Nex robotics Firebird v atmega 2560 User manual

Fire Bird V ATMEGA2560 Hardware Manual

FIRE BIRD V

HARDWARE MANUAL

Fire Bird V ATMEGA2560 Hardware Manual

Version 7.00

15th August 2012

Documentation author

Sachitanand Malewar, NEX Robotic Pvt. Ltd.

Dr. Anant Malewar, NEX Robotic Pvt. Ltd.

redits (Alphabetically)

Aditya Sharma, NEX Robotic

Amey Apte, NEX Robotic

Amit Yadav, NEX Robotic

A hi h Gudhe, CSE, M.Tech, IIT Bombay

Behlul Sutarwala, NEX Robotic

Gaurav Lohar, NEX Robotic

Gurulinge h R. CSE, M.Tech, IIT Bombay

Inderpreet Arora, EE, M.Tech, IIT Bombay

Prof. Kavi Arya, CSE, IIT Bombay

Prof. Krithi Ramamritham, CSE, IIT Bombay

Kunal Jo hi, NEX Robotic

Nandan Salunke, RA, CSE, IIT Bombay

Pratim Patil, NEX Robotic

Preeti Malik, RA, CSE, IIT Bombay

Prakhar Goyal, CSE, M.Tech, IIT Bombay

Raviraj Bhatane, RA, CSE, IIT Bombay

Rohit Chauhan, NEX Robotic

Rajanikant Sawant, NEX Robotic

Saurabh Bengali, RA, CSE, IIT Bombay

Vaibhav Daghe, RA, CSE, IIT Bombay

Vibhooti Verma, CSE, M.Tech, IIT Bombay

Vinod De ai, NEX Robotic

Fire Bird V ATMEGA2560 Hardware Manual

Notice

The content of thi manual are ubject to change without notice. All effort have been made to

en ure the accuracy of content in thi manual. However, hould any error be detected, NEX

Robotic welcome your correction . You can end u your querie / ugge tion at

info@nex-robotic .com

Content of thi manual i relea ed under the Creative Commence cc by-nc- a licen e. For legal

information refer to: http://creativecommon .org/licen e /by-nc- a/3.0/legalcode

•Robot’s electronics is static sensitive. Use robot in static free environment.

•Read the hardware and software manual completely before using this robot

Recycling:

Almo t all of the robot part are recyclable. Plea e end the robot part to the recycling plant

after it operational life. By recycling we can contribute to cleaner and healthier environment for

future generation .

Fire Bird V ATMEGA2560 Hardware Manual

Revision History:

1. U er mu t go through the Fire Bird V’ Hardware and Software manual

before u ing the robot.

2. Thi hardware manual i applicable from Main board Ver ion 11 dated 12th

Augu t 2012 onward and ATMEGA2560 microcontroller board Ver ion 7

dated 15th Augu t 2012.

3. Cry tal of the ATMEGA2560 microcontroller i upgraded to 14.7456MHz

from 11.0592Mhz in all the Fire Bird V ATMEGA2560 robot delivered on

or after 1 t December 2010. Thi documentation i updated con idering

cry tal frequency a 14.7456MHz.

4. Following are the upgrade made in Main board Ver ion 11 dated 12th

Augu t 2012 and ATMEGA2560 microcontroller board Ver ion 7 dated 15th

Augu t 2012.

•Main board upport any microcontroller working on 3.3V and 5V.

•On-board NiMH Battery charger along with battery level indicator.

•Auxiliary power connector and battery charging connector are eparated

and require a ingle unified connector from the AC adapter.

•3mm IR proximity Sen or are replaced with 5mm IR Proximity en or for

better range.

•3 time reduction in power con umed by IR proximity en or .

•Added upport for 7 channel white line en or with all 7 en or calibration

potentiometer on main board.

•All Motor, Sen or pod & battery connector are replaced with relimate 2510

type connector for better reliability.

•Added Fu e protection.

•Removable battery pack with Velcro battery trap.

•Bottom acrylic plate i replaced with high trength aluminum metal plate.

•Ea y to replace motor than previou model.

•Added upport for MaxBotix Ultra onic Range Sen or .

•Added pin to mea ure ignal trength of XBee wirele module.

•Larger heat ink area for the on-board voltage regulator .

•Tin plated power and motor track for further increa ing power rating of the

main board.

Fire Bird V ATMEGA2560 Hardware Manual

Index

1. Introduction 7

2. Fire Bird V ATMEGA2560 8

3. Using Fire Bird V Robot 13

4. Pin Functionality 78

5. Upgrading Robot’s Hardware 88

6. P Based ontrol Using Serial ommunication 96

7. Robot ontrol using ‘GUI’ for Fire Bird V ATMEGA2560 111

8 Errata 121

Fire Bird V ATMEGA2560 Hardware Manual

1. Introduction

Thank for choo ing the Fire Bird V mobile robotic platform. Fire Bird V will help you gain

expo ure to the world of robotic and embedded y tem . With help of it innovative architecture

and adoption of the ‘Open Source Philo ophy’ in it oftware and hardware de ign, you will be

able to create and contribute to complex application that run on thi platform, helping you

acquire experti e a you pend more time with them.

Safety precautions:

•Robot’ electronic i tatic en itive. U e robot in tatic free environment.

•Read the a embling and operating in truction before working with the robot.

•If robot’ battery low buzzer tart beeping, immediately charge the batterie .

•To prevent fire hazard, do not expo e the equipment to rain or moi ture.

•Refrain from di mantling the unit or any of it acce orie once robot i a embled.

•Charge the NiMH battery only with the charger provided on the robot.

•Never allow NiMH battery to deep di charge.

•Mount all the component with correct polarity.

•Keep wheel away from long hair or fur.

•Keep the robot away from the wet area . Contact with water will damage the robot.

•To avoid ri k of fall, keep your robot in a table po ition.

•Do not attach any connector while robot i powered ON.

•Never leave the robot powered ON when it i not in u e.

•Di connect the battery charger after charging the robot.

Inappropriate Operation:

Inappropriate operation can damage your robot. Inappropriate operation include , but i not

limited to:

•Dropping the robot, running it off an edge, or otherwi e operating it in irre pon ible

manner.

•Interfacing new hardware without con idering compatibility.

•Overloading the robot above it payload capacity.

•Expo ing the robot to wet environment .

•Continuing to run the robot after hair, yarn, tring, or any other item i entangled in the

robot’ axle or wheel .

•All other form of inappropriate operation .

•U ing robot in area prone to tatic electricity.

•Read carefully paragraph marked with caution ymbol.

Fire Bird V ATMEGA2560 Hardware Manual

2. Fire Bird V ATMEGA2560

The Fire Bird V robot i the 5th in the Fire Bird erie of robot . Fir t two ver ion of the robot

were de igned for the Embedded Real-Time Sy tem Lab, Department of Computer Science and

Engineering, IIT Bombay. The e platform were made commercially available from the ver ion

3 onward . All the Fire Bird V erie robot hare the ame main board and other acce orie .

Different family of microcontroller can be added by imply changing top microcontroller

adapter board. Fire Bird V upport ATMEGA2560 (AVR), P89V51RD2 (8051) and LPC2148

(ARM7) microcontroller adapter board . Thi modularity in changing the microcontroller

adapter board make Fire Bird V robot very ver atile. You can al o add your own cu tom

de igned microcontroller adapter board.

Fire Bird V ATMEGA2560 (AVR) Fire Bird V P89V51RD2 (8051)

Figure Bird V LP 2148 (ARM7 TDMI)

Figure 2.1: Fire Bird V Robots

Fire Bird V ATMEGA2560 Hardware Manual

Figure 2.2: ATMEGA2560 (AVR), P89V51RD2 (8051) and LP 2148 ARM7

microcontroller adapter boards for Fire Bird V

Figure 2.3 Fire Bird V ATMEGA2560 robot

Fire Bird V ATMEGA2560 Hardware Manual

2.1 Avatars of Fire Bird V Robot

All Fire Bird V Robot hare the ame unified architecture. All Robot u e the ame main board

and microcontroller adapter board .

Fire Bird V Fire Bird V Tank Fire Bird V Omnidirectional Robot

Fire Bird V Insect Fire Bird V Hexapod Fire Bird V 4WD with Gripper

Figure 2.4: Avatars of Fire Bird V Robot

Fire Bird V ATMEGA2560 Hardware Manual

2.2 Fire Bird V Block Diagram:

Figure 2.5: Fire Bird V ATMEGA2560 robot block diagram

Fire Bird V ATMEGA2560 Hardware Manual

2.3 Fire Bird V ATMEGA2560 technical specification

Microcontroller:

Atmel ATMEGA2560 a Ma ter microcontroller (AVR architecture ba ed Microcontroller)

Atmel ATMEGA8 a Slave microcontroller (AVR architecture ba ed Microcontroller)

Sensors:

Three white line en or (extendable to 7)

Five Sharp GP2Y0A02YK IR range en or (One in default configuration)

Eight analog IR proximity en or

Two po ition encoder (extendable to four)

Battery voltage en ing

Current Sen ing (Optional)

Five MaxBotix Ultra onic Range Sen or (Optional)

Indicators:

2 x 16 Character LCD

Buzzer and Indicator LED

ontrol:

Autonomou Control

PC a Ma ter and Robot a Slave in wired or wirele mode

ommunication:

USB Communication

Wired RS232 ( erial) communication

Wirele ZigBee Communication (2.4GHZ) (if XBee wirele module i in talled)

Wi-Fi communication (if Wi-Fi module i in talled)

Bluetooth communication (if Bluetooth wirele module i in talled)

Simplex infrared communication (From infrared remote to robot)

Dimensions:

Diameter: 16cm

Height: 8.5cm

Weight: 1100gm

Power:

9.6V Nickel Metal Hydride (NiMH) battery pack and external Auxiliary power from battery

charger.

On Board Battery monitoring and intelligent battery charger.

Battery Life:

2 Hour , while motor are operational at 75% of time

Locomotion:

Two DC geared motor in differential drive configuration and ca ter wheel at front a upport

Top Speed: 24 cm / econd

Wheel Diameter: 51mm

Po ition encoder: 30 pul e per revolution

Po ition encoder re olution: 5.44 mm

Fire Bird V ATMEGA2560 Hardware Manual

3. Using Fire Bird V Robot

In thi chapter variou component of the robot and their principal of operation are explained in

detail. It i very important that u er go through chapter before tarting to u e robot.

Fire Bird V robot has 6 important modules:

1. Power management

2. Sen ing

3. Actuation (locomotion)

4. Other peripheral

5. Communication

6. Intelligence (microcontroller)

Figure 3.1 Fire Bird V ATMEGA2560 robot

Fire Bird V ATMEGA2560 Hardware Manual

3.1 onnections

Figure 3.2: Fire Bird V ATMEGA2560 robot bottom view

Figure 3.3: ATMEGA2560 microcontroller adapter board

Fire Bird V ATMEGA2560 Hardware Manual

Figure 3.4: Top view of the main board

Fire Bird V ATMEGA2560 Hardware Manual

Figure 3.5: Bottom view of the main board

Figure 3.6: Microcontroller adapter board socket connection numbers on the main board

Fire Bird V ATMEGA2560 Hardware Manual

3.2 Powering up Fire Bird V

Fire Bird V ha on board rechargeable 9.6V, 2.1Ah Nickel Metal Hydride battery which can

power the robot for approximately 2 hour . Battery i fixed u ing Velcro trap o that it can be

replaced ea ily. In ca e the experiment are to be performed for an extended period, robot can

al o be powered by external auxiliary power upply.

Figure 3.7: Power Switch

Figure 3.8: onnecting the battery on the Fire Bird V main board

Fire Bird V ATMEGA2560 Hardware Manual

Figure 3.7 how the power witch. Power witch can either be “BP” (Battery Power) or “AP”

(Auxiliary Power) po ition. When auxiliary power or battery charger connector i not connected,

robot can be turned ON when power witch i in BP po ition. U e of Auxiliary power to power

the robot for extended amount of time will be covered in ub equent ection .

For the afety during tran portation, robot’ battery i di connected. Before connecting battery to

the robot, make ure that robot i turned OFF. To do thi , move the power witch toward the

“AP”. Figure 3.8 how the battery connector. In ert battery' 5 pin relimate connector in the

ocket. To turn ON the robot, move power witch toward the “BP”.

The NiMH batterie are fully charged before delivery. However, NiMH batterie will get

di charged over the period of time. Therefore it recommended to charge the batterie before

u ing the robot.

Robot i pre-loaded with a program to move robot in repeatedly in forward, backward, left and

right direction .

Refer to ection 3.4 for battery charging. For running the robot on battery power or auxiliary

power, refer to the ection 3.5 and 3.6.

Fire Bird V ATMEGA2560 Hardware Manual

3.3 Power management system on the Fire Bird V

Fire Bird V i powered by 9.6V rechargeable Nickel Metal Hydride battery pack. The battery

voltage can vary between 12V (fully charged) to 8V (di charged). Battery pack hould not be

di charged below 8V (1V per cell) for extended battery life. Fire Bird V robot ha on-board

intelligent NiMH battery charger which follow the correct charging profile for the batterie . To

avoid any accidental damage to the batterie , do not u e external battery charger.

Warning: Charge the battery a per the in truction given in thi manual. Do not u e any

external charger to charge the battery. U ing external charger may damage the battery

permanently.

Power management block on the Fire Bird V perform following function .

1. Battery voltage monitoring and Smart battery charging

2. Regulated upply for on-board payload

3. Battery current en ing*

* urrent sensing is an optional accessory.

Fire Bird V ATMEGA2560 Hardware Manual

3.3.1 Battery

Fire Bird V i powered by 9.6V rechargeable Nickel Metal Hydride battery pack. When fully

charged, battery pack give 12V and when it i fully di charged, voltage drop to about 8V.

NiMH battery pack ha 5 pin 2510 relimate connector which will fit into the connector on the

main board only in one orientation. Do not force the connection in any other way.

Figure 3.9: Battery onnector on the main board

Figure 3.10: Battery for Fire Bird V ATMEGA2560

Pin Number Function

1,2 Battery Po itive (VCC)

3 Thermi tor

4,5 Battery Negative (GND)

Table 3.1: Battery connections

NEX ROBOTICS FIREBIRD V ATMEGA 2560 User manual

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