PBOT2018 on ArduBlock – Controlling Servo Motors

SERVo MOTORS SECTIONS:

P3 : SERVO 1
P4 : SERVO 2
P5 : SERVO 3
P6 : SERVO 4

PRoper Uploading:
Press and Hold the SYS RST (SW3) then switch ON the Power (SW1)
and Click Upload. Release SYS RST when done.
PBOT 2018 Function Review:
  • Set Servo number and position in degrees from 0 to 180.
  • Servo Controls

PBOT.SERVO(whichservo,pulsewidth);

where:
whichservo = 1 to 4, ignore other values
pulsewidth = 0 to 180 (degrees)
           - value less than 500 stops the SERVO PWM generator
           - the pulsewidth converted to degrees from 0 to 180 (default)

Ex.: 

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PBOT2018 and Ardublock – IR Collision sensors

COLLISION SENSORS SECTIONS:
COL1 - right IR sensor U7 and D19
COL2 - center IR sensor U6 and D18
COL3 - left IR sensor U5 and D17

PRoper Uploading:
Press and Hold the SYS RST (SW3) then switch ON the Power (SW1)
and Click Upload. Release SYS RST when done.

PBOT 2018 Function Review:
  • Set IR collision sensor for reading if there’s a block or object detected

PBOT.COL1_RIGHT()

PBOT.COL2_CENTER()

PBOT.COL3_LEFT()

Notes: Output reads: No object detection = 0 or LOW; Object detected = 1 or HIGH

Ex.: 

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PBOT2018 and Ardublock – Line tracking sensors

LINE SENSORS SECTIONS:

P7 Connections for 3ch line sensors
LN3,LN2,LN1LED indicators for line Sensor

GND - Yellow wire, DRV - Brown wire, LN3 - Orange wire,
LN2 - Red wire, LN1 - Red wire
PRoper Uploading:
Press and Hold the SYS RST (SW3) then switch ON the Power (SW1)
and Click Upload. Release SYS RST when done.
LINE SENSOR CALIBRATIONs:

1. After uploading your code for line sensors.
   Turn OFF the POWER switch.
2. Place the eGizmo PBOT 2018 controller to the Black line 
   then Press and Hold LINE CAL and SYS RST, while pressing and 
   holding the buttons, Turn ON the POWER Switch. 
   LN2 (D12 LED indicator) is ON. 
3. First RELEASE the SYS RST followed by LINE CAL. Make sure the
   3CH Line sensors are faces on the Black line and you will see 
   the LN1 and LN3 (D11 and D13 LED indicators) are Turn ON and LN1 
   is blinking. Now Press LINE CAL once for the Black color calibration.
4. Next, if the L3 (D13 LED indicator) is blinking. Place the 3CH Line
   sensors on the White track. then Press LINE CAL again once for the
   White color calibration. After that you will see all the LEDS for
   line sensors are ON. 5. Now your eGizmo PBOT 2018 Controller line 
   sensors are calibrated. Then Press the RESET button.
   You can now trace the line and DONE.
       Black line|                                                     White Track |
PBOT 2018 Function Review:
  • Set Line sensor for reading the black/white color.

PBOT.LS1_LEFT()
PBOT.LS2_CENTER()
PBOT.LS3_RIGHT()

Note: Output reads: White color detected = 0 or LOW; Black color detected = 1 or HIGH;

Ex.: 

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PBOT2018 with ArduBlocks – Controlling Motors

Motor Driver SECTION:

Motor Connections:
Left Motor: Blue Wire [1A] - (B), Yellow Wire [1B] - (U)
Right Motor: Black Wire [2B] - (B), Green Wire [2A] - (U)
| Top View                                                                                              |  Bottom View

PBOT 2018 Functions: Review

  • Set Motor Directions:

PBOT.DIRECTION(whichmotor, dir);

  • where: whichmotor = MOTOR_A or MOTOR_B, MOTOR_BOTH; dir = MOTOR_FWD, MOTOR_REV.

Ex: 

  • Set Motor Speeds:

PBOT.SPEED(whichmotor,speed);

  • where: whichmotor = MOTOR_A or MOTOR_B, MOTOR_BOTH; speed = 0 to 255

Ex:

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Setting Up your Arduino IDE with Ardublock & eGizmo PBOT2018 Library

Downloads:

Others:

A. Unzip all the files.

B. Go to My Documents>Arduino. Create filename “tools” folder then “ArduBlockTool” folder and “tool” folder. Inside the tool folder place the “ardublock-060118.jar“.

C. Install Prolific Driver, Open Arduino 1.8.5 folder>drivers> PL2303 Drivers.

D. Add the eGizmo PBOT2018 library. Go to My Documents> Arduino> libraries. Place the eGizmo_PBOT2018 folder (which contains examples folder,src,cpp,h, keywords files).

Path
Library files from eGizmo_PBOT2018

E. Now Open your Arduino 1.8.5 IDE.

F. The Ardublock shown in Tools list > Click ArduBlock. Done.

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PBOT 2018 Entry Level Mobile Robot Controller – Introduction

Features:

  • Operates on single Lithium Ion (included) battery
  • Efficient Motor Driver Circuitry enables the operation of motor to its maximum power at the same time eliminating the need for an heat sink.
  • On board 4 Channel Servo Motor Driver port
  • On board Li-on battery Charger. You can charge the battery even using you old cellphone charger.
  • Sensors managed by independent controller.
  • Collision sensor are pulsed to saved battery power.
  • Line sensors are digitally calibrated, making calibration process delightfully easy
  • Arduino Compatible
  • Program it using Arduino IDE 100% code compatible with Arduino UNO(1)
  • ATMEGA168 microcontroller sporting 16K User program memory space.
  • Arduino external I/O pin layout allows you to plug in any Arduino compatible shield(2).

Notes:

1: PBOT 2018, with its ATMEGA168 microcontroller, offers memory space (FLASH/RAM/EEPROM) half of what Arduino Uno offers. But this hardly matters. 16K memory space is more than enough to fit even fairly advanced Mobile Robot application.

2: Analog pins A4 and A5 are used to interface with the system controller, hence are not available for user shields/application.

General Specifications:

  • Battery: 3.7v Li-on Rechargeable Battery
  • Optional: 7.2V NI-MH 800mAh rechargeable
  • With boost dc voltage output: 7.2vdc
  • On Board Peripherals: – IC ATmega168 w/ 16KB Flash Memory – IC A3966 Dual Full-bridge PWM Motor driver – 2-Ch DC Motor 6V 1.5A – 3-Ch IR Line Sensor -CNY70 sensor, 10mm range – With Battery charger circuit for 3.7v
  • PCB Dimension: 62X67mm
MAJOR PARTS PRESENTATION PBOT 2018

* SW5 – Booth select –  when uploading a code; Run select – received pin connected to run the program and for gathering the data through wireless module devices (Bluetooth, WiFi, RF modules or any serial connections).

3 Channel Collision Sensors

The 3 Channel collision sensor detects objects  reflected the beam send by an array infrared emitter. The beam will reflect back in a sec and gives the mcu an output. If the objects comes close on the sensors detection view, the beam refelects back to trigger the detector.

The collision sensor is an IR or infrared reflection sensor that is able of detecting up to 220mm (20 cm) away from the sensor tip. Detection distance is a bit dependent on the colour of the reflecting surface. Dark and dull surface generally results in shorter detection range.

Servo Channels

PBOT2018 controller has four servo channels on board with built-in 3 pins male connector to easy connect the servo motors. P3 to P6 is the pin name of servo.Note if you are using SG-90 and other servo motors when you connect it directly to the PBOT2018, you should have them powered by a seperate supply from the PBOT2017 controller board rather than from the boost converted voltage from 3.7v battery, because servo motors can use a bit of current, to cause a voltage distortion or power off/ shutdown the whole system.

But using 7v2 Ni-MH battery it can supply all the PBOT2018 controller with servo motors like ZS-F135MG (e-GRA) and SG -90. We recommend to use serparate supply for the servo if you are using high torque type offrom MG-995 and higher.

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gizDuino LIN: Configuring LIN Physical Interface

LIN Network is a robust serial communication protocol and physical interface used mainly in automobile devices. It can be used as well to implement a reliable communication connection between two or more devices over a long wire connection. You can choose to implement the LIN protocol to build a full LIN compliant network. A LIN API Library for Arduino is available for free1. This will allow your gizDuino LIN to communicate and control automotive devices2.

Or, you can use just the LIN physical interface, and use your UART the way you had been using it. You get the benefit of being able to connect your devices over long wire run, you just can’t talk with a LIN compliant device3.

e-Gizmo will soon develop a series of kits that can be interconnected via the LIN physical interface4.

Note: Once the LIN physical interface is connected, it claims exclusive use of the UART. You cannot install another shield that requires connection to the UART port.

The LIN Interface can be enabled by shorting a few solder jumper pads with a small blob of solder.

Simplest Instalation

Activating the LIN interface, as a minimum, only requires the connection of UART’s RX-TX I/O with the LIN’s LIN_TXD and LIN_RXD. To do this, apply a blob of solder across J11 and and across J12 solder pads to connect.

Advanced Configuration

The LIN interface has a number of controls5 that you may use if your application so requires.

LIN PIN

PADS

I/O in USE

Remarks

LIN_RXD

J11

IO0-PD0-RXD

LIN RXD Output to ATMEGA328P RX input

LIN_TXD

J12

IO1-PD1-TXD

LIN TXD Input to ATMEGA328P TX output

LIN Enable (LIN_EN)

J5

IO4-PD4

Pull LOW to disable LIN Interface

LIN Trigger (LIN_NTRIG)

J6

IO3-PD3

Watchdog Timer trigger input

LIN RESET

J14

RESET

Connect if you want LIN to reset system when a fault is detected or Watchdog Timeout occurred.

LIN_INH

J2

Uncommited

Inhibit Output

LIN_MODE

J3

Uncommited

Watchdog, OFF when High, ON when LOW

Notes:

1. https://github.com/gandrewstone/LIN

2. It may not be easy to obtain a datasheet for an automotive device. Your hacking skill may be required.

3.And less robusts communication. You may have to implement your own error handling services if your application requires a very reliable communications between devices.

4. e-Gizmo Serial Dot Matrix display kit already has a LIN physical interface ready as an option.

5. See the ATA6614Q datasheet for more functional details about these pins.