GRoboduino User Manual
Contents
1. http dexterslabgr blogspot com GRoboduino User Manual ROODERL d DIGITAL a danni Or b b b b b b b cd GRoboduino License Creative Commons Attribution Share Alike 3 0 Unported http creativecommons org licenses by sa 3 0 General Description GRoboduino is a robotics motherboard based on Arduino AVR processor featuring many on board peripherals It is designed for beginners who need an easy to start with platform for their first robot as well as experienced users who want a complete and stable solution hardware software library to base their more complex projects 10 Analog Ports 0 5 Digital Ports 15 19 9 Motor Power Select Jumper H Bridge gt Motors Connectors 7 GRoboag Quad 2 input FTDI NAND gate Connector 6 5 Features Processor ATMega328 16MHz pre loaded with Arduino Bootloader e Motor Controller Dual H Bridge 600mA motor 1 2A peak Sound Generic Buzzer on Pin 10 Leds Power LED and Programmable LED on Pin 13 e Analog Pins 6 e Digital Pins 8 14 depending on how the analog ports are used e All pins are servo compatible Motor Connections Screw Terminals Power Supply On Board 78805 IN 7 5v 15v OUT 5v 2A Motor Power Supply User configurable power from internal regulator Vcc 5y 2A or Power In Vin 7 5v 15v e FTDI Connector e Arduino Library for all peripher2. 8 H Bridge Dual H Bridge 600mA motor 1 2A peak L293DNE For information on how to use motors h bridge easily with the GRoboduino Library skip to the section Using GRoboduino Library 9 Motor Power Select Jumper This jumper sets the power supply for the motors You have two choices Vcc 5v from the on board regulator maximum 2A or Vin 7 5v 15v from the Power In of the board Warning If you remove the jumper the motors will not function at all 10 Analog Ports 0 5 Digital Ports 15 19 These ports can be used for analog sensors using the analogRead command of Arduino They are connected to the Analog to Digital converter of the AVR There is also a REF pin to be used for setting a reference voltage other than the AVR s standard reference if that is necessary Alternatively these ports can be used as digital ports 11 LED This is the LED you find in every Arduino board connected on Pin 13 The GRoboduino Library contains commands for manipulating the led with great ease like toggleLed setLed Find more information about these commands in the Using GRoboduino Library section 12 Buzzer This is a generic Buzzer used for making sounds or music The GRoboduino Library contains commands like beep playNote for the buzzer Find more information about these commands in the Using GRoboduino Library section 13 Vin Power In Connector These pins are very useful in those c
3. W 2 Digital Save Ctrl S 3 Analog Save As Ctrl Shift S 4 Communication Upload to I O Board Ctrl U 5 Control 6 Sensors Page Setup Ctrl Shift P 7 Display Print Ctrl P 8 Strings Preferences Ctrl Comma ArduinoISP Ctrl Q ArduinoTestSuite EEPROM Ethernet Firmata GRoboduinoBoard Blink LiquidCrystal GenericTest Matrix ObstacleAvoider sD Servo SPI Stepper Wire Using The GRoboduinoBoard Library Let s take for instance the GenericTest example include GRoboduinoBoard h GRoboduino brd void setup Serial begin 9600 Serial printIn GRoboduinoBoard v1 2 GenericTest Example Serial println ag brd setLed ON Serial printIn Led is now on brd beep Serial printIn Buzzer just beeped brd initMotors Serial printIn Motors are now initialized brd setMotors 150 150 Serial printlIn Motors should be running forward now with 150 speed void loop Explanation v First of all you need to include the GroboduinoBoard h Y Create a variable of type GRoboduino That variable is actually your board with methods commands for all the peripherals If you want to use the motor controller in the setup section of your program you need to initialize the asynchronous motor controller handler with the method initMotors in this example the GRoboduino variable is called brd so you can se
4. abled to protect the port That means you need to apply power to the GRoboduino even during programming If you remove the Motor Power Select Jumper the motors will not function You must select between Vcc 5v or Vin Power In Inside Arduino IDE gt Select Arduino Duemilanove with ATMega328 Board sketch jan27a Arduino 0022 Ex File Edit Sketch Help ff 1 Auto Format Ctrl T Archive Sketch Fix Encoding amp Reload Serial Monitor Ctrl Shift M ea Board Arduino Uno Serial Port gt Arduino Duemilanove or Nano w ATmega328 CI SE A Arduino Diecimila Duemilanove or Nano w ATmega168 Arduino Mega 2560 Arduino Mega ATmega1280 Arduino Mini Arduino Fio Arduino BT w ATmega328 Arduino BT w ATmega168 LilyPad Arduino w ATmega328 LilyPad Arduino w ATmega168 Arduino Pro or Pro Mini 5V 16 MHz w ATmega328 Arduino Pro or Pro Mini 5V 16 MHz w ATmega168 Arduino Pro or Pro Mini 3 3V 8 MHz w ATmega328 Arduino Pro or Pro Mini 3 3V 8 MHz w ATmega168 Arduino NG or older w ATmegal68 Arduino NG or older w ATmega8 gt Select the Serial Port that was assigned on your FTDI gt You can try one of the examples Blink GenericTest ObstacleAvoider Even the Blink example can teach you many things about how you can use the GRoboduino peripherals easily Edit Sketch Tools Help New Ctrl N Open Ctrl O Sketchbook Examples 1 Basics Close Ctrl
5. als 11 13 LED a Vin Power In 12 Connector Buzzer 14 Regulator 1 Power In 7 5v 15v 3 2 Digital Ports 0 7 Power Led 1 Power In This is the screw terminal where you attach your power source That can be any battery or power supply 7 5v to 15v Note that you should have the power source attached to the board even during programming due to USB protecting measures 2 Power Led It is on if power is applied correctly on GRoboduino 3 Digital Ports 0 7 General Purpose digital ports for use with sensors servos relays etc Ports 0 1 are also connected to the hardware serial port of AVR processor Ports 3 5 6 are capable of use with hardware PWM analogWrite command of Arduino 4 Reset Button Used rarely in cases the processor has to be restarted manually 5 FTDI Connector This is where your FTDI is connected FTDI is a usb to serial converter used to connect the on board serial port to the USB port of a PC to program the Arduino or for debugging communication purposes For standalone applications this is used only during programming 6 Quad 2 input NAND Gate This IC is used in circuit between the processor and the H Bridge so that the connection requires less pins This is used internally and you will never need to worry about it 7 Motor Connector Screw terminals for connecting the motors L and R marks on the PCB are for Left and Right motor accordingly
6. ases when you need to supply another pcb with the power source you are supplying the GRoboduino and you don t want to cut and solder new cables For example when using a 12v relay and you supply GRoboduino with 12v you can use these pins to supply the transistor relay pcb with 12v 14 Regulator 78S05 regulator It gets voltages from 7 5v 15v and converts them to stable 5v up to 2A Warning when you use sensors servos etc that draw more than 1A it is strongly recommended to attach a heatsink on the regulator Also never touch the regulator it can get very hot Getting Started Requirements Arduino IDE http www arduino cc or alternative FTDI a Battery Power Supply 7 5v 15v GRoboduinoBoard Arduino Library download from http dexterslabgr blogspot com iss Install GRoboduinoBoard Library extract GroboduinoBoard folder from the archive to the libraries folder of your Arduino IDE installation Connect your FTDI on the FTDI Connector of GRoboduino and of course your USB Connect your power source 7 5v 15v on the Power In screw terminals If you are using motors hooked up on the Motors Connectors screw terminals do not forget to select the power source of the motors by using Motor Power Select Jumper Warnings When applying loads exceeding 1A putting a heatsink on the regulator is strongly recommended Power from USB has been dis
7. e the command written as brd initMotors After that you can set the speed and direction of the motors and keep them running without any delays in your main loop the interrupt code that is responsible for the PWM of the motors is as optimized as it gets v GRoboduino Methods Commands So these are the class methods of GRoboduino class If you don t know what a class method is then what you should keep in mind is that the following commands are used after the variable name of the GRoboduino and a dot For instance if you have created a GRoboduino variable named board for initializing the motors you would write board initMotors for making a beep sound board beep etc Motors Command amp Parameters Result Type Description This is called usually in the setup section of the program initMotors void when motors will be used It is absolutely needed for the motor process to work and ot needs to be called just one time Sets the speed and direction of the Left Motor setLeftMotor int Speed amp Direction void 1 to 255 on one direction and 1 to 255 on the opposite direction 0 zero stops the motors Sets the speed and direction of the Right Motor setRightMotor int Speed amp Direction void 1 to 255 on one direction and 1 to 255 on the opposite direction 0 zero stops the motors Sets the speed and direction of both the mo
8. it to a port inside the setup section of your program 8 include GRoboduinoBoard h ParallaxPing MyParallaxPing void setup MyParallaxPing attach 3 One way or another after the initialization the object is ready to use To take a measurement you can use the following commands depending on the result you want Command amp Parameters Result Type Description Sends a ping and counts the microseconds to the pingMicroseconds long return of that ping The result is a long integer of the microseconds counted Triggers a measurement and returns the calculated distanceInCM double i 0 a distance in centimeters as a double Triggers a measurement and returns the calculated distanceInInches double f ee i 0 distance in inches as a double e5 include GRoboduinoBoard h ParallaxPing MyParallaxPing 3 void setup Serial begin 9600 void loop Serial printIn MyParallaxPing distanceInCM DEC 10 APPENDIX SCHEMATICS POWER 100uF 100uF 1 OOnF LED1 WER LED O PO 74HCOON 100nF PB7 XTAL2 TOSC2 100nF 100uF GND 74HCOON 293DNE GND4 GND3 4Y 4A 74HCOON 11 O IC2D C6 GND2 SND 100nF Di C8 OND 100nF IC3 ANALOG GND Released Under the Creative Commons Attribution Share Alike 3 0 License http creativecommon
9. s org licenses by sa 3 0 Tsamakos Alexandros TITLE GRabaduina v20 Document Number O O O O Date 21 8 2010 9 54 20 ale 100UF GND GND 100nF 11
10. ss SharpIR SharpIR is a sensor with analog output so it has to be connected to one of the analog ports Assuming you have connected your SharpIR sensor on Analog Port 0 there are two ways of creating a SharpIR object e Declaring it globally along with the port number 8 include GRoboduinoBoard h void setup SharpIR MySharpIR 0 e Declaring it globally without a port number and attaching it to a port inside the setup section of your program 8 include GRoboduinoBoard h SharpIR MySharpIR void setup MySharpIR attach 0 One way or another after the initialization the object is ready to use To read the value from the sensor use the read command 8 include GRoboduinoBoard h SharpIR MySharpIR 0 void setup Serial begin 9600 void loop Serial printlIn MySharpIR read The result from read command is of type int and it is the result of averaging 10 sensor readings as the SharpIR sensors have very unstable output class ParallaxPing ParallaxPing is a sensor with digital output Assuming you have connected your ParallaxPing sensor on Digital Port 3 there are two ways of creating a ParallaxPing object e Declaring it globally along with the port number 8 l include GRoboduinoBoard h ParallaxPing MyParallaxPing 3 void setup e Declaring it globally without a port number and attaching
11. tors setMotors int Left int Right void 1 to 255 on one direction and 1 to 255 on the opposite direction 0 zero stops the motors A Returns the current speed and direction of the Left Motor LANAO u 255 to 255 0 means stopped Returns the current speed and direction of the Right Motor meee heer unt 255 to 255 0 means stopped LED Command amp Parameters Result Type Description Sets the state of the led That can be used in one of the following ways setLed byte State void toggleLed void Turns the led ON if it is OFF and vice versa Gets the state of the led pin 13 The evaluation can be done getLed byte using ON OFF 1 0 true false So you can use whatever suits you in your code Buzzer int Beats int Tempo Command amp Parameters _ Result Type Description beep void Makes a single beep sound playNote char Note int Duration void Plays 4 HI no te Which can be tc Meee ts By tae for Duration milliseconds playTone int Tone int Duration void Plays Tone in Hz for Duration milliseconds g Given an array of Notes characters c d e f g a b playsonglnt Length thar Noves void C an array of beats the length of those arrays and the tempo this method plays the sequence of notes as a song Other Classes Except for the GRoboduino class in the GRoboduino Library there are also other helpful classes cla
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