PiDroidAlpha User Manual v0.84
Contents
1. 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 4 pin I2C expansion header for the Raspberry Pi s 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 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 Mikronauts SchoolBoard and other Propeller products are compatible with Pi Droid Alpha http Mikronauts com 3 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 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 w2. 00 User Manual 0 84 Copyright 2015 William Henning readMode pin returns int returns INPUT OUTPUT SERVO PWM PING Returns mode the current mode of the specified pin 1 if the pin is invalid pin 0 7 Raspberry Pi pins used for SERVO1 8 support the following modes INPUT returns 0 or 1 from digital input OUTPUT sets digital output to O or 1 SERVO set servo position to 0 or 500 2500us PWM set PWM output from 0 255 PING reserved for future Propeller Ping and other ultrasonic sensor support pin 8 24 for the DIO pins A0 A7 B0 B7 INPUT returns 0 or 1 from digital input OUTPUT sets digital output to O or 1 Returns 0 if the mode was set correctly 1 if the pin or mode was invalid http Mikronauts com 14 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning pinMode pin mode set pin to one of INPUT OUTPUT SERVO PWM pin 0 7 Raspberry Pi pins used for SERVO1 8 support the following modes INPUT returns 0 or 1 from digital input OUTPUT sets digital output to O or 1 SERVO set servo position to 0 or 500 2500us PWM set PWM output from 0 255 PING reserved for future Propeller Ping and other ultrasonic sensor support pin 8 24 for the DIO pins A0 A7 B0 B7 INPUT returns 0 or 1 from digital input OUTPUT sets digital output to O or 1 Returns 0 if the mode was set correctly 1 if the pin or mode was invalid http Mikronauts com 15 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 digital
3. PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning Using PiDroidAlpha Copyright 2015 William Henning PiDroidAlpha User Manual v0 83 Pi Droid Alpha mu 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 PRELIMINARY RELEASE http Mikronauts com 1 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning Table of Contents Introd cing PUTA a A E E a A a ea iE EE 3 O O E A E N E 3 Gm aE DNV ce sees gcse das 4 Printed Circuit E 5 SEN 6 3x8 servo headers SERVO DIO A DIO B Ali 7 Wago Screw Terminals Servo VIN Motor VIN Motor 1 Motor 21 7 Choosing Servo power source with SE serrat darias 8 Programming PiDroid Alpha a 8 PiDroidAlpha I O pin de ONS AR 9 Installing Required SOI iii 10 A irise ssnasatianadennu e e e A A EEE aA aaa eaa E E E EE R i 10 Adding a WiFi adaptei EE 10 PiE PU ss in E E E E I 10 A h e E 10 todita PDA TID rd A ios 11 Python Robo Lib Constants atari di 12 Python RoboPiLib Functi NS ss 250s cosqusnesevaniscaeemesendenndewsoueanivsareranwcanenapuatvandasaonseteeteapetsakeesoevaunusenn 12 R poPilnit d vice DPS ME 13 Robo PIE aran 13 DS CUP PUNY E 14 pi Mode pin Mod AAA AA 15 a A n renies ian 16 digitalWrite pin val id ds 16 Ana LOB REAC E 17 Pitot TR GAC Ra E 17 cla O O A 18 09 AAA A 19 sayo pa alla dad di 19 r eadDist
4. Read pin returns int returns 0 or 1 state of pin Returns 0 if the mode was set correctly 1 if the pin or mode was invalid digitalWrite pin val Returns int sets pin to 0 or 1 Returns 0 if the pin was written 1 if the pin was invalid http Mikronauts com 16 Copyright 2015 William Henning 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 analogRead chan returns int returns 0 1023 from specified channel Returns value the current analog value of the specified channel 1 if the channel was invalid analogReadRaw chan returns int returns 0 4095 from specified channel Returns value the current analog value of the specified channel 1 if the channel was invalid Copyright 2015 William Henning As Pi Droid Alpha uses the ten bit MCP3008 Analog to Digital converter analogReadRaw returns the ten bit result shifted left two bits to generate a 12 bit number at this time Future API releases may change to returning the sum of four consecutive samples in order to generate a 12 bit result http Mikronauts com 17 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 analogWrite pin val write 0 255 to PWM pin off to full on You must pinMode pin robot PWM before you can analogWrite to the pin Returns 0 if the PWM value was set 1 if the PWM channel was invalid http Mikronauts com 18 Copyright 2015 William Henning 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 servoRead pin ret
5. d DIO A5 13 Motor DirB not available if L293D is used DIO A6 14 Motor2 DirA not available if L293D is used DIO A7 15 Motor2 DirB not available if L293D is used DIO BO 16 DIO B1 17 DIO B2 18 DIO B3 19 DIO B4 20 DIO B5 21 DIO B6 22 DIO B7 23 AIN 1 0 AIN 2 1 AIN 3 2 AIN 4 3 AIN5 4 AIN 6 5 AIN 7 6 AIN 8 7 SERVO 1 8 5V safe digital input output direct to Raspberry Pi GPIO s DIO A0 A7 B0 B7 5V digital input output provided by MCP23S17 AIN 1 7 0 5V analog to digital input channels http Mikronauts com 9 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning Installing Required Software 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 12C and then choose expand filesystem finish and re boot Adding a WiFi adapter Please follow the instructions provided by the Raspberry Pi Foundation at https www raspberrypi org documentation configuration wireless pigpio Please follow the instructions at the link below to install pigpio htt
6. h 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 Adding a Solderless Breadboard for experiments There are several ways of experimenting with additional sensors and circuits for your robot e attach a solderless breadboard to your robot e adda SchoolBoard to your robot http www mikronauts com proto schoolboard e stack a prototyping board between Pi Droid Alpha and your Raspberry Pi http www mikronauts com raspberry pi ezaspi http www mikronauts com proto ezaspieproto300 You can then use Dupont wires to connect to the headers on Pi Droid Alpha http Mikronauts com 22 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning Examples Reading a bumper switch or whisker Lighting an LED Sounding a Buzzer Controlling Gear Motors Controlling a Servo Reading an IR distance sensor Random Driving Robot 1 Bumper Switches Whiskers http Mikronauts com 23 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 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 technica
7. ha 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 PiDroidAlpha http Mikronauts com 25 2015 07 15
8. ill not be available http Mikronauts com 4 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning Printed Circuit Board 6000000000000 000000 0000900 Pi Droid Alpha 1 Pi GPIO 40 Pttp Mikronauts com 1 QUID G Copyright 2013 William Henning gt VAN q Q Y 6 DIOEX 1 Don t forget N power for servos 1 E M Mo E Mo N power for DC motors 10 o Ultrasonic Range Sensors b Sensor 1 Servo 5 Sensor 2 Servo 6 _Motor PWM pins Motor 1 Servo 7 Motor 2 Servo 8 OOOOOOOO 9 0 0 0 0 0 0 0 cs gt BEAVOS 510 Three pin servo etc cables connect with OHO cr EMS dp SERVOL4 white Signal closest to the IC OHO 2 CGO YD red Power on the middle pin i GPIO 8 3 VDC 2 O black Ground farthest from the IC COM B 3 VDC Dos tt Servo VIN Motor 2 Motor VIN 4120 48 3 VDC Sga LEE 2 0 Y C one D O 15 0 VD oe DIOEXP 45 0 VDC gau SI DE VDC ae The image above shows the parts layout of Pi Droid Alpha You can refer to this image when connecting servos motors sensors and other devices to Pi Droid Alpha http Mikronauts com 5 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning Schematics The schematic below shows you how Pi Droid Alpha works and may help you decide how to connect your sensors etc to Pi Droid Alpha Pi Droid Alpha Copyright 2013 Wi
9. l 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 24 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 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 PiDroidAlp
10. lliam Henning PISO MOSI CLK GS GND 3v3 http Mikronauts com 6 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 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 DIO A0 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 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 Motor VIN have protection diodes in case you accidentally connect the batteries in reverse http Mikronauts com 7 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning Servo VIN sh
11. nce nt EE 20 Adding LA MO LOS iii 22 Adding a Solderless Breadboard for experimentts csccsssessssscrsoceessscesssetssscessoseanssacesereesarerss 22 ege 23 Reading a bumper switch or MM id 23 Lighting an Eras 23 e RTE 23 Controlling Gear WLS scan a 23 Gontrolling a SO AAA eee ai 23 Reading an IR distance SO os 23 Random Driving Robot 1 Bumper Switches wWhiskere AAA 23 Appendix A Data Sheets siccin ipne aeaa rn anas aa aaea a a ea epa aaaea aek arae 24 Appendix e E 24 Appendix C Frequently Asked QUESOS aiii ia 25 http Mikronauts com 2 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning Introducing PiDroidAlpha This manual will show you how to control your robot chassis with PiDroidAlpha You will need to have already assembled your PiDroidAlpha controller board before you can try controlling your robot Please see the PiDroidAlpha Build Manual for assembly instructions PiDroidAlpha was designed specifically for STEM robotics education and hobbyists at home 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
12. ould 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 LAN so for example if your motors maximum voltage is 6V do not exceed more than 7 4V Choosing Servo power source with shunts SERVO1 4 amp SERVO5 8 Do not try to run the motors from the Pi s 5V supply Programming PiDroidAlpha You can program your Pi Droid Alpha in any language on the Raspberry Pi that supports pigpio and or servoblaster Mikronauts provides an easy to use Python API for Pi Droid Alpha PDALib py that is compatible with our RoboPi API RoboPiLib py allowing you to write code that will run with either of our robot controllers http Mikronauts com 8 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning PiDroidAlpha I O pin definitions You can use the handy pin header table below to plan your robot Label GPIO RoboPi API Used For Planned Use for my Robot SERVO 1 GPIO4 0 SERVO 2 GPIO17 1 HCOM not available if HCOM is used SERVO 3 GP1018 2 SERVO 4 GP1027 3 SERVO 5 GP1022 4 SERVO 6 GP1023 5 SERVO 7 GPI024 6 Motor PWM not available if L293D is used SERVO 8 GPIO25 7 Motor2 PWM not available if L293D is used DIO AO 8 DIO A1 9 DIO A2 10 DIO A3 11 DIO A4 12 Motor DirA not available if L293D is use
13. p abyz co uk rpi pigpio download html The PiDroidAlpha demos require that pigpio is installed on your Raspberry Pi PDALib py Please download PDALib_py txt from http www mikronauts com raspberry pi pi droid alpha use mv PDALib_py txt PDALib py from the command line or use the file manager to rename it http Mikronauts com 10 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning Introducing PDALib PDALib is a library designed to provide an easy to use Python interface for Pi Droid Alpha on a Raspberry Pi PDALib was designed to make it easy to write programs on the Raspberry Pi that use all of the features of Pi Droid Alpha and was designed to be familiar to those coming to Pi Droid Alpha from WiringPi Arduino or Wiring environments The Python PDALib interface is almost identical to the RoboPiLib Python interface for Mikronauts RoboPi Advanced Robot Controller allowing you to write robot applications in Python that will work with either of our robot controller boards http Mikronauts com 11 2015 07 15 PiDroidAlpha v1 00 Python RoboLib Constants User Manual 0 84 Copyright 2015 William Henning Digital pins can be configured for one of the following four modes INPUT OUTPUT PWM SERVO pin mode for a digital input pin mode for a digital output pin mode for a PWM output 0 255 pin mode for a servo output 0 2500 Python RoboPiLib Functions RoboPilnit device b
14. ps RoboPiExit readMode pin pinMode pin mode digitalRead pin digitalWrite pin val analogRead chan analogReadRaw pin analogWrite pin val servoRead pin servoWrite pin val readDistance pin http Mikronauts com returns int returns int returns int returns int returns int use RoboPilnit dev ttyAMA0 115200 close the serial connection with RoboPi returns INPUT OUTPUT SERVO PWM set pin to one of INPUT OUTPUT SERVO PWM returns 0 or 1 state of pin sets pin to 0 or 1 returns 0 1023 from specified channel returns 0 4095 from specified channel write 0 255 to PWM pin off to full on return last servo value written to pin set servo on pin to val 0 2500 us future expansion not available at this time 12 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning RoboPilnit device bps Initialize the robot interface library Returns 0 if initialization was successful 1 if there was an error For RoboPi and PiDroidAlpha use RoboPilnit dev ttyAMAO 115200 Pi Droid Alpha will ignore the parameters it only accepts them for portability RoboPilnit 0 Will work just as well on PiDroid Alpha but not on RoboPi RoboPiExit Free the resources used by PDALib call before exiting your program Returns 0 if freeing resources was successful 1 if there was an error while freeing resources http Mikronauts com 13 2015 07 15 PiDroidAlpha v1
15. urns int return last servo value written to pin Returns 0 if the pin was written 1 if the pin was invalid servoWrite pin val set servo on pin 0 7 to val 0 2500 us Returns 0 if the pin was written 1 if the pin was invalid Copyright 2015 William Henning Note the specified pin must be configured for servo output in order for the servoWrite to take effect http Mikronauts com 19 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning readDistance int pin Reserved name currently being worked on returns int return distance to nearest object in milimeters Returns 0 if the pin was written 1 if the pin was invalid readDistance IS NOT AVAILABLE IN THIS RELEASE RESERVED FOR FUTURE USE http Mikronauts com 20 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning Sample Program import PDALib as robot for RoboPi compatibility Pi Droid Alpha ignores the parameters robot RoboPilnit dev ttyAMAO 115200 set pin 16 to an output and write 1 to it robot pinMode 16 robot OUTPUT robot digitalWrite 16 1 set pin 1 to a PWM output and generate a 50 PWM on pin 17 robot pinMode 1 RoboPi PWM robot analogWrite 1 127 read analog input 0 print robot analogRead 0 http Mikronauts com 21 2015 07 15 PiDroidAlpha v1 00 User Manual 0 84 Copyright 2015 William Henning The 12C header is for future expansion modules for your robot suc
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