Pi Droid Alpha Build Manual v0.80
Contents
1. z lt 7 i Ea These capacitors filter noise from the power supply right at the integrated circuits http Mikronauts com 10 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Aas odam JRRARAARA This resistor network has a common ground connection and is part of the voltage divider used to convert 5V input signals to 3 3V which is the maximum safe input voltage for Raspberry Pi pins 8 4k7 resistors R3 R10 These resistors form the other half of the voltage divider for every pin For more information on voltage dividers please see https en wikipedia org wiki Voltage divider and you can find a handy voltage divider calculator at http www raltron com cust tools voltage_divider asp http Mikronauts com 11 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning 3x8 servo headers SERVO DIO A DIO B AIN The servo headers are used to connect standard servos and other 5V input and output signals e SERVO1 SERVO8 are connected to Raspberry Pi pins through a voltage divider e DIO AO A7 and DIO BO B7 are connected to the MCP23S17 I O expander pins e AIN 0 7 are connected to the MCP3008 analog to digital converter 1x6M Optional DIO Expansion header DIOEXP If you need more digital I O you can use this optional header to connect up to seven more MCP23S17 T O expanders 1x5M HCOM header COM You can use this connector to conne2. closest to the IC A Kho QD pred Power on the middle pin siz O black Ground farthest from the IC dpa tt Servo VIN Motor 2 Motor VIN Fi i OO gt gt att Ba Ont Copyright 2015 William Henning Pi Droid Alpha 10 ittp Mikronauts com can gt i GPIO 18 3 VDC 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Schematics The schematic below shows you how Pi Droid Alpha works and if you run into any problems while you build your Pi Droid Alpha the schematic can be used to find any issues n Pi Droid Alpha 0 OO Copyright 2013 William Henning General Guidelines e You should assemble PiDroidAlpha in the order of shortest part to tallest part e Use a clean soldering iron with a good tip e after you have assembled the board make sure that o there is no short between 5V and GND o there is no short between 3 3V and GND o there is no short between 5V and 3 3V http Mikronauts com 7 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Assembling PiDroidAlpha In order to help you assemble
3. 80 Copyright 2015 William Henning Appendix C Frequently Asked Questions Q Where can we buy PiDroidAlpha A Currently you can buy PiDroidAlpha Directly from us please email us at mikronauts gmail com with desired quantity and postal address we will be happy to send you a quote We accept PayPal from verified buyers From our Ebay store please visit us at out Mikronauts Ebay store lt add actual URL gt Distributors and dealers are welcome to contact us for quantity discounts we would love to have you on board Q Are quantity and educational discounts available for PiDroidAlpha A Yes We are happy to offer quantity based discounts to our educational users and distributors Please contact us for a custom quote Q Can we make our own PiDroidAlpha printed circuit boards A I am afraid not While PiDroidAlpha is an open platform in that it is fully documented with source code available for its libraries and demo applications PiDroidAlpha is a commercial product and may not becopied Q Can we use the MCP3208 12 bit analog to digital converter instead of the MCP3008 A Yes you can but the driver needs to be modified and the PiDroidAlpha libraries and demo programs assume that an MCP3008 is used Q Do you have any distributors in lt name of country gt A We are working hard to set up our distribution network Please email your favorite web stores and have them contact us if they are interested in PiDro
4. Motor VIN have protection diodes in case you accidentally connect the batteries in reverse e Servo VIN should not exceed the maximum voltage for the servos you are using by more than 0 7V for example 6 7V is the maximum Servo VIN if all your servos support 6V e Motor VIN should not exceed the maximum voltage for the gear motors you are using gt 1 4V so for example if your motors maximum voltage is 6V do not exceed more than 7 4V http Mikronauts com 14 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning 100uF Electrolytic capacitors C3 C5 2x13 stacking Raspberry Pi header Install the capacitors before installing the header Please make sure that the Raspberry Pi header is seated fully and is at a right angle to the Pi Droid Alpha printed circuit board otherwise there will be problems mounting the board on a Pi 2k4 R1 and 4k7 resistors R2 1x4M I2C header I2C The I2C header is for future expansion modules for your robot such as compass modules R1 and R2 form a voltage divider so that the 5V MISO signal from the digital I O expander and the analog to digital converter is divided down to 3 3V in order not to harm the Raspberry Pi http Mikronauts com 15 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Completed Printed Circuit Board Here is what the top of the completed circuit board looks like TEC TEIE You can clean the solder fl
5. R AE a ESENE EEEE AOS EERE E iadaa EEE eaea de 17 Adding the MCP3008 Analog to Digital Converter IC1 sessssessssessseseeseeesressrssesseessssressseesseresseee 18 Adding the MCP23517 Digital I O Expander IC2 ccc ccosercoscesanevarcesucvenocevenecessnesavedniavanosencenseanasies 18 Adding the L293D Motor Driver C4 siseses isiat eei niederen aredi eran aN iese 18 Choosing Servo power source With SHUMS s cccsscsssssssscessccesscessecsnccesscssnssesscssnecesscesessessessnseeses 18 Programming PiDr idAlphannes eiaeia a ae iea eiir ri year aiia 19 PiDroidAlpha I O pin ET IONS i zaascansaiontyiveacain ne esnceuacegie munsnsentedionn tei weasels en sauwspoenenundaeiuaeats 19 FRAG PIMA spsnatasncassaaranentaciouieaancdutaandideuacaasadesadanloniacaadiendddcdeahiauaddeseebsaasdeneeidensaleduablaasamuntialnawbenseueanteninrs 20 252 8 0 Resear ererig en vce E E Term mm eC eT Terese E nme cnet Seer mre tem er rere E ter rare 20 Servo lho ae cee ae a a en Pe E eee E etree earner ree 20 WDO Peirce ister ca a eters aac cers yh ca aun AEE ET EEEE AA TENAK ae eee 20 PAB oe eco EE este EA E wean E A apie va E EE E 20 Appendix A Data Sheets reeniras aeran na e sE AE E E a E E Eea ERA R EaR ER a ES 21 Appendix B SUPPO bisses a oriei ariei eee EREEREER ERREA eee 21 Appendix C Frequently Asked Questions cciccsessssccasevesscesocisescsestesssessnessesesecesnatded nsensvteseninessnsedseneses 22 http Mikronauts com 2 2015 07 15 PiD
6. then choose expand filesystem finish and re boot pigpio Please follow the instructions at the link below to install pigpio http abyz co uk rpi pigpio download html The PiDroidAlpha demos require that pigpio is installed on your Raspberry Pi ServoBlaster ServoBlaster is an alternate way of driving servos with PiDroidAlpha http www novitiate co uk p 72 Please note that while ServoBlaster will work we suggest you use pigpio instead wiringPi You can also use WiringPi with PiDroidAlpha follow the instructions at the link below Note You will also need ServoBlaster as wiringPi does not provide precise servo control Scratch We plan on supporting Scratch at a later date For now see https scratch mit edu discuss topic 34754 http Mikronauts com 20 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Appendix A Data Sheets MCP3008 Analog to Digital converter http ww1 microchip com downloads en DeviceDoc 21295C pdf MCP23S17 Digital I O expander http ww1 microchip com downloads en DeviceDoc 21952b pdf L293D motor driver http www st com st web ui static active en resource technical document datasheet CD00000059 pdf Appendix B Support Please visit our forums at http forums mikronauts com Once you register there you can get support for Pi Droid Alpha in its support forum http Mikronauts com 21 2015 07 15 PiDroidAlpha v1 00 Build Manual 0
7. AM1035 05 ND optional hcomm header 1 1x4M i2c hdr 12C SAM1035 04 ND i2c expansion header 2 1X3M header SERVO 1 4 5 6 AM1035 03 ND servo voltage selector 2 2pin shunt 3M9580 ND servo voltage selector 2 10xiF header 101 102 SAM1122 10 ND minimod header 2 Dip 16 skt IC1 IC4 ED3046 5 ND ic sockets 1 Dip 28 skt IC2 ED3050 5 ND ic sockets 3 100nF ceramic C1 C2 C4 BC1148CT ND bypass caps 2 33uF 100uUF C3 C5 P10320 ND power filter caps 9 2k4 resistor R1 CF18JT2K40CT ND voltage divider resistors 1 4k resistor R2 R10 CF18JT4K70CT ND voltage divider resistor 1 8R9pin 4k7 RN RN2 4609X 101 472LF ND voltage divider resistors 2 RL 205 TP D1 D2 RL207 TPCT ND polarity protection 4 Wago 2scr 2 SVIN MVIN M1 M2 A97996 ND motor battery connectors 1 Pi Stacking Hdr Pi GPIO n a http Mikronauts com 5 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Printed Circuit Board O O O O O O O O O O O O 000000000009090 7 1 ge OOR O OW OR OM ONE g QO ERVO 1 on t forget eA servos tO loMoMoMoMonoMoNoNoNo power for DC motors 10 o Ultrasonic Range Sensors Sensor 1 Servo 5 Sensor 2 Servo 6 otor PWM pins _ Motor 1 Servo 7 _r Motor 2 Servo 8 cs 9 0 0 919 0 0 9 TEITER E The image above shows the parts layout of Pi Droid Alpha You can refer to this image while assembling your Pi Droid Alpha http Mikronauts com PERVO Gann ae Three pin servo etc cables connect with dp P K white Signal
8. PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Building PiDroidAlpha Copyright 2015 William Henning PiDroidAlpha Build Manual v0 80 Pi Droid Alpha wts com ntpe Mikrona Cony DIOEXP 5 8 UDC AlN 8 5 VO Photo 1 Fully assembled PiDroidAlpha v1 00 The most up to date documentation will always be available at http www mikronauts com raspberry pi pi droid alpha http Mikronauts com 1 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Table of Contents Introd cing PiDroidAlphd stessi koarn choad oda se duetac E E a p eae iers Ees 3 PES UC gaa A A a E E E E E aed EE a 3 GompatiDilitysscsistessii eni A ass n E E A REEE neta cans EO AES E 4 Parts E e E A E E E 5 Printed Circgit B rde E A NA 6 SehemaliCS sesia eee A E A A A eee R E E Meee ee eee ae 7 General GuideliNeS secca a E EAE A E ane EEE EEE EEEE 7 Assembling PiDroidAlpha eirriersessresd pernio o A a e aoaia rE oi ke EEE EEEa Erot 8 Required Toolsin aeneae a a aa E a E e a EA E E EEEE A e AERE 8 How to Solden eeaeee a EE EERE E OE aie ale E E RETE E RE 8 How to de solder and fix iiStakes ccscvievcscaxesecenns iesattodsiesasekeevavetaveetoeshGeuaseodseddeassenteiuuvsatteesberaayeeesties 8 RL205 IP diode DI D2 Jissie ea a E A e EEE E E idles a 9 16 pi and 28 pin IC sockets IC1 Te Me igus ensisoiton R 9 100nF ceramic capacitors G1 C2 C4 serina nnn a a a a iaaa Re 10 9 pin 4k7 SIP resistor netwo
9. ct a RS232 or RS485 level translator this connector is the blurry 5 pin connector towards the bottom of the photo below 1x3M Voltage selection headers SERVO1 4 SERVO5 8 The two 3 pin power selection jumpers towards the top of the photo that allow you to select the power source for four servo connectors each Use the external servo selection for powering servos http Mikronauts com 12 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning 10x1F Expansion headers 101 102 Pork The 10 pin female expansion headers are a handy way of connecting e a breadboard using Dupont female to male jumper wires e future Mikronauts 10 pin modules As you can see the 10 pin headers have long pins and you need to trim them to be the same height as the other pins next to them otherwise you may short out some signals if the long pins touch metal below them http Mikronauts com 13 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Wago Screw Terminals Servo VIN Motor VIN Motor 1 Motor 2 There are four screw terminals on Pi Droid Alpha From left to right e Servo VIN external power for servo motors e Motor 2 connector for motor 2 of the L293D dual h bridge motor driver e Motor 1 connector for motor 1 of the L293D dual h bridge motor driver e Motor VIN external power for the motors connected to Motor 1 amp Motor 2 Please note that Servo VIN and
10. idAlpha http Mikronauts com 22 2015 07 15
11. pio http Mikronauts com 17 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning IMPORTANT e DO NOT install the integrated circuits until you have tested for shorts as per previous page e Ground yourself before touching the integrated circuits as static electricity can destroy ic s e make sure you install the integrated circuits facing the correct direction Adding the MCP3008 Analog to Digital Converter IC1 Carefully insert the MCP3008 integrated circuit in the IC1 socket Make sure that pin 1 indicated by a dot and a half moon shape on the ic faces in the same direction as the half moon on the printed circuit board towards the Wago screw terminals Adding the MCP23S17 Digital I O Expander IC2 Carefully insert the MCP23S17 integrated circuit in the IC2 socket Make sure that pin 1 indicated by a dot and a half moon shape on the ic faces in the same direction as Pi Droid Alpha text on the printed circuit board Adding the L293D Motor Driver IC4 Carefully insert the L293D integrated circuit in the IC4 socket Make sure that pin 1 indicated by a dot and a half moon shape on the ic faces in the same direction as the half moon on the printed circuit board towards the Wago screw terminals Choosing Servo power source with shunts SERVO1 4 amp SERVO5 8 Do not try to run the motors from the Pi s 5V supply http Mikronauts com 18 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Co
12. pyright 2015 William Henning Programming PiDroidAlpha Please see the PiDroidAlpha User Manual for more detailed information on programming your PiDroidAlpha based robot PiDroidAlpha I O pin definitions PCB Pi GPIO Shared with Servo 1 GPIO4 Servo 2 GPIO17 HCOM Servo 3 GPIO18 Servo 4 GP1O27 Servo 5 GP1O22 Servo 6 GP1O23 Servo 7 GPIO24 Motor1PWM Servo 8 GPIO25 Motor2PWM The L293D motor driver uses Servo 7 amp 8 and DIO B4 B7 If you use HCOM Servo 2 is not available AINO AIN7 are not shared and are fully available for use as 5V analog inputs DIO Header A pins DIO AO DIO A7 are not shared and fully available for 5V I O DIO Header B pins DIO BO DIO B3 are not shared and fully available for 5V I O DIO Header B pins DIO B4 DIO B7 are shared with motor 1 and 2 direction pins as follows Header Shared with DIO B4 Motor1DirA DIO B5 Motor1DirB DIO B6 Motor2DirA DIO B7 Motor2DirB http Mikronauts com 19 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Raspbian Please download the latest version of Raspbian from http www raspberrypi org downloads Then follow the instructions you can find at the link below to install Raspbian https www raspberrypi org documentation installation installing images README md After you have installed Raspbian please type the following into a terminal session sudo raspi config From the advanced menu please enable SPI and I2C and
13. rk RN2 ssessssessessssessrsssessessessresserseessessesseesressressessesssressseeessreessreessee 11 8 4k77 resistors R3 R 10 cireni aai nE Er EER E anv en a eae 11 3x8 servo headers SERVO DIO A DIO B AIN ciecinnanannusninadiiaauntamnniawintiedae 12 1x6M Optional DIO Expansion header DIOEXP ssssesessseeseeeseeseesssessrssresreseressersrseresserersereessees 12 1x5M HCOM h ader CCIM oresa cise tasccacaans Son pelaks ans recreen ein e a AR EEN E N TE asa 12 1x3M Voltage selection headers SERVO1 4 SERVO5 8 sssesesesssssssesseessessersreserssessresereessseesssees 12 10x1F Expansion headers IOL JTO2 Jisicinecis ecien reii r e K AE E AN a RENEA e 13 Wago Screw Terminals Servo VIN Motor VIN Motor 1 Motor 2 cccescecsseceseeeseeeeteeeseeeesseeees 14 100uF Electrolytic capacitors C3 C5 sessssssessessessesseessrseressessrseressessrssresressesseestessesseessersresssreessees 15 2x13 stacking Raspberry Pi TiN asic ds aus Ses grey eissien itna eped aa aneen easan SE da Ea iet 15 2k4 RT and 4k7 resistors R2 ysis cides cheestiacdonisancuaiab ieeadaieo nn a E A aeons 15 1x4M PG h ader IZ csccccnaceesmwcaessanacens eksces rnein eri oee res nenene rikrik rened onan es eKr as SERERE Ei SEa 15 Completed Printed Circuit BO AtG yoscacacicivecscsvasepadeu mean grenade ae eames 16 Testing PiDroid MN A os iscissi resna ee a aee EEE EAE aea N UEL aa rE SA E TERRE EE 16 GPIO PINUL poetess ea eae ta ag E EBr a ai aE
14. roidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Introducing PiDroidAlpha PiDroidAlpha was designed specifically for STEM robotics education and hobbyists at home Costs were kept low by e using the Raspberry Pi software to generate PWM and servo signals e supplying PiDroidAlpha in kit form Kits also add the satisfaction of building your own controller you will have more pride in your robot Features e 8 servo headers for up to eight servos PWM outputs or digital I O e 16 servo compatible headers for 5V digital I O via MCP23S17 e 8 servo compatible headers for an eight channel 0 5V MCP3008 analog to digital converter e L293D dual h bridge motor driver shares two servo headers and four digital I O headers e screw terminals for servo power motor power motor 1 and motor 2 e uses 26 pin stacking GPIO header for compatibility with 26 and 40 pin Raspberry Pi s e two ten pin Mikronauts I O module expansion connectors for the MCP23S17 I O expander e 4pin I2C expansion header for the Raspberry Pi e 5 pin HCOM connector optional e 6 pin SPI connector for up to seven additional MCP23S17 I O expanders optional e silk screened cheat sheet for voltages and I O connections on the PCB e mounting holes matching Rev 2 Model A and Model B e Mikronauts EZasPi prototyping board can stack below Pi Droid Alpha e Mikronauts Pi Jumper can stack on top of Pi Droid Alpha e Mikronauts SchoolBoard and other Propeller prod
15. ucts are compatible with Pi Droid Alpha http Mikronauts com 3 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Compatibility Pi Droid Alpha is compatible with the following Raspberry Pi models e Raspberry Pi 2 Model B e Raspberry Pi Model A e Raspberry Pi Model B e Raspberry Pi Model A e Raspberry Pi Model B Pi Droid Alpha is currently supported for Raspbian with the pigpio library Pi Droid Alpha should be compatible with any operating system on the above model Raspberry Pi s as long as the pigpio library is available for the users choice of operating system Other single board computers that have a 26 pin Raspberry Pi compatible header are electrically compatible with Pi Droid Alpha however if pigpio and or servo blaster has not been ported to the other SBC servo and PWM functionality will not be available http Mikronauts com 4 2015 07 15 PiDroidAlpha v1 00 Parts List PiDroidAlpha Copyright 2013 William Henning ig a binenssed Build Manual 0 80 Copyright 2015 William Henning MR n ms E Photo contents of the Pi Droid Alpha kit Qty Item Name Digikey p n Description 1 PCB n a Pi Droid Alpha printed circuit board 1 L293D IC4 296 36098 5 ND Motor driver 1 MCP3008 IC1 MCP3008 I P ND ADC 1 MCP23S17 IC2 MCP23S17 E SP ND Digital I O expander 4 3x8servohdr SERVO DIO AIN n a Servo header O 1x6Mmcpopt DIOEXP SAM1035 06 ND optional digital i o spi header O 1x5Mcomopt COM S
16. ux off the back of the printed circuit board using a new toothbrush and pure isopropyl alcohol often sold at drug stores as rubbing alcohol Make sure the printed circuit board is totally dry before testing it Testing PiDroidAlpha Before trying to install the integrated circuits you have to test to make sure there are no shorts on the board DO NOT SKIP THESE TESTS e test for short between 5V and GND on Pi header test for short between 3v3 and GND on Pi header e test for short between 3v3 and 5V on Pi header If you find a short you have to find and fix the problem before proceeding otherwise you may damage your Raspberry Pi http Mikronauts com 16 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning Don t worry about if you read a high resistance caused capacitors but anything less than 4k ohms may indicate a problem GPIO pinout 26 pin Raspberry Pi GPIO connector first 26 pins are the same on the 40 pin GPIO connector Pin 1 3V3 GPIO2 SDA1 GPIO3 SCL1 GPIO4 GND GPIO17 GPIO27 GPIO22 3V3 GPIO10 MOSI GPIO9 MISO GPIO11 SCLK GND 5V 5V GND TXDO GPIO 14 RXDO GPIO 15 GPIO 18 GND GPIO 23 GPIO 24 GND GPIO 25 CEO GPIO8 CE1 GPIO7 Pin 25 Pin 26 image courtesy of elinux org You can find this and many other nice diagrams at http elinux org RPi Low level peripherals https www raspberrypi org documentation usage g
17. your Pi Droid Alpha the photographs in the manual circle the parts that are to be added at each step in red Required Tools e 25W 40W fine tip soldering iron or temperature controlled soldering station e solder sucker e de soldering braid e wire snippers e phillips screw driver e pliers multi meter How to Solder CuriousInventor has a great video on YouTube that will teach you to solder How to Solder Electronics https www youtube com watch v IpkkfK937mU How to de solder and fix mistakes CuriousInventor also has a great video on YouTube that will teach you to de solder How to Desolder Through Hole Parts https www youtube com watch v Z38WsZFmq8E http Mikronauts com 8 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning RL 205 TP diode D1 D2 Pi Droid Alpna The two diodes provide protection against connecting servo and motor power incorrectly 16 pin and 28 pin IC sockets IC1 IC2 IC4 Pi Droid Alpha http Mikronauts com ight 2813 Hilliam Henning The dip sockets for the integrated circuits are the lowest profile parts after the diodes DIP stands for Dual In line Package http Mikronauts com 9 2015 07 15 PiDroidAlpha v1 00 Build Manual 0 80 Copyright 2015 William Henning 100nF ceramic capacitors C1 C2 C4 D TEE Serve etc cables jor AN e leas niron the yet ES t DIOEXP 5 9 voc 23 Petes disieaaras eeoeoceceasivs _
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