Nexus Automation Nexus Robot Manual de usuario

www.nexusrobot.com Robot Kits manual

NEXUS ROBOT

Looking to the future

Robot Kits User’s Manual

Nexus Automation Limited

ADDR: 2/F,Chengxi Building. 819 S358 Road. Shatou,

Changan, Dongguan, Guangdong, China

Robot Kits User’s Manual

Tel: +86-769-85301107

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Nexus Robot

A. Attention!! Please read this manual carefully before applying power on the

device.

B. Attention!! Do not use this device for military or medical purpose as they are

not designed to.

C. Attention!! Do not use over-voltage power supply ! ensure stable power

supply. if there is high-voltage pulse, may cause the micro-control module

permanent damage ！

D. Attention!! This product is not waterproof feature, please keep or use it in a

dry environment ! Don't piled the weight on top of it .

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¾Arduino...................................................................................................................1

¾Introduction......................................................................................................1

¾Hardware ...............................................................................................................1

¾Specification ....................................................................................................1

¾Arduino Board Pinout......................................................................................2

¾Arduino 328 Features.......................................................................................2

¾Memory function ......................................................................................3

¾Input and Output PinMode........................................................................3

¾Communication.........................................................................................3

¾Configuration...................................................................................................3

¾Servo Power Select Jumper ......................................................................3

¾Motor Control Pin Jumper........................................................................4

¾Wireless Select Jumper.............................................................................4

¾Arduino IO Expansion Board ..........................................................................4

¾Features.....................................................................................................4

¾Software.................................................................................................................5

¾Before you start................................................................................................5

¾Applying Power........................................................................................5

¾Getting Started..........................................................................................5

¾Language Reference.........................................................................................9

¾Programming structure.....................................................................................9

¾Re-write Arduino bootloader.............................................................................10

¾FT232RL BitBang Mode AVR-Writer..........................................................10

¾Modify the Diecimila..............................................................................10

¾Downloading...........................................................................................11

¾Installing .................................................................................................11

¾Setting.....................................................................................................12

¾Testing and confirming...........................................................................13

¾Adjust PWM frequencies...................................................................................13

¾Simple Examples in Arduino 328.....................................................................15

¾LED control ...................................................................................................15

¾Button module................................................................................................16

¾Interrrupt control............................................................................................17

¾Digital Read Serial.........................................................................................18

¾Analog Read Serial........................................................................................19

¾Servo Motor Theory.......................................................................................19

¾Motor Control ................................................................................................21

¾Serial Port.......................................................................................................22

¾External device modules...................................................................................23

¾Dual Ultrasonic Sensor (DUS).......................................................................23

¾Introduction.............................................................................................23

¾Specification ...........................................................................................24

¾Dimension and Pin definition .................................................................24

¾RS485 Bus ..............................................................................................25

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¾Communication Protocols.......................................................................27

¾Sensor Connection..................................................................................29

¾Sensor Networking..................................................................................29

¾APC220 Module ............................................................................................30

¾Parameters...............................................................................................30

¾Kit list......................................................................................................30

¾This module used to connect PC port.....................................................30

¾Pin Change Interrupt..........................................................................................31

¾PinChangeInt Library.....................................................................................31

¾PID Control..........................................................................................................33

¾What Is PID....................................................................................................33

¾The Library ....................................................................................................33

¾Servo control Theory .........................................................................................34

¾The PWM signal............................................................................................35

¾Motorwheel..........................................................................................................36

¾Motorwheel Class Reference.........................................................................36

¾Class Motor Reference............................................................................37

¾Class GearedMotor .................................................................................43

¾Class MotorWheel ..................................................................................45

¾R2WD............................................................................................................49

¾R2WD Class Reference ..........................................................................49

¾Public functions ......................................................................................49

¾Private parameters...................................................................................62

¾R2WD_test..............................................................................................68

¾2WD platform with 3 SONAR ...............................................................71

¾Omni3WD......................................................................................................74

¾Omni3WD Class Reference....................................................................75

¾Public functions ......................................................................................76

¾Private parameters...................................................................................84

¾Omni3WD_test.......................................................................................86

¾Omni3WD platform with 3 SONARS....................................................89

¾Omni3WD platform with 6 SONARS....................................................93

¾Omni4WD......................................................................................................97

¾Omni4WD Class Reference....................................................................98

¾Public functions ......................................................................................98

¾Private parameters.................................................................................109

¾Omni4WD_test.....................................................................................112

¾4WD platform with 4 SONAR .............................................................115

¾Servo Motor.................................................................................................118

¾Servo_3WD platform with 3 SONAR..................................................122

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¾Arduino

¾Introduction

Arduino Controller is an All-in-One microcontroller especially designed for robotics application. Benefit

from Arduino open source platform, it is supported by thousands of open source codes, and can be easily

expanded with most Arduino Shields.Arduino can sense the environment by receiving input from a

variety of sensors and can affect its surroundings by controlling lights, motors, and other actuators. The

microcontroller on the board is programmed using the Arduino programming language (based on Wiring)

and the Arduino development environment (based on Processing). Arduino projects can be stand-alone

or they can communicate with software running on a computer (e.g. Flash, Processing, MaxMSP).

¾Hardware

¾Specification

Atmega 168/328

14 Channels Digital I/O

6 PWM Channels (Pin11,Pin10,Pin9,Pin6,Pin5,Pin3)

8 Channels 10-bit Analog I/O

USB interface

Auto sensing/switching power input

ICSP header for direct program download

Serial Interface TTL Level

Support AREF

Support Male and Female Pin Header

Integrated sockets for APC220 RF Module

Five IIC Interface Pin Sets

Two way Motor Drive with 2A maximum current

7 key inputs

DC Supply：USB Powered or External 7V~12V DC

DC Output：5V /3.3V DC and External Power Output

Dimension：90x80mm

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¾Arduino Board Pinout

The picture above shows all of the I/O lines and Connectors on the controller, which includes:

One Regulated Motor Power Input Terminal (6v to12v)

One Unregulated Servo Power Input Terminal (you supply regulated 4v to 7.2v)

One Servo input power selection jumper

One Serial Interface Module Header for APC220 Module

Two DC Motor Terminals – Handles motor current draw up to 2A, each terminal

One IIC/TWI Port – SDA, SCL, 5V, GND

One Analog Port with 8 analog inputs – one input is tied internally to the supply voltage

One General Purpose I/O Port with 13 I/O lines – 4,5,6,7 can be used to control motors

One Reset Button

Jumper bank to Enable/Disable Motor Control

¾Arduino 328 Features

The Arduino Uno is a microcontroller board based on the ATmega328 (datasheet). It has 14 digital

input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz crystal oscillator,

a USB connection, a power jack, an ICSP header, and a reset button. It contains everything needed to

support the microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC

adapter or battery to get started.

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¾Memory function

The ATmega328 has 32 KB (with 0.5 KB used for the bootloader). It also has 2 KB of SRAM and 1 KB of

EEPROM (which can be read and written with the EEPROM library).

¾Input and Output PinMode

Each of the 14 digital pins on the Duemilanove can be used as an input or output, using pinMode(),

digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each pin can provide or receive a

maximum of 40 mA and has an internal pull-up resistor (disconnected by default) of 20-50 kOhms. In

addition, some pins have specialized functions:

Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These pins are

connected to the corresponding pins of the FTDI USB-to-TTL Serial chip.

External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a low value, a rising

or falling edge, or a change in value. See the attachInterrupt() function for details.

PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite() function.

SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication using the SPI

library.

LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value, the LED is on,

when the pin is LOW, it's off.

¾Communication

The Arduino Uno has a number of facilities for communicating with a computer, another Arduino, or other

microcontrollers. The ATmega328 provides UART TTL (5V) serial communication, which is available on

digital pins 0 (RX) and 1 (TX). An ATmega8U2 on the board channels this serial communication over

USB and appears as a virtual com port to software on the computer. The '8U2 firmware uses the

standard USB COM drivers, and no external driver is needed. However, on Windows, a .inf file is

required. The Arduino software includes a serial monitor which allows simple textual data to be sent to

and from the Arduino board. The RX and TX LEDs on the board will flash when data is being transmitted

via the USB-to-serial chip and USB connection to the computer (but not for serial communication on pins

0 and 1).

¾Configuration

¾Servo Power Select Jumper

As most servo draw more current than the USB power source can supply. A separate servo power

terminal is provided to power the servo individually which can be Enable/Disable by the Servo Power

Select Jumper.

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When the Servo Power Select Jumper is applied, the servo is powered by internal 5V.

When the Servo Power Select Jumper is not applied, the servo is powered by external power source.

¾Motor Control Pin Jumper

Applying the Motor Control Pin Jumpers will allocate Pin 4,5,6,7 for motor control.

Removing the jumpers will release the above Pins.

¾Wireless Select Jumper

Applying the Wireless Select Jumper will allow the controller communicate via its wireless module such

as APC220. If no wireless module is plugged, this jumper does not make any difference.

Removing the jumper will disable wireless module and allows the sketch to be uploaded.

¾Arduino IO Expansion Board

To support RS485 interface or drive 4 motors, IO Expansion Board is available.

This Arduino compatible I/O EXpansion Sheild is intelligently designed to facilitate an easy connection

between an Arduino board (e.g. Arduino Duemilanove) and other devices such as sensors and RS485

devcices. In essence, it expands an Arduino controller's Digital I/O and Analogue Input Pins with Power

and GND. It is compatible with Arduino Mega and is a perfect companion of Arduino Dumilanove

(Atmega168 and Atmega 328).

¾Features

1. Supporting XBee (Xbee Pro)/Bluetooth Bee;

2. An unique RS485 output, supporting a RS485 device;

3. Separate PWM Pins, which are compatible with standard servo Connector;

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4. Supporting Bluetooth module, APC220 module;

5. Auto Switch between external and onboard power supply;

6. Supporting SD card (read&write - our SD card module is needed);

7. Supporting IIC/I2C/TWI connection

See: http://www.nexusrobot.com/product.php?id_product=51

¾Software

The open-source Arduino environment makes it easy to write code and upload it to the i/o board. It runs

on Windows, Mac OS X, and Linux. The environment is written in Java and based on Processing, avr-gcc,

and other open source software.

¾Before you start

Before you start there are somethings you will to attention.

¾Applying Power

This is one of the most important steps in getting the controller up and communicating with your host

controller. You must make sure that you apply power to the Power Terminal using the correct polarity.

Reverse Polarity will damage the controller. We are not responsible for such damage, nor do we

warranty against such damage. Make sure you take time to apply power correctly. Otherwise, it could get

costly for you!

Power from USB: Simply plug USB cable, and the controller is able to work. Please notice that the USB

can only supply 500 mA current. It should be able to meet the most requirements for LED lit application.

However it is not enough to power DC motors or servo.

Power from Motor Power Input: Simply connect the ground wire from your supply to the screw terminal

labeled “GND”, and then connect the positive wire from your supply to the screw terminal labeled “VIN".

NOTE: Maximum supply voltage cannot exceed 14V DC.

¾Getting Started

This document explains how to connect your Arduino board to the computer and upload your first sketch.

1 | Get an Arduino board and USB cable

In this tutorial, we assume you're using an Arduino Uno, Arduino Duemilanove, Nano, or Diecimila. If you

have another board, read the corresponding page in this getting started guide.

You also need a standard USB cable (A plug to B plug): the kind you would connect to a USB printer, for

example. (For the Arduino Nano, you'll need an A to Mini-B cable instead.)

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2 | Download the Arduino environment

Get the latest version from the download page.

When the download finishes, unzip the downloaded file. Make sure to preserve the folder structure.

Double-click the folder to open it. There should be a few files and sub-folders inside.

3 | Connect the board

The Arduino Uno, Mega, Duemilanove and Arduino Nano automatically draw power from either the USB

connection to the computer or an external power supply. If you're using an Arduino Diecimila, you'll need

to make sure that the board is configured to draw power from the USB connection. The power source is

selected with a jumper, a small piece of plastic that fits onto two of the three pins between the USB and

power jacks. Check that it's on the two pins closest to the USB port.

Connect the Arduino board to your computer using the USB cable. The green power LED (labelled PWR)

should go on.

4 | Install the drivers

Installing drivers for the Arduino Uno with Windows7, Vista, or XP:

Plug in your board and wait for Windows to begin it's driver installation process. After a few

moments, the process will fail, despite its best efforts

Click on the Start Menu, and open up the Control Panel.

While in the Control Panel, navigate to System and Security. Next, click on System. Once the

System window is up, open the Device Manager.

Look under Ports (COM & LPT). You should see an open port named "Arduino UNO (COMxx)"

Right click on the "Arduino UNO (COmxx)" port and choose the "Update Driver Software" option.

Next, choose the "Browse my computer for Driver software" option.

Finally, navigate to and select the Uno's driver file, named "ArduinoUNO.inf", located in the

"Drivers" folder of the Arduino Software download (not the "FTDI USB Drivers" sub-directory).

Windows will finish up the driver installation from there.

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