin LNu)erical !ad o1 t-e 4e* board& )a4e ure t-at LNu) $oc4 i on#





3.2 Ro%ot contro# using R822 seria# $ort

/igure 3.1, onnecting R822 seria# $ort +ith the

>ART, o1 t-e ATMEGA2560 )icrocontroller i connected to t-e erial .ort "ia MAX202

>ART to R%22 con"erter# For robot control o"er R%22 erial .ort a..lication e:a).le we

need to load L,AS%erialS'o))unication#-e: on t-e robot w-ic- i located in t-e

LE:.eri)ent 1older in t-e docu)entation '+#

For robot control o"er erial .ort we ue Ter)inal o1tware 1ro) NEX Robotic# (t i located in

t-e L%o1tware 1older in t-e docu)entation '+# (ntallation and t-e ue o1 t-e ter)inal o1tware1ro) NEX Robotic i co"ered in t-e ection 6#@#





3. Ro%ot contro# using U8 $ort

Fire Bird V ATMEGA2560 -a onboard >%B .ort 1or direct inter1ace wit- !'# >%B inter1acini baed on FT22 >%B to erial con"erter# For robot control o"er >%B .ort a..lication& we need

to load L,BS%erialS'o))unicationS>%B;R%22#-e: on t-e robot w-ic- i located in t-e

LE:.eri)ent 1older in t-e docu)entation '+#

FT22 >%B to erial con"erter can be connected wit- >ART 2 o1 t-e ATMEGA2560

)icrocontroller "ia 3u).er 3,# Fiure 6#2 -ow t-e correct u).er ettin 1or connectin FT22wit- t-e )icrocontroller#

/igure 3.2, um$er setting to ena%#e U8 communication

Be1ore uin >%B .ort we need to intall t-e dri"er o1tware 1or FT22 >%B to erial con"erter#

T-e o1tware i located in t-e L%o1tware and +ri"er '+M 2#06#00 HY$ 'erti1ied 1older#

For dri"er intallation .roce re1er to ection 6#5#


t-e L%o1tware 1older in t-e docu)entation '+# (ntallation and t-e ue o1 t-e ter)inal o1tware

1ro) NEX Robotic i co"ered in t-e ection 6#@#

-m$ortant,

• -en uin >%B .ort 1or t-e co))unication& 1or .ro.er o.eration 1irt turn on t-e robott-en inert t-e >%B cable in t-e robot# e -a"e to 1ollow t-i e7uence becaue >%B to

erial con"erter c-i. i .owered b* >%B# (1 an* 1ault occur t-en turn o11 t-e robot and

re)o"e t-e >%B cable and re.eat t-e a)e .rocedure#

• Ma4e ure t-at u).er i con1iured to enable >%B co))unication# 3u).er -ould bein t-e .oition a -own in t-e Fiure 6#2#





3.6 Ro%ot contro# using Iee +ire#ess communication mo!u#e

/igure 3., Iee Wire#ess U8 Mo!u#e *rom NEI Ro%otics

Fire Bird V ATMEGA2560 -a onboard oc4et 1or XBee and XBee !ro )odule 1ro) +ii

(nternational# For robot to !' co))unication we need to intall XBee wirele )odule on t-e

robot and XBee >%B wirele )odule 1or connection wit- t-e !'# XBee wirele )odule i

connected to t-e >ART 0 o1 t-e ATMEGA2560 )icrocontroller# For Robot control o"erwirele lin4 we need to load L,'S%erialS'o))unicationSJiBeeSwirele#-e: on t-e robot

w-ic- i located in t-e LE:.eri)ent 1older in t-e docu)entation '+# For XBee wirele

)odule intallation on t-e robot& re1er to c-a.ter 5#

XBee >%B wirele )odule -a onboard FT22 >%B to erial con"erter# /ou need to intall

dri"er 1or FT22 >%B to erial con"erter be1ore tartin co))unication# o1tware i located in

t-e L%o1tware and +ri"er '+M 2#06#00 HY$ 'erti1ied 1older# For dri"er intallation .roce re1er to ection 6#5#


t-e L%o1tware 1older in t-e docu)entation '+# (ntallation and t-e ue o1 t-e ter)inal o1tware

1ro) NEX Robotic i co"ered in t-e ection 6#@#

-m$ortant,

• XBee wirele )odule are 1actor* et at t-e 600 b.# -ile -i..in wit- t-e robot

t-e* are et at ,,5200 b. b* NEX Robotic uin X'T> o1tware# A..lication e:a).leL,'S%erialS'o))unicationSJiBeeSwirele#-e: re7uire 600 b.# For t-i

a..lication *ou need to et baud rate at 600 b.# How to c-ane t-e baud rate o1 t-eXBee wirele )odule uin X'T> o1tware i co"ered in t-e a..lication note w-ic- ilocated in t-e LManual and A..lication note 1older in t-e docu)entation '+#

• ait 1or at leat I econd to tart t-e wirele co))unication a1ter turnin on t-e robot

and t-e >%B wirele )odule#





3.5 -nsta##ing !ri)ers o* /22 U8 to 8eria# on)erter

FT22 >%B to erial con"erter i .reent on t-e ATMEGA2560 )icrocontroller ada.tor boardand XBee >%B wirele )odule# Be1ore uin t-ee de"ice *ou need to intall dri"er 1or t-e

FT22 >%B to erial con"erter#

8te$s to insta## the !ri)ers *or /22 U8 to seria# con)erter,

8te$ 1,

'o.* t-e dri"er intallation 1older on *our !' 1ro) L%o1tware and +ri"er '+M 2#06#00HY$ 'erti1ied Folder w-ic- i located in t-e docu)entation '+#

8te$ 2,

'onnect t-e >%B to erial con"erter cable between robot and t-e !'

8te$ ,

Cn connectin t-e de"ice LFound New Hardware )eae will a..ear in t-e ta4 bar tra* andt-e 1ollowin window o.en#

/igure 3.6

8te$ 6,

'-ec4 on t-e radio button LNo& not t-i ti)e and t-en clic4 on t-e ne:t button#





/igure 3.5

T-e 1ollowin window will a..ear#

/igure 3.3

%elect t-e econd o.tion )anuall* to intall t-e dri"er and clic4 on ne:t button#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,0,




8te$ 5,

Now c-ec4 t-e econd o.tion and et t-e location o1 1older containin dri"er

E##'<'+M 2#06#00 HY$ 'erti1ied#

/igure 3.7

8te$ 3,

Cn clic4in ne:t dri"er intallation will bein#

/igure 3.4





8te$ 7,

Cn ucce1ull* intallin t-e dri"er 1ollowin window will a..ear# 'lic4 Fini- to co).lete t-e

intallation#

/igure 3.9

A1ter intallation o1 FT22 >%B >ART o1tware& !' )a* a4 1or >%B erial .ort o1tware# Tointall t-i o1tware 1ollow te. , to @ o1 >%B erial con"erter o1tware intallation#





3.3 -!enti*&ing an! changing ;M ort num%er o* the U8 to seria#

con)erter or Iee U8 +ire#ess mo!u#e

(n o)e o1tware *ou )a* need to tell t-e 'CM .ort nu)ber be1ore etabli-in

co))unication# Follow t-ee te. to identi1* or c-ane t-e 'CM .ort nu)ber# +on?t c-ane

t-e 'CM .ort nu)ber unle it i abolutel* necear*# (t )a* reult in )a4in o)e o1 *ouro1tware untable#

8te$ 1,

Ri-t 'lic4 M* 'o).uter and clic4 on .ro.ertie# %*te) .ro.ertie window will a..ear#

/igure 3.10

8te$ 2, 'lic4 on t-e +e"ice )anaer in t-e Hardware tab#

/igure 3.11

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,0=




8te$ ,

E:.and !ort 'o) D $!T tree# 'CM !ort nu)ber i )entioned in t-e .arent-ei ne:t to >%B

%erial !ort#

/igure 3.12

8te$ 6, /ou can c-ane t-e .ort nu)ber b* ri-t clic4in on L>%B erial !ort and elect .ro.ertie#

/igure 3.1

(n t-e !ort ettin tab clic4 on t-e Ad"anced button& t-e 1ollowin window will a..ear#





3.7.2 Using ermina# 8o*t+are

8te$ 1,

'onnect an* de"ice w-ic- i to be ued to >%B 8 erial .ort# (ntall it dri"er#

Go to %tart )enu and clic4 on t-e %erial Ter)inal#

/igure 3.17

Ter)inal o1tware will o.en#

/igure 3.14

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,0I




8te$ 2,

%elect t-e 'CM .ort# (1 re7uired& identi1* t-e 'CM .ort re1er to ection 6#6

%et t-e baud rate at 600b.& +ata Mode a te:t and .re connect#

/igure 3.19

8te$ ,

Ma4e t-e Nu) loc4 on 1or t-e 4e*board#

$oad .ro.er 1ir)ware #-e: 1ile on t-e robot a .er t-e )ode o1 co))unication re1er to ection

6#2& 6# and 6#=#Turn on t-e robot# 'onnect t-e %erial 8 >%B wire or XBee wirele lin4 between robot and !'

>e nu)ber 4e* o1 t-e 4e* .ad to control t-e robot#

For control co))and re1er to table 6#,#

/igure 3.20





Re1er to 1iure 6#20# %erial Ter)inal o1tware -a window# (n t-e )iddle window *ou can

t*.e data to be ent# /ou can alo end a inle nu)ber o1 t-e trin o1 nu)ber

To end t-e A%'(( "alue o1 t-e c-aracter t*.ed elect +ata Mode a te:t# (t *ou want to end

HEX data t-en elect -e: button in t-e +ata Mode 1ra)e#

%ent data i di.la*ed in t-e botto) window#

Recei"ed data i di.la*ed in t-e to. window#

(n all t-ree a..lication e:a).le )entioned in ection 6#2& 6# and 6#= robot end bac4 ec-o o1

t-e recei"ed data a.art 1ro) e:ecutin t-e )otion co))and#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,0




7. Ro%ot ontro# using :U-( *or /ire ir! V

AMEA2530

Fire Bird V ATMEGA2560 robot can be controlled b* G>( "ia erial 8 >%B cable or in wirele

)ode uin XBee wirele )odule# To control t-e robot uin G>( "ia a..ro.riate )ode o1co))unication& load a..ro.riate -e: 1ile on t-e robot# G>( wor4 on at t-e ,,5200 baud rate#

7.1 Loa!ing *irm+are on the ro%ot

8te$ 1,

Followin 1ir)ware #-e: 1ile need to be loaded on t-e robot de.endin on t-e )ode o1co))unication ued#

R%22 erial co))unication< LG>(S controlSerial#-e:

>%B co))unication< LG>( control >%B#-e:JiBee wirele )odule baed co))unication< LG>(ScontrolSwirele#-e:

All t-ee -e: 1ile are located in t-e LG>( and Related Fir)ware 1older#

For in1or)ation on -ow to load -e: 1ile& re1er to o1tware )anual#

8te$ 2, 'onnect erial 8 >%B to erial con"erter cable between robot and !' or intall JiBee

wirele )odule on t-e robot and connect wirele JiBee >%B )odule to t-e !'# Forconnection re1er to ection 6#2 to 6#6#

8te$ , (ntall G>( o1tware

7.2 -nsta##ing U-

8te$1, 'o.* LF(RE B(R+ V ATMEGA2560 etu. 1older w-ic- i located inide t-e 1olderLG>( and Related Fir)ware 1ro) t-e docu)entation '+ on t-e !'#

'lic4 on Letu.#e:e w-ic- i located in t-e LF(RE B(R+ V ATMEGA2560 etu. 1older#

8te$ 2, 'lic4 Ne:t Button to continue#

8te$ , Browe t-e location w-ere et u. will intall or et t-e de1ault location and clic4 Ne:tButton to tart t-e intallation#

8te$ 6, -en intallation i ucce1ull* co).leted& 'lic4 'loe to e:it#

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,,




/igure 7.1

7. Using U-8te$ 1, A1ter ucce1ul intallation o to %tart ; All !rora) ; F(RE B(R+ V A)ea2560; F(RE B(R+ V A)ea2560 or clic4 on Fire Bird V A)ea2560 on *our de4to. location&G>( will o.en#

/igure 7.2, 8e#ecting correct com $ort

8te$ 2, 'onnect Robot wit- t-e !' uin erial cable 8 NEX Robotic >%B to erial con"erter orwit- t-e XBee wirele )odule# For connection re1er to ection 6#2 to 6#6#





8te$ , (1 erial .ort i ued t-en elect 'CM !ort a ,# (1 >%B to erial con"erter )odule 1ro)

NEX Robotic or >%B JiBee wirele )odule i ued t-en G>( auto)aticall* identi1ie t-e

'CM .ort nu)ber# To )anuall* identi1* t-e 'CM .ort& re1er to ection 6#6# %elect t-e correct'CM .ort nu)ber and clic4 on connect#

Now robot can be controlled uin G>(

/igure 7., U- sho+ing ro%ot(s !ata

Warning,

-ile uin >%B co))unication& enure t-at t-e a..ro.riate u).er are in .lace# For )ore

detail re1er ection 6# >%B baed co))unication#





8te$ 6,

(1 *ou -a"e irele ca)era .od 1ro) NEX Robotic and >%B TV Tuner card t-en *ou can alo

ee t-e "ideo on t-e G>(#For )ore in1or)ation on t-e intallation and uae .roce& re1er to docu)entation o1 t-e

wirele ca)era .od#

Follow t-ee te. 1or "ideo ac7uiition<

,# 'onnect >%B TV Tuner card wit- !' and wait 1or 5 econd#

2# %tart t-e Fire Bird V robot? G>(# (n t-e "ideo window& elect de"ice a >%B TV +e"ice# T-i o.tion will be "iible onl*

i1 >%B TV Tuner card i intalled and connected#

=# !re tart button to ac7uire t-e "ideo#

/igure 7.6 , Vi!eo !is$#a& on the /ire ir! V ro%ot(s U-

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,=




7.6 Ro%ot contro# using igee +ire#ess mo!u#eTo control robot uin JiBee wirele )odule re1er to ection 6#=# All t-e .roce re)ain t-e

a)e a )entioned in t-e ection @#,& @#2 and @## Cnl* di11erence i t-at intead o1 >%B to erialcon"erter& NEX Robotic wirele XBee >%B )odule need to be connected to t-e !' and XBee

wirele )odule need to be intalled on t-e robot# Ma4e ure t-at XBee )odule on t-e robot and

XBee )odule on t-e XBee >%B )odule are con1iured at ,,5200b.#

-m$ortant, • (1 *ou want to ee data on t-e (R .ro:i)it* enor 6& @& I t-en connect u).er 3= on t-e

ATMEGA2560 )icrocontroller ada.tor board# For )ore detail re1er to ection #,#6#

• -en uin >%B .ort 1or t-e co))unication& 1or .ro.er o.eration 1irt turn on t-e robott-en inert t-e >%B cable in t-e robot# e -a"e to 1ollow t-i e7uence becaue >%B to

erial con"erter c-i. i .owered b* >%B# (1 an* 1ault occur t-en turn o11 t-e robot and

re)o"e t-e >%B cable and re.eat t-e a)e .rocedure#

• (n cae o1 XBee wirele )odule wait 1or at leat I econd to etabli- t-eco))unication a1ter turnin on t-e robot and connectin XBee >%B wirele )odulewit- t-e !'#

7.5 8eria# communication $rotoco# use! in ro%ot contro# U-All t-e 1ir)ware ued 1or Fire Bird V ATMEGA2560 robot control o"er wired >%B 8 R%22

lin4 or XBee wirele )odule are e:actl* t-e a)e# Cnl* di11erence i t-at t-e* ue di11erent

>ART o1 t-e ATMEGA2560 )icrocontroller# All t-e 1ir)ware ue ,,5200b. baud rate# (t? a

i).le b*te baed .rotocol in w-ic- u..er nibble i co))and and lower nibble can be data orco))and# /ou can ue t-ee 1ir)ware 1or controllin *our robot uin an* o1tware uc- a

Matlab& %cilab or $ab View etc#

To control robot in wired or wirele )ode load t-e re.ecti"e 1ir)ware on t-e robot w-ic- are

located in t-e LG>( and Related Fir)ware 1older inide t-e docu)entation '+#

G>( control >%B#-e:< 'ontrol robot o"er >%B .ort#

G>(S controlSerial#-e:< 'ontrol robot o"er R%22 .ort

G>(ScontrolSwirele#-e:< 'ontrol robot o"er wirele lin4 uin XBee wirele )odule#

Read c-a.ter 6 care1ull* 1or con1iurin t-e .ort& ettin correct u).er& intallin de"ice and

t-eir de"ice dri"er#

T-i i a i).le b*te baed .rotocol# Fire Bird V ATMEGA2560 robot ue )ore co).le: .ac4et baed .rotocol w-ic- can alo be ued 1or e11icient robot control#





7.5.1 omman!s to set )e#ocit& o* the #e*t an! right motor,

Motor? "elocit* can be "aried b* writin t-e .ro.er b*te into t-e .articular reiter w-ic-enerate a .ule widt- )odulation !M inal wit- I bit reolution# T-e "alue o1 t-e "elocit*

control reiter can be et between 00 to FF -e:& w-ere a "alue 0 indicate t-at t-e )otor i

to..ed and 0:FF indicate )otor i runnin at 1ull .eed#

omman!

"HEI'

/unction

, $oad t-e lower nibble o1 t-e le1t )otor "elocit* control b*te into

t-e robot#

2 $oad t-e u..er nibble o1 t-e le1t )otor "elocit* control b*te into

t-e robot and e:ecute t-e co))and#

$oad t-e lower nibble o1 t-e ri-t )otor "elocit* control b*te

into t-e robot#

= $oad t-e u..er nibble o1 t-e ri-t )otor "elocit* control b*te

into t-e robot and e:ecute t-e co))and#

a%#e 7.1

Eam$#e, 8et #e*t motor(s s$ee! contro# %&te to 0A

To et t-e .eed o1 t-e le1t )otor to 0:AB& 1ollow t-e e7uence o1 co))and below# Attac-

lower nibble LB wit- co))and , and u..er nibble A wit- co))and 2#

%te.,< Send 0x1B Load the lower nibble of the left motor speed in the robot.

%te.2< ela! of at least " milliseconds

%te.< Send 0x#$ Load the %pper nibble of the left motor speed in the robot and exec%te thecommand

%te.=< ela! of at least " milliseconds before loading next command

Note, (t i "er* i).ortant t-at *ou end t-e b*te containin co))and , 1irt and t-en end t-e

b*te containin co))and 2 1or .ro.er o.eration# T-e a)e rule i a..licable 1or co))and

and =#





7.5.2 omman!s to set !irection o* the ro%ot,

omman!

" HEI ' D-RE-;N

LE/

WD

"L'

A0

LE/

/WD"L/'

A1

R-H

/WD"R/'

A2

R-H

WD"R'

A

5, FCRAR+ 0 , , 0

52 REVER%E , 0 0 ,

5

R(GHT (Left wheel

forward, Rightwheel backward)

0 , 0 ,

5=

$EFT(Left wheel

backward, Rightwheel forward,)

, 0 , 0

55%CFT R(GHT(Left

wheel forward,,

Right wheel stop)0 , 0 0

56

%CFT $EFT(Left

wheel stop, Right

wheel forward,)0 0 , 0

5@

%CFT R(GHT 2

(Left wheel stop,

Right wheelbackward)

0 0 0 ,

5I%CFT $EFT 2 (Left

wheel backward,

Right wheel stop) , 0 0 0

5 HAR+ %TC! 0 0 0 0

a%#e 7.2

Eam$#e, o set #e*t motor )e#ocit& to 046< right motor )e#ocit& to 035< an! mo)e

%ac=+ar!.

%te.,< 0x1& Load the lower nibble '& of the left motor speed into the robot

%te.2< ela! of at least " milliseconds

%te.< 0x# Load the %pper nibble ' of the left motor speed into the robot and exec%te thecommand

%te.=< ela! of at least " milliseconds%te.5< 0x"* Load the lower nibble '* of the right motor speed into the robot %te.6< ela! of at least " milliseconds

%te.@< 0x&+ Load the %pper nibble '+ of the right motor speed into the robot and exec%te the

command %te.I< ela! of at least " milliseconds

%te.< 0x*# moe backward

%te.,0< ela! of at least " milliseconds before loading next command

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,@




7.5. omman!s to access the Ana#og sensor !ata,

omman!

"HEI'

Data

60 atter& )o#tageRobot end bac4 I bit batter* "oltae "alue# To con"ert t-i

"alue in to "olt ue t-e 1ollowin con"erion 1or)ula 1or I bitA+' reolution< Batter* Voltae Q A+' data : 0#06

62 /ront 8har$ -R range sensor !ata "/ront !istance'

T-e Robot will return I bit "alue w-ic- indicate ditance

between t-e obtacle and 1ront %-ar. enor#

6 8har$ -R range sensor 2 !ata


between t-e obtacle and %-ar. enor#

6= White #ine sensor 1 "Le*t'

T-e Robot will return an I bit analo "alue o1 t-e le1t w-ite lineenor

65 White #ine sensor 2 "enter'

T-e Robot will return an I bit analo "alue o1 t-e center w-iteline enor

66 White #ine sensor "Right'

T-e Robot will return an I bit analo "alue o1 t-e ri-t w-iteline enor

6@ 8har$ -R range sensor 6 !ata



', -R roimit& sensor 1T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*

enor ,

'2 -R roimit& sensor 2

T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*

enor 2

' -R roimit& sensor

T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*enor

'= -R roimit& sensor 6


enor =



enor 5



enor 6

© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,I




'@ -R roimit& sensor 7

T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*enor @

'I -R roimit& sensor 4


enor I' 8har$ -R range sensor 1 !ata



'A 8har$ -R range sensor 5 !ata



a%#e 7.

7.5.6 omman!s to turn on o** the %u@@er,

6 Turn on t-e buer#

6A Turn o11 t-e buer#a%#e 7.6

7.5.5 Ro%ot Version 8ignature

6B (1 6B i ent to t-e robot will end bac4 it (+

a%#e 7.5

7.5.3 osition enco!er !ata,

!oition encoder .ule count 1or t-e .oition trac4in<

@2 T-e robot will return lower b*te o1 t-e .ule count 1or t-e le1t)otor .

@ T-e robot will return u..er b*te o1 t-e .ule count 1or le1t )otor#

@ T-e robot will return lower b*te o1 t-e .ule count 1or t-e ri-t

)otor .

@ A T-e robot will return u..er b*te o1 t-e .ule count 1or ri-t

)otor#

a%#e 7.3

Note, To et an actual .ule count& co)bine t-e lower b*te and u..er b*te to et a ,6 bit "alue#For )ore in1or)ation on t-e .oition encoder reolution re1er to t-e ection ##





7.5.7 omman!s *or ser)o motor contro#,

ATMEGA2560 )icrocontroller ada.tor board can dri"e t-ree er"o )otor# Cut o1 w-ic- %, and%2 er"o )otor can be controlled wit- erial control .rotocol# T-ee )otor are ued to )o"e

t-e ca)era or enor .od in .an and tilt direction#

I +ata $oad er"o anle lower nibble +ata $oad er"o anle u..er nibble and )o"e t-e er"o )otor#

A +ata $oad er"o anle lower nibble

B +ata $oad er"o anle u..er nibble and )o"e t-e er"o )otor#

a%#e 7.7

T-e er"o )otor will )o"e between 0Z to,I0Z i"en an I bit "alue between 0:,5 and 0:65 in

-e:

T-e %er"o )otion reolution i Q ,I0 8 0:65 P 0:,5 Q 2#25 deree 8 te.#

Eam$#e, Mo"e er"o )otor, b* 0 deree#

Nu)ber o1 te. re7uired Q 0Z82#25 Q =0te. Q 0:2I -e:B*te to end Q 0:,5 0:2I Q 0:+

$ower nibble Q + -e:

>..er nibble Q -e:

'o)binin t-ee nibble wit- t-e co))and<

%te.,< send 0x thro%gh the serial port

%te.2< dela! b! " milliseconds%te.< send 0x-" thro%gh the serial port


firebird v hardware manual v1.08 2012-10-12

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