Download Flexibot-Using Transwheel

Flexibot-Using Transwheel
PR19
Version 1.0
August 2008
Cytron Technologies Sdn. Bhd.
Information contained in this publication regarding device applications and the like is intended through suggestion only and may be superseded by
updates. It is your responsibility to ensure that your application meets with your specifications. No representation or warranty is given and no liability is
assumed by Cytron Technologies Incorporated with respect to the accuracy or use of such information or infringement of patents or other intellectual
property rights arising from such use or otherwise. Use of Cytron Technologies’s products as critical components in life support systems is not
authorized except with express written approval by Cytron Technologies. No licenses are conveyed, implicitly or otherwise, under any intellectual
property rights.
OVERVIEW
FEATURES
This document describes the development of Cytron
Technologies DIY (Do It Yourself) Project No. 19
(PR19), product FD04A and Omni platform. This
project will be using PIC16F777, LCD, FD04A driver
and Omni platform’s hardware. The function of the
circuit is to processing the input data (push button) and
give signal to FD04A driver to run the Flexibot. There
will have display on the LCD to show current mode
and situation. Circuit schematic and PIC source code
will be provided.
PR19
- PIC16F777 microcontroller(3 PWM signal)
- LCD screen display
FD04A
- Operate at 12V supply
- Able to run 4 DC motor at 3A
OMNI PLATFORM
- 3 Omni wheels
- 3 Omni wheel’s couplings
- 3 SPG30-22K DC motor
- 1 3mm Perspex Flexibot base
STARTER KIT (*OPTIONAL)
- SKXBEE
- SKKCA
- SKPS
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 1
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PR19 – Flexibot-Using Transwheel
SYSTEM OVERVIEW
PR19
Push Button
PIC16F777
Flexibot driver
FD04A
Flexibot
LCD Display
GENERAL DESCRIPTION
Application
-
Transwheel
wireless control soccer robot
autonomous line following robot
autonomous obstacle avoidance robot
PIC16F777
This powerful (200 nanosecond instruction execution)
yet easy-to-program (only 35 single word instructions)
CMOS FLASH-based 8-bit microcontroller packs
Microchip's powerful PIC® architecture into an 40-pin
package and is upwards compatible with the
PIC16C5X, PIC12CXXX and PIC16C7X devices.
Feature of the device:
Figure1
Cytron Flexibot is a three transwheels mobile robot
that inculcates the brilliant design of transwheel which
allows Flexibot to move in any direction without
having to turn relative to the robot base. For example
to move sideways, a differential drive robot can turn 90
degrees, move forward, and then turn back to its
original direction. Flexibot can execute a single
sideways motion, and further can easily track a moving
object while maintaining a required orientation with
respect to it. For future application, Flexibot can
demonstrate it’s kinematic advantage of allowing
continuous translation and rotation in any direction in
competitive high-speed environments, such as the
RoboCup competitions to follow a ball, while
maintaining the alignment of a kicking mechanism.
Features:
- rich maneuverability and simple control
- low power consumption
- long lifespan and low cost
- use simple electrical circuit
- small size
•
•
•
•
•
•
•
•
256 bytes of EEPROM data memory
self programming
ICD (in circuit debugging function)
2 Comparators
14 channels of 10-bit Analog-to-Digital (A/D)
converter
3 capture/compare/PWM functions
the synchronous serial port can be configured
as either 3-wire Serial Peripheral Interface
(SPI™) or the 2-wire Inter-Integrated Circuit
(I²C™) bus
Universal Asynchronous Receiver Transmitter
(USART)
All of these features make it ideal for more advanced
level A/D applications in automotive, industrial,
appliances and consumer applications.
For more information about the PIC microcontroller,
please refer to the datasheet. The datasheet can be
found at this link:
http://ww1.microchip.com/downloads/en/DeviceDoc/3
0498c.pdf
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 2
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PR19 – Flexibot-Using Transwheel
HARDWARE
This project will require following hardware:
a. 1 x PIC16F777
b. 1 x 2X16 LCD
c. 1 x FD04A
d. 1 x Omni Directional Mobile Robot Base
e. Related hardware components
f. Related electronic components
Interface PIC16F777 with LCD (2X16
character
To use the LCD display, user have to solder 16 pin
header pin to the LCD display. LCD used in this
project is JHD162A, for other type of LCD, please
refer to its data sheet.
LCD-JHD162A is a 2X16 character LCD. LCD
connection pin and function of each pin is shown:
Pin
1
2
Name
VSS
VCC
3
VEE
4
RS
5
R/W
6
E
7
8
9
10
11
12
13
14
15
DB0
DB1
DB2
DB3
DB4
DB5
DB6
DB7
LED+
16
LED-
Pin function
Ground
Positive supply
for LCD
Brightness adjust
Select
register,
select instruction
or data register
Select read or
write
Start data read or
write
Data bus pin
Data bus pin
Data bus pin
Data bus pin
Data bus pin
Data bus pin
Data bus pin
Data bus pin
Backlight positive
input
Backlight
negative input
Figure 2
Connection
GND
5V
Connected to
a preset to
adjust
brightness
RB7
GND
RB6
RD0
RD1
RD2
RD3
RD4
RD5
RD6
RD7
5V
RA2 control
Transistor
Power supply for the circuit
Figure 3
Figure 1
User can choose either AC to DC adaptor (not included
in the DIY project set) or 9V-12V battery (not included
in the DIY project set) to power up the circuit. Higher
input voltage will produce more heat at LM7805
voltage regulator. Typical voltage is 12V. Anyhow,
LM7805 will still generate some heat at 12V. There are
two type of power connector for the circuit, DC plug
(J1) and 2510-02H (POWER). Normally AC to DC
adaptor can be plugged to J1 type connector.
Refer to figure3, the D1 is use to protect the circuit
from wrong polarity supply. C1 and C3 is use to
stabilize the voltage at the input side of the 7805
voltage regulator, while the C2 and C4 is use to
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 3
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PR19 – Flexibot-Using Transwheel
stabilize the voltage at the output side of the 7805
voltage supply. PWR is green LED to indicate the
power status of the circuit. R1 is resistor to protect
PWR from over current which might burn PWR.
Push
Button
microcontroller
as
input
of
PR19 PCB circuit board
3
PIC
1
2
4
5
11
8
7
6
9
Figure4
One I/O pin is designated for a push button as input to
PIC microcontroller. The connection of the push button
to the I/O pin is shown in figure4. The I/O pin should
be pull up to 5V using a resistor (with value range 1K10K) and this configuration will result an active-low
input. When the button is being pressed, reading of I/O
pin will be in logic 0, while when the button is not
pressed, reading of that I/O pin will be logic 1.
12
10
14
13
15
16
17
18
19
20
21
Figure 6
Component:
14.
15.
16.
17.
18.
Preset (to adjust the brightness of the LCD
display)
Transistor to amplify LCD background
light(Make sure connection follow PCB
overlay)
7X2 IDE horizontal female socket (to connect
PR19 and FD04A driver)
LCD display
AC-DC adaptor socket (to use power supply
from AC-DC adaptor)
2510-02 socket, (to use either 9V battery or
12V battery to power up the circuit)
Transistor to amplify buzzer(Make sure
connection follow PCB overlay)
Diode (to protect the circuit from wrong
polarity power input)
7805 (voltage regulator, supply 5V for PIC)
Capacitor (to stabilize the input and output
voltage of the 7805 voltage regulator)
Power indicator LED (to indicate the power
status of the circuit
5X2 ICSP socket (to connect to PIC
programmer to program the microcontroller)
Buzzer (Make sure the polarity connection
correct)
PIC16F777 (the main brain of the system)
Header pin for Starter Kit
Slide switch (to ON or OFF the circuit)
Reset button (to reset the microcontroller)
Select Mode Push button
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 4
ICSP
for
microcontroller
programming
PIC
1.
2.
3.
4.
5.
6.
Figure5
MCLR, RB6 and RB7 need to be connected to the
USB In Circuit Programmer (UIC00A) to program the
PIC microcontroller. At the same time, RB3 need to be
pull down to 0V to disable low voltage programming,
because the programmer is using high voltage
programming. The programmer (UIC00A) is not
included in DIY project set since it can be used several
time for different project set. User can also choose
other type of PIC programmer to load the program.
7.
8.
9.
10.
11.
12.
13.
For the instruction of using PIC programmer, please
refer to the particular PIC programmer user’s manual at:
http://www.cytron.com.my/listProductCategory.asp?ci
d=81
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PR19 – Flexibot-Using Transwheel
19. Execute Mode Push button
20. Crystal (20Mhz)
21. UART pin(Make sure the polarity is correct)
Please refer to Appendix A for the PCB layout of PR19.
The PCB layout is provided free and therefore Cytron
Technologies will not be responsible for any further
modification or improvement.
SOFTWARE
Flow Chart:
Start
The source code is provided free and Cytron
Technologies will not be responsible for any further
modification or improvement.
GETTING START
User can obtain the hardware set for this project (PR19)
either by online purchasing (www.cytron.com.my) or
purchase it in Cytron Technologies Shop.
1. Once user has the hardware set, soldering
process can be started now. Please solder the
electronic components one by one according
the symbols or overlays on the Printed Circuit
Board (PCB). Make sure the component value
and polarity is correctly soldered. Please refer
to PCB Layout in Appendix A.
Initialize PIC
Caution: Make sure all the connectors (2510) are
soldered in proper side. Those electronic
components have polarity such as capacitor,
diode, PIC, LM7805, LM78L05, transistor
and LED should be soldered in right polarity
or it may cause the circuit board fail to work.
Select Mode
button pressed?
NO
Mode=0
YES
Mode=Mode + 1
If Mode equal 3,
Mode = 0
Warning:Before the battery (Power) is plugged in,
make sure the polarity is correct to prevent the
explosion. Wrong polarity of capacitor also
may cause explosion.
Mode =?
Mode=0
Display
Welcome
note
2.
Mode=2
Mode=1
Display
Alpha
Mode
Create the connection cable for the power
cable of PR19.
Display
Beta
Mode
NO
Execute button
pressed?
YES
Send signal
to driver
FD04A
Mode=1
Flexibot
Run Alpha
Mode
Mode=2
Flexibot
Run Beta
Mode
For more information about the software for this
system, please refer to the source code provided. The
explanation of each instruction is provided in the
source code as the comment of each line
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 5
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PR19 – Flexibot-Using Transwheel
Step for soldering 2510 connector:
3.
Please download the necessary files and
document from Cytron Technologies website,
www.cytron.com.my.
These
included
documentation,
sample
source
code,
schematic, component list and software.
4.
The next step is to install MPLAB IDE and
HI-TECC C PRO into a computer. The
MPLAB IDE and HI-TECC C PRO can be
downloaded from www.cytron.com.my .
Please refer MPLAB IDE installation step
document to install the software. The
documents can be used to any version of
MPLAB IDE software.
5.
After the installation complete, open the
project file provided using MPLAB IDE.
Please refer MPLAB Open Project document
to open the sample program.
6.
Please plug in the power supply and connect
the programmer connector to the circuit board
to reprogram the PIC. Do not forget to on the
slide switch! User can get the sample program
for this project from Cytron website (same
directory as this DIY project) and this
program can be modified.
7.
After modification, build the project and load
the hex file into the PIC microcontroller using
Cytron USB In Circuit Programmer
(UIC00A). When users build the project,
MPLAB IDE will generate hex file. The hex
file generated from MPLAB IDE will be
named according to project name, not C file
name. Cytron Technologies also provide hex
file for user. The programmer is not included
in the hardware set but it can be found at
Cytron website. (User manual is provided at
website).
8.
User can choose either adaptor or battery to
provide the power for the circuit board but
make sure the given voltage is between 7V
and 15V.
Create the connector cable according to the order
shown in the picture below:
1
2
3
4
5
6
7
8
Figure 7
Create the power supply to terminal block
according to the order shown in figure 8 below:
1
2
7
3
4
Setting up Flexibot:
1.
5
6
Figure 8
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved PR19 only serves as the controller board of
Flexibot. The user needs to have FD04A
driver and Omni Directional Mobile Robot
Base in order to experience the dynamic
motion of Flexibot. The Figure 9 shown the
outlook of Flexibot when FD04A and Flexibot
base attached together.(Refer to FD04A and
Omni Directional Mobile Base user manual
for further technical information)
6
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PR19 – Flexibot-Using Transwheel
Figure 9
Figure 11
Caution: If Flexibot motion is different with the motion
display on LCD, please check the Figure 10 to
compare the connection of motor cable with
FD04A driver. The wrong connection of
motor with FD04A driver will result in
different direction of motor motion.
Caution: Make sure all the PCB stands assemble in the
correct screw hole. User can use the PCB as
reference while mate the PCB stands.
3.
Cable
Motor 1
Cable
Motor 2
Connect the IDC connector with the FD04A
driver as shown in Figure 12.
Cable
Motor 3
Motor 1
Motor 2
Motor 3
Figure 12
4.
Figure 10
•
•
•
•
•
•
2.
Then connect the other end of IDC connector
to PR19 PCB and screw the PR19 PCB with
the four 45mm PCB stands as shown in Figure
13.
Positive motor 1 red cable connect to M1CW
Negative motor 1 black cable connect to
M1CCW
Positive motor 2 red cable connect to M2CW
Negative motor 2 black cable connect to
M2CCW
Positive motor 3 red cable connect to M3CW
Negative motor 3 black cable connect to
M3CCW
Mate the four 45mm PCB stand for PR19
PCB on the Flexibot Perspex base in the
screw holes as shown in Figure 11.
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved Figure 13
7
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PR19 – Flexibot-Using Transwheel
5.
For the tidiness of Flexibot, user can place
Flexibot’s battery under the PR19 PCB. One
12V Li-Po battery is enough to supply voltage
to both of the PR19 circuit and
FD04A.(Battery is not included in project set)
Positive
Ground
Figure 16
8.
After confirm all the connections are correct,
on the circuit and test the performance of
Flexibot. There are two sets of mode program
in the PIC to demonstrate the possible motion
of Cytron Flexibot.
Figure 14
6.
Then place the power source socket wire to
the terminal block socket which located at the
top right of FD04A. User MUST follow the
overlay on FD04A PCB to make sure the
correct polarity of battery like what
demonstrated in Figure 15.
AC to DC adaptor:
Warning:Before the battery (Power) is plugged in,
make sure the polarity is correct to prevent the
explosion.
Ground
12V Polarity
Figure 17 (not included in DIY project set)
9V battery connector:
Positive
Figure 15
Warning:Make sure the power source wires of motor
don’t contact each other while the process of
connecting power source wire with green
terminal. The contact of wire will caused fire
spark if the power supply is connected and
these will cause damage to power supply.
7.
Plug in the 2510 power supply socket to PR19
power connector. Please make sure the
polarity correct for the PR19 power socket as
well like figure 16 shown.
Figure 18 (not included in DIY project set)
Connection to the PCB board:
Figure 19
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 8
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PR19 – Flexibot-Using Transwheel
WARRANTY
No warranty will be provided as this is DIY project.
Please check the polarity of each electronic component
before soldering it to board.
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 9
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PR19 – Flexibot-Using Transwheel
Appendix A
PCB Layout:
5K preset
7X2 IDE
Male
Socket
Transistor
2N2222
10K
LCD
Header
Adaptor
socket
Transistor
2N2222
2510-02
Connector
7805
Voltage
Regulator
1N4007
Diode
C cap
104
10K Resistor
C cap
104
330
10uF Resistor
E cap
Green
LED
1K Resistor
27 Resistor
ICSP
socket
Buzzer
PIC16F777
C cap
104
Starter Kit
1N4148
Diode
Slide
switch
10K Resistor
20Mhz
Crystal
Reset
Button
Mode
Button
Execute
Button
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 2510-04
connector
10
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PR19 – Flexibot-Using Transwheel
Prepared by
Cytron Technologies Sdn. Bhd.
19, Jalan Kebudayaan 1A,
Taman Universiti,
81300 Skudai,
Johor, Malaysia.
Tel:
Fax:
+607-521 3178
+607-521 1861
URL: www.cytron.com.my
Email: [email protected]
[email protected]
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 11