ravor manual

8/12/2019 Ravor Manual

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Rover 5

Explorer kiTThe explorer kit provides the perfect interface between your over 5chassis and yourmicro-controller with all the hardware you need so you can start programming right away.

PCB Features:

2x FET ! bridge motor drivers rated at "# with current sensing.

$ervo power supply % &."' rated at (# assuming the use of ).2' battery. &' *+, regulator rated up to . with suitable heatsinking.

(.(' *+, regulator rated at &m#.

/uilt in trickle charge circuit for 0i1h or 0id batteries.

"x 34 analog5digital sensors mounted on the corners.

2x individual power rails 6'7 '28 that can be connected to any voltage.

1ounting holes for hardware including #rduino and #rduino 1ega 9/s.

Additional Hardware:

2x $mall bread boards with mounting hardware.

x 9an 5 tilt kit with two miniature servos and mounting hardware. x 34 compound eye.

x :umper wire pack.


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Mounting your hardware/efore you mount the explorer 9/ onto the 4over & chassis7 mount any hardware youwish to use.

The 9/ is supplied with 2x small bread boards and ;x


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Mounting Arduino BoardsThe 9/ has mounting holes to suit popular #rduino 9/>s. =sing the 2&mm brass hexspacers provided #rduino =no7 +uemilanove7 +iecimila and older can be mounted usingthe holes marked in red.

?ou can also mount an #rduino 1ega 2; 5 2&


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Connection to "o#er $$tart by 3nstalling rechargeable 0i1h or 0id batteries in the 4over & chassis. They canbe recharged overnight by the built in trickle charge circuitry. This eliminates the need toremove the 9/ to replace batteries.

9lug in your motors and if your chassis comes with encoders then plug them in as shown

in the photo with the red wires 6B&'8 on the outer pins and the black wires 6C0+8 on theinnermost pins.

Each encoder has a white and a yellow signal wire. 3t is not too important which way thesewires connect as this can be corrected in your program. $wapping the white and yellowwires of an encoder will reverse the encoders sense of direction.

$crew the 9/ onto the 4over & chassis with the "x self tapping screws provided.


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Battery ChargingDhen the power switch is in the ,ff! position the battery is internally connected to asimple trickle charge circuit. Dhen power is connected to the battery charging socket theorange *E+ will light up.

The recharge circuit allows the batteries to be recharged overnight when a 2' power

supply is connected to the recharge socket. 3f you want to recharge over a longer period oftime such as the weekend then you should use a ' power supply to prevent overchargingyour batteries.

%A"N&N':This recharge circuit is designed for NiCd and NiMh (atteries only!+o notuse with *ithium 6*i9o8 batteries which reAuire a specialied charging circuit.

PowerThe Explorer 9/ provides " different voltage levels for powering your robot.

1. Battery #oltage:).2' when using 0i1h or 0id batteries is used to power themotors and can also be used to power other motors or circuits.

2. Ser#o Power:$ervo>s typically have a voltage rating of ".&' %


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*/ and *09ower rails ' and '2 are typically connected to the servo power 6&."'8 allowing servos toplug directly into the 9/. These power rails can be disconnected from the &."' supply byremoving the @umpers on : and :;. They can then be connected to the other voltagesusing :2 and :22.

The ' and '2 rails each provide power to "x ( pin servo compatible male connectors.Female connectors allow the servos or sensors to be easily connected to a breadboard or

development board using the supplied @umper wires.

Motor Control CircuitryThe built in motor control circuitry consist of 2x FET ! bridges. Each motor control circuitcan drive a motor forwards or backwards as well as controlling the speed of the motorusing 9ulse Didth 1odulation 69D18.

The motor control circuits each have a maximum continuous rating of ". and a currentsensing circuit that gives an output of approximately ' per amp. This output can bemonitored using a processors analog to digital 6#+8 inputs to determine how much loadthe motor is under and if the motor has stalled.

Each motor is controlled by two digital pins. The 1irectionpin changes the direction of themotor between forward and reverse. The P%M Speedpin controls the speed of the motor.

2ncoder Connectors3f your 4over & chassis includes encoders then theencoder can be read from the encoder socket. Theencoders are powered from the 9/ so you only need toread the outputs # and /. $wapping the connections to #and / will reverse the encoders sense of direction.

The output of the encoders consist of 2 sAuare waves

that are degrees out of phase. The pattern generatedby these outputs can be used to measure speed7direction and distance traveled. # tutorial on how to use these encoders can be foundhereG httpG55letsmakerobots.com5node52"(
http://letsmakerobots.com/node/24031http://letsmakerobots.com/node/24031


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&nrared Corner SensorsThe explored 9/ includes " infrared 6348 sensors on the corners which can be used todetect ob@ects or edges depending on the orientation of the sensors.

These sensors are numbered to " for easy identification. Each sensor consist of an 34*E+ and an 34 phototransistor. /ecause you cannot see 34 with your eyes a small green*E+ is connected to each 34 *E+ so you can see when it is on.

To get the maximum range from these sensors7 the 34 *E+ and 34 phototransistor must beparallel to each other. 3f you aim the 34 *E+ and phototransistor downward then they canbe used to detect the edge of a table or the top of the stairs. #im the sensors outward for

ob@ect detection.

These sensors can be used with analog or digital inputs but best results are achieved withanalog inputs.

To take a reading from a sensor first turn on the 34 *E+ for that corner 6-"8 by applying ahigh digital output to the appropriate pin on the left hand side of the board. 3n your codeallow at least &u$ for the phototransistor to respond.

0ow read the sensor using the appropriate pin 6-"8 on the right hand side of the boardusing either an analog or digital input. Dhen an ob@ect is detected then voltage on thesensor output will rise. The voltage level will depend on sie7 colour and distance of theob@ect being detected. # digital input will only recognie when the voltage exceeds a

certain voltage 6usually between &H and )H8 of the processors supply voltage.

Dhen using analog inputs7 $o that ambient light will not affect your readings it isrecommended that you turn off the *E+7 wait &u$ again and then take a second reading.This second reading with the *E+ off is your ambient light reading. /y subtracting thisreading from the first reading you will get a result that represents only light from the *E+reflected back by an ob@ect.

N342:These sensors will not work in bright sunlight and are intended for indoor 5 nightuse only.


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Pan 5 tilt 6itThe pan 5 tilt kit is the perfect addition to your robot. Dith mounting holes to suit a widerange of 34 and ultrasonic range finders or cameras this assembly gives your robotpersonality as well as increasing the usefulness of your sensor.

&" compound eyeThis sensor is a perfect7 low cost companion to the pan 5 tilt assembly. #lthough only ashort range sensor 6&-2cm depending on ambient 348 it allows tracking of movingob@ects using simple code and low powered processors. 9erfect for beginnersI

Sample CodeTo help you get started Auickly sample code can be downloaded from +#C=>s productsupport siteG httpsG55sites.google.com5site5daguproducts5

Cood luck and en@oyI
https://sites.google.com/site/daguproducts/https://sites.google.com/site/daguproducts/

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