Mindsensors NXTMMX-v2 Manual de usuario

What is NXTMMX-v2

NXTMMX is a multiplexer to

control additional NXT (or

EV3) Motors from your NXT

or EV3.

Connections and Placement

NXTMMX can be connected to any of the four sensor ports of NXT

or EV3 by using standard cables from NXT set or FlexiCable from

mindsensors.com.

Connect your motors to ports specified as M1 and M2.

Connect NXT or EV3 to port specified as ‘NXT’.

Additional Digital Sensors (or another NXTMMX) can be connected

to port specified as ‘Sensor’.

NOTE

Port specified as ‘Sensor’ on NXTMMX only supports I2C or Digital

sensors or multiplexers.

If you intend to daisy chain several NXTMMX’s or other digital

sensors please read the relevant section from the Advanced

Information Appendix of this doc.

Mounting NXTMMX on your contraption

The holes on the NXTMMX enclosure are designed for

tight fit of Technic pins (or axles) with ‘’ cross section.

The holes however are not designed for repeated

insertions/removals of these pins.

To mount NXTMMX on your contraption we suggest that you use two

dark gray ‘Technic Axle 3 with Stud’ as shown.

Insert axles from the top of the device and secure with a bushing on

the back or mount it on your contraption directly.

Alternately you may use blue ‘Technic Axle Pin with

Friction’ as shown.

While disassembling contraption leave the pins on the device.

Supplying power to your NXTMMX

The NXTMMX has Green terminals to connect external battery.

NXTMMX-v2

User uide

NOTE

NXTMMX is rated for external power supply of 10 volts DC max.

Ensure to not exceed this value. While connecting external battery

ensure correct polarity.

Battery Options:

6AA batteries (rechargeable or non-

rechargeable).

To hold and mount these batteries you can

purchase a holder with NXT mounts from

the following location.

http://www.mindsensors.com/ev3-and-nxt/57-6aa-battery-holder-

with-ev3-mount

RC rechargeable battery

- 7.2Volts or 9.6Volts Ni-

CD or Ni-MH RC

rechargeable battery.

You can buy such battery

and it’s charger in local toy

store.

To connect these batteries to NXTMMX

you can purchase a connector cable from

the following location:

http://www.mindsensors.com/rpi/10-rc-battery-pack-connector-

cable

Lithiu -Poly er Battery (also known as

Li-Po or LiPo batteries)

With NXTMMX use 7.4 Volts battery.

Select the capacity based on your load

and anticipated duration of use. (For

nominal load we recommend 7.4Volts 800

mAh battery.)

You can purchase these batteries in electronic hobby stores or on-

line RC toys stores. An example url is here:

To connect these batteries to your NXTMMX you

can purchase connector pins from the following

location:

http://www.mindsensors.com/ev3-and-nxt/120-lipo-battery-adapter-

pins?search_query=lipo&results=1

Feature Highlights

Table below lists the important features provided by the NXTMMX.

To use these features in your specific programming environment

please read your API help file (or NXT-G block help file) or program

header file.

Feature Description

Timed Control of each

motor

Each motor can be run for a specified

duration of time.

Encoder control of each

motor

Each motor can be run from its

current Encoder position to a new

position (with or without a specific

speed).

Speed control of each

motor

Speed of each motor can be controlled

in timed run or encoder based run.

Brake Vs Float while

stopping the motors

Each motor can be set to Brake (where

motor shaft can not be turned easily)

Vs Float (where motor shaft is free to

rotate by external force.

Holding Encoder position At the end of run hold the encoder

position (i.e. motor turned by external

force is restored to last set encoder

position).

Turning motor by degrees Move it in forward or reverse

direction.

Turning motor by

rotations

360 degrees makes one rotation.

Running operations

asynchronously

While a motor is running other

operations may be performed.

Running motors for

unlimited duration.

While motors are running you can also

perform other operations. NOTE:

When motors are set to run for

‘Unlimited Duration’ they will continue

to run until a Stop command is issued

(or power is disconnected). In other

words after starting the motors for

‘Unlimited Duration’ if your program

exits without stopping the motors

they will continue to run.

Stopping motors abruptly.

Reading Motor Encoders You can read the value of each

encoder from the NXTMMX.

Programming Techniques for NXTMMX

EV3 Method:

To use capabilities of the sensor please download EV3

blocks available at the following URL:

http://www.mindsensors.com/index.php?

controller=attachment&id_attachment=156

Installation instructions for EV3 block are available at:

http://www.mindsensors.com/content/13-how-to-install-blocks-in-

ev3

Download EV3 sample program from following URL and modify it to

suit your needs.

http://www.mindsensors.com/index.php?

controller=attachment&id_attachment=155

NXT-G Method:

Please download custom NXT block from following

URL and import it into your NXT-G IDE.

http://www.mindsensors.com/index.php?

controller=attachment&id_attachment=96

If you need instructions on how to import this block in NXT-G visit

following url:

http://www.mindsensors.com/content/21-nxt-g-blocks-how-to-

install-blocks

Also download sample NXT-G programs from following URL and

modify them to suit your needs:

http://www.mindsensors.com/index.php?

controller=attachment&id_attachment=106

NOTE

Ensure to use latest LEGO firmware on NXT (1.29 or higher).

RobotC Method:

Download the library file from following URL and at the top of your

RobotC program file include it with following directive:

#include "NXTMMX-lib.h"

Download library file and sample program from following URL:

http://sourceforge.net/projects/rdpartyrobotcdr/

Also ensure to download the help file

NXTMMX-README-RobotC-api.ht l, this file explains various

functions available for your program.

NXC Method:

Download the library file from following URL and at the top of your

NXC program file include it with following directive:

#include "NXTMMX-lib.nxc"

Library file URL:

http://www.mindsensors.com/index.php?

controller=attachment&id_attachment=68

Ensure to download the help file NXTMMX-README-nxc-api.ht l,

this file explains various functions available for your program.

You can also download sample program from this location and modify

it to meet your needs.

Current Characteristics

Average current consumption of this device is about 5.0 mA.

NXTMMX can deliver upto 1 Amp current per NXT Motor attached.

Drawing of excessively large current (such as incorrect motors or

stalled motors) will result in internal shutdown until the situation is

corrected.

I2C Bus address

Factory Default Address: 0x06

Changing the I2C Bus Address:

The I2C bus address of NXTMMX can be changed. To set an address

different from default address send sequence of following

commands on the command register:

0xA0 0xAA 0xA5 <new I2C address>

Note: Send these commands with no break/read operation in

between. This new address is effective immediately. Please note

down your address carefully for future reference.

Instructions for changing the I2C address can be found at:

NXT and EV3

http://www.mindsensors.com/blog/how-to/change-i2c-device-

address.

PiStorms

http://www.mindsensors.com/blog/how-to/change-i2c-device-

address-with-pistorms

APPENDIX A - Advanced Information

I2C Registers:

The NXTMMX appears as a set of registers as follows:

0x00-

0x07

Firmware version –

Vxxxx

0x08-

0x0f

Vendor Id –

mndsnsrs

0x10-

0x17

Device ID – NxTMMX -

0x41 You can read the NXTMMX

battery voltage at this

(voltage in milli-volts =

for EV3 compatible firmware

voltage is relocated to

Command

Motor 1 Write Para eters

0x42 Encoder Target for Motor 1

(long)

0x42: Least Significant Byte

0x43: Byte 2

0x44: Byte 3

0x45: Most Significant Byte

Encoder Target of Motor 1

(long)

0x46 Speed for Motor 1 (byte) Speed for Motor 1 (byte)

0x47 Time to run in seconds for

Motor 1 (byte)

Time to run in seconds for

Motor 1 (byte)

0x48 Command register B for

Motor 1

Command register B for

Motor 1 (set this value to 0 as

this is for future use)

0x49 Command register A for

Motor 1 (read the description

below for details of this

Command register A for

Motor 1 (read the description

below for details of this

Motor 2 Write Para eters

0x4A Encoder target for Motor 2

(long)

0x4A: Least Significant Byte

0x4B: Byte 2

0x4C: Byte 3

0x4D: Most Significant Byte

Encoder Value of Motor 2

(long)

0x4E Speed for Motor 2 (byte) Speed for Motor 2 (byte)

0x4F Time to run in seconds for

Motor 2 (byte)

Time to run in seconds for

Motor 2 (byte)

0x50 Command register B for

Motor 2

Command register B for

Motor 2

0x51 Command register A for

Motor 2 (read the description

below for details of this

Command register A for

Motor 2 (read the description

below for details of this

Motor Read Para eters

0x62 Encoder position of Motor 1

(long)

0x62: Least Significant Byte

0x63: Byte 2

0x64: Byte 3

0x65: Most Significant byte

0x66 Encoder position of Motor 2

(long)

0x66: Least Significant Byte

0x67: Byte 2

0x68: Byte 3

0x69: Most Significant Byte

0x72 Status Motor 1 (byte). See

section below for details of

this register.

0x73 Status Motor 2 (byte). See

section below for details of

this register.

0x76 Tasks Running for Motor 1

(byte)

0x77 Tasks Running for Motor 2

(byte)

Registers for Advanced PID

control

Writing these registers has

i ediate effect on

operation. These registers

will be reset to factory

default values upon power

cycle.

0x7A Kp for Encoder Position

Control (int)

0x7A: Least Significant Byte

0x7B: Most Significant Byte

Kp for Encoder Position

Control (int)

0x7C Ki for Encoder Position

Control (int)

0x7C: Least Significant Byte

0x7D: Most Significant Byte

Ki for Encoder Position

Control (int)

0x7E Kd for Encoder Position

Control (int)

0x7E: Least Significant Byte

0x7F: Most Significant Byte

Kd for Encoder Position

Control (int)

0x80 Kp for Speed Control (int)

0x80: Least Significant Byte

0x81: Most Significant Byte

Kp for Speed Control (int)

0x82 Ki for Speed Control (int)

0x82: Least Significant Byte

0x83: Most Significant Byte

Ki for Speed Control (int)

0x84 Kd for Speed Control (int)

0x84: Least Significant Byte

0x85: Most Significant Byte

Kd for Speed Control (int)

0x86 Pass Count – The PID

controller repeatedly reads

internal encoder ticks this is

the number of times the

encoder ticks reading should

be within tolerance. (default

Pass Count – Higher Pass

count gives more time to

position internal encoder thus

providing better accuracy in

positioning but will take

longer time. Change this only

if you need different motor

positioning speeds and

accuracy. (For normal usage

default values will be OK).

0x87 Tolerance – The Tolerance (in

ticks) for encoder positioning.

(default 80).

Tolerance – the accuracy you

desire while positioning. Low

number will position the

encoders more accurately but

may take longer time. Change

this only if you need different

motor positioning speeds and

accuracy. (For normal usage

default values will be OK).

0x90 Voltage value

Supported I2C Commands:

CMD Hex Description

R 0x52 Reset all Encoder values and motor parameters. (This

does not reset the PID parameters).

S 0x53 Issue commands to both motors at the same time for

Synchronized starting of both motors.

Motor Stopping Co ands

a 0x61 Motor 1: Float while stopping.

b 0x62 Motor 2: Float while stopping.

c 0x63 Motor 1 and 2: Float while stopping.

A 0x41 Motor 1: Brake while stopping.

CMD Hex Description

B 0x42 Motor 2: Brake while stopping.

C 0x43 Motor 1 & 2: Brake while stopping.

Encoder Reset Co ands

r 0x72 Motor 1: Reset Encoder to zero

s 0x73 Motor 2: Reset Encoder to zero

These commands are issued on command register (0x41).

Motor Command Register Explained

Each motor has two command registers (Register A and Register B).

In current release Register B is reserved for future use and must be

set to zero.

Bits in Register A should be set to 1 to avail functionality as

described below.

Bit

Turn this bit to 1 for following functionality

Least

significant

bit (bit 0)

Speed control of your otor. The NXTMMX will

honor speed values specified in the speed register for

the respective motor.

Bit 1 Ra p the speed up or down. While starting the motor

or changing speed the NXTMMX will ramp up or ramp

down the power to new value.

If this bit is zero the power changes are sudden e.g.

full power is applied to motors as they start.

Bit 2 Relative change based on encoder values. This is

useful when Bit 3 is turned on and in this case the

NXTMMX will make a relative movement from last seen

Encoder position (it will add the new Encoder position

to old position and move to that resulting position).

Useful when turning by degrees or rotations.

If this bit is 0 the Encoder positions are taken as

absolute values.

Bit 3 Encoder control of your otor. The NXTMMX will

honor Encoder values specified in Encoder position

specified and speed bit is set on motors will rotate to

new encoder position with the specified speed.

Bit 4 Brake or Float at the co pletion of otor

ove ent. If this bit is 1 motor will Brake at the

completion otherwise it will float.

Bit 5 Encoder active feedback. This bit is used when

Encoder control is used. If this bit is set to 1 at the

completion of motor movement the NXTMMX will

continue to hold the Encoder position (i.e. if motor is

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