FB002 Mecanum 4WD Robotic Platform User Manual
Contents
1. FIVEBRO Fivebro International Corp Arduino Control Board Layout Servo Power Jumper 43 digital pins with Motor Control Pin Servo Power Input GND and power Jumpers Pin4 7 APC220 Wireless Selection Jumper 6 12V Motor Power Input pS SS SS IIC TWI APC220 Wireless Button Analog Pin Buttons enable jumpers og Arduino Board V1 1 Atmega328P 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 FIVEBRO FIVEBRO Fivebro International Corp Arduino control board pin jumpers Servo power select jumper As most servos 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 When the Servo Powe2. Please set up your robot according to this diagram Sonar Ox14 is optional sonar 0x12 M3 1M2 sonar 70x13 ISonar 0x11 lPower Switch If communication with the control board fails please try selecting a different serial port If you still cannot succeed in connecting please refer to the troubleshooting section of the Arduino website at http arduino cc en Guide Troubleshooting ANACO FIVEBRO Fivebro International Corp Tutorials Button Press Tutorials The controller has 7 built in buttons labelled S1 S7 Buttons S1 S5 use analog pin A7 S6 uses digital pin D2 and S7 uses digital pin D3 To enable S6 and S7 apply the rightmost two of the button enable jumpers shown on the layout diagram page 15 Once these enable jumpers have been applied digital pins 2 and 3 will be occupied by the push buttons Sample code 1 One button LED switch Code function Pressing button S6 turns LED on pressing it again turns it off int ledPin 13 int key_s6 2 int val 0 void setup pinMode ledPin OUTPUT Set Pin13 to output mode pinMode key_s6 INPUT Set Pin12 to output mode void loop if digitalRead key_s6 0 while digitalRead key_s6 val if val 1 digitalWrite ledPin HIGH if val 2 val 0 digitalWrite ledPin LOW FIVEBRO FIVEBRO Fivebro International Corp Sample code 2 Two button LED sw
3. FIVEBRO Fivebro International Corp Step 5 Install 2 spacers and 2 screws onto each of the ultrasonic sensors Step 6 Now place the ultrasonic sensors into the rubber grommets and secure the screws as shown by the red arrows FIVEBRO FIVEBRO Fivebro International Corp Step 7 Install the batteries and battery mounting plates and screw them into the opposite side using the Battery Mounting Bracket Screws part 80117 These screws are indicated with blue arrows FIVEBRO FIVEBRO Fivebro International Corp Step 8 Install the wheels using the Wheel Hub Assembly parts part 18005 Step 9 Your FB002 4WD chassis construction is now complete ANACO FIVEBRO Fivebro International Corp Sample Wiring Installation The FB002 sample code assumes that the motors and ultrasonic sensors are positioned as shown The ultrasonic sensors are pre addressed and their addresses are written on each of the boards Motor 1 Motor 4 Sonar 0x14 Sonar 0x13 Sonar 0x11 Motor 2 Sonar 0x12 Motor 3 FIVEBRO FIVEBRO Fivebro International Corp Wiring instructions for sample code The diagram below illustrates an example of how to connect the Arduino control board to the sensors motors and battery Please pay particular attention to the battery connections Wiring these incorrectly will cause damag
4. 20 Wireless Arduino lO Expansion Board V1 1 EDVAC Robot 1684454 18 2010 11 02411521 iN TEO p any mts whe if em T pelt amp Sea wy ARNM E ov ay OJ 2 3 6 kd 5 3 3UDUT 1 BNG PAGND 92411J2h Above Arduino main controller board combined with the expansion board FIVEBRO FIVEBRO Fivebro International Corp Select 3 Limited Warranty FIVEBRO ONE YEAR LIMITED WARRANTY Fivebros warranty obligations for this FiveBOT this Product are limited to the terms set forth below Fivebro International Corp Fivebro warrants to the original end user purchaser that this Product will be free from defects in materials and workmanship under normal use for a period of 180 days from the date of retail purchase the Warranty Period This warranty is extended only to the original end user purchaser of a new product that was not sold as is If a defect arises 1 you may within 1 year from the date of retail purchase or such other period specified by the return policies of the place of purchase return this Product to the place of purchase together with the original proof of purchase and either the original box or the UPC code label from the box and this Product will be replaced or in the event that a replacement for this Product is not available at the place of purchase either a refund of the purchase price for this Product or an store credit of equivalent
5. DIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES HOWSOEVER CAUSED RESULTING FROM BREACH OF WARRANTY OR CONDITION OR UNDER ANY OTHER LEGAL THEORY INCLUDING BUT NOT LIMITED TO LOSS OF USE THE FOREGOING LIMITATION SHALL NOT APPLY TO DEATH OR PERSONAL INJURY CLAIMS OR ANY STATUTORY LIABILITY FOR INTENTIONAL AND GROSS NEGLIGENT ACTS AND OR OMISSIONS SOME STATES DO NOT ALLOW THE EXCLUSION OR LIMITATION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES OR LIMITATIONS ON HOW LONG AN IMPLIED WARRANTY LASTS SO THESE LIMITATIONS MIGHT NOT APPLY TO YOU Valid only in R O C and U S A FIVEBRO FIVEBRO Fivebro International Corp Manufactured and distributed by 2010 2011 Fivebro International Corp Product names designations and logos are trademarks or registered trademarks of Fivebro International Corp All right reserved Fivebro International Crop 1105 Room 11F No 206 Song Jiang Rd Taipei City 10467 Taiwan R O C Email sales fivebro com tw Web www fivebro com tw Customer service line 886 2 2562 8445 Customer support support fivebro c We recommend that you retain our address for future reference Product and colors may vary Printed in Taiwan This product is not suitable for children under 3 years This user manual should be kept as it contains important information FIVEBRO FIVEBRO Fivebro International Corp
6. FiveBOT Robotic Platform Solution FB002 Mecanum 4WD Robotic Platform User Manual Fivebro International Corp User Manual V1 0 Table of Contents FB002 Robotic Platform Overview co 2 EB002 Mecanum 4 D Parts WolGloscssessccssdescesvssissssssvesectacsstsaseeisesssstnsessancesvesseaaassbaseensecace 3 FB002 Electrotic Components isiccisccccscecsscessecssscsssacsesiseceseescedencceccsstsseescanccecestetecosossesereeer 5 FB002 Mecanum 4WD Chassis Construction ccccccsssssssscsscssscscssccsccsccscceccsccecceseens 6 Sample Wiring Pnstallation access saccacecncucscacananeds saisasiseusiecenessasceeessccacdsuaneecnossievseiaieseesesaness 11 Wiring instructions for sample code ooocccnccccnnonnccnnnnnnnonononnnnnnnononononnnnnnnnonnnanannnnnons 12 Ote ENVIEMOS ra a rain 13 Arduino control board information scccccccsssssssssssssssscsscsscsscsscssccsccsccscceccccsesseons 14 Darod HOI parodia opc 14 e e A OO OO TI 14 Arduino control board layOUt cocccooononnnnnnnnnnnononccnnnnnnnnononnnnnnnnononnnnnnnnnnnnonononnnnnnnoss 15 Arduino control board pin Jumpers cocooooccnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnonnnnnnnnnnnnss 16 Powering the Arduino control DOAE mcr ria 17 Uploading sample code to the Arduino control board occcccccnnonocccnnnnnonnnonncnnnnnnos 18 PP A o A ss 22 Dual DE MOr P ECONO unter 23 TAO TS XA S10 B O e E E E E 26 Limited PASS II 27 Version History mm dd y
7. al Corp 6 Arduino control board information A Please read this section carefully before applying power to the Arduino control board B The control board is not designed for military or medical purposes and therefore cannot be used for these applications C The FB002 sample code can be found within this user guide on the accompanying CD and also under the support section of the Fivebro International website www fivebro com tw Introduction The FB002 s Arduino control board is a specially modified Arduino board designed especially for robotics applications Built from the Arduino open source platform it is supported by thousands of open source codes and can be easily expanded with most Arduino Shields The integrated 2 way DC motor driver and wireless socket gives you a much easier way to start your robotic project Specification Atmega328P microcontroller 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 Supports AREF Supports Male and Female Pin Header Integrated sockets for APC220 RF Module Five IIC Interface Pin Sets Two way Motor Driver 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 Dimensions 90x80mm FIVEBRO
8. ct polarity Reverse Polarity will damage the controller We are not responsible for such damage nor does our warranty cover such damage Please make sure you take time to apply the power correctly Power from the servo power Input You MUST make sure that you apply power to the Power Terminal using the correct polarity refer to Arduino control board Layout on page 15 Power from motor power input You MUST make sure that you apply power to the Power Terminal using the correct polarity refer to Arduino control board Layout on page 15 From USB Simply connect your control board to your computer via USB cable and the controller is able to work Please note that the USB can supply a maximum current of 500 mA It should be able to meet the most requirements for LED applications however it is not enough to power servos or DC motors FIVEBRO FIVEBRO Fivebro International Corp Uploading sample code to the Arduino control board For this section you will need Arduino IDE Integrated Development Environment software The FB002 sample code The Arduino IDE Integrated Development Environment is a piece of software that allows you to write programs on your computer and then upload them onto the Arduino control board The control board included in this package can be programmed using Arduino IDE version 0014 and above It is included on the CD but can also be downloaded directly from the Arduino websit
9. e at http arduino cc en Main Software You will also need the FB002 sample code file It is located on the accompanying CD and it is also supplied on the Fivebro international website http www fivebro com tw under the support section Once you have downloaded and extracted both of these files you can execute the file named arduino exe and you will be presented with a screen that looks like this co sketch_jani7a Arduino 0022 10 x File Edit Sketch Tools Help OJO FIVEBRO FIVEBRO Fivebro International Corp The next step is to simply connect the Arduino control board to your computer using the USB cable supplied part 71005 Please note The Arduino expansion board cannot be plugged in while uploading any programs Using your Arduino IDE software click File gt Open gt and then point the browser to the location where you have downloaded the FB002 sample code After doing so your Arduino IDE software should look like this co new_4WD_samplecodes Arduino 0022 Oj x File Edit Sketch Tools Help C1 JOGO OOK I I pl G R hi PORRO E E R E E E E E E E E E OORO a Please set up your robot according to this diagram Sonar 0x14 is optional sonar 0x12 ISonar 0x11 IPower Switch psonar 0x13 FIVEBRO FIVEBRO Fivebro International Corp Now click Tools gt Board gt then select Arduino Diecimila Duemilanove or Nano w ATMega328 cone
10. e to the controller Sample Wiring Diagram for FB002 Mecanum Wheel Robotic Platform 54 3210 ARIF GNO 13 12 1110 9 8 765 4 Digital FBduino Ul 1 Motor2 Motor1 E Battery Battery 2 optional 6 7 RST3V3 SV GNO Y Motor4 Motor3 Expansion Board plug into the Arduino main board FIVEBRO FIVEBRO Fivebro International Corp Quiet PWM mode You may optionally wish to increase the PWM frequency of the Arduino board which will help the motors to operate more quietly For this you need to modify the sample code slightly and add 3 jumper wires Uncomment the following two lines of code from the Setup section of the sample code TCCR1B TCCR1B amp 0xf8 0x01 Pin9 Pin1O PWM 31250Hz TCCR2B TCCR2B amp 0xf8 0x01 Pin3 Pin11 PWM 31250Hz Then locate the section of the code segment labeled Motor control pins and modify the code according to the table Original code Replace with define M1 4 define M1 2 define E1 5 define E1 3 define E2 6 define E2 11 define M2 7 define M2 12 define M4 11 define M4 7 After that you will need to add three jumper wires according to the following diagram Sample Wiring Diagram for FB002 with PWM modification Remove one jumper Remove all four jumpers Connect to the bottom row m n Expansion Board AINE cc ec rete Pin 7 digital FIVEBRO FIVEBRO Fivebro Internation
11. gByte 0 for incoming serial data void setup Serial begin 9600 void advance advance analogWrite E1 100 digitalWrite M1 HIGH analogWrite E2 100 digitalWrite M2 HIGH return void back_off Move backward analogWrite E1 100 FIVEBRO FIVEBRO Fivebro International Corp digitalWrite M1 LOW analogWrite E2 100 digitalWrite M2 LOW void stop stop analogWrite E1 0 digitalWrite M1 HIGH analogWrite E2 0 digitalWrite M2 HIGH return void loop if Serial available gt 0 read the incoming byte incomingByte Serial read say what you got Serial print received Serial printin incomingByte DEC if incomingByte 119 press w advance delay 1000 stop if incomingByte 115 press s back_off delay 1000 stop FIVEBRO FIVEBRO Fivebro International Corp I O Expansion Board To support RS485 interface or drive 4 motors I O Expansion Board is available 13 Digital Pin with GND and Power Motor Control Pin Jumpers Pin8 11 Servo Pin2 Power Pin Input RS485 Control Pin Motor he Sea ee ee tl Pin13 Sw Ll mn nk ZB Ff aa XBee ID Y a Motor2 3 Ow Wireless O27 2 Wi E m o 2 ii EPITETTE AN ni NALOG IN ol VIN Input p oon Ont AR 2 Y ee RS485 16844H 8 Analog Pin APC2
12. is Product has been disassembled or modified in any way f to faulty installation or set up adjustments g to consumable parts such as batteries unless damage has occurred due to a defect in materials or workmanship h to cosmetic damage including but not limited to scratches dents or broken plastic or normal wear and tear Regardless of whether the camera is in use or not exposure to extremely bright lights or objects can damage the CMOS camera sensor This warranty specifically excludes any damage to the CMOS sensor resulting from exposure to extremely bright lights or objects whether accidental or deliberate THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS AND YOU MIGHT ALSO HAVE OTHER RIGHTS THAT VARY FROM STATE TO STATE FIVEBROS RESPONSIBITLITY FOR PRODUCT DEFECTS IS LIMITED TO THE REPLACEMENT OF THIS PRODUCT OR THE REFUND OF THE PURCHASE PRICE FOR THIS PRODUCT ALL EXPRESS AND IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES AND CONDITIONS OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE LIMITED IN TIME TO THE TERM OF THIS LIMITED WARRANTY NO WARRANTIES WHETHER EXPRESS OR IMPLIED WILL APPLY AFTER THE EXPIRATION OF THE LIMITED WARRANTY PERIOD If any term of this warranty is held to be illegal or unenforceable the legality or enforceability of the remaining terms shall not be affected or impaired EXCEPT AS PROVIDED IN THIS WARRANTY AND TO THE EXTENT PERMITTED BY LAW FIVEBRO IS NOT RESPONSIBLE FOR
13. itch Code function Press button S6 turn on LED Press button S7 turn off LED int ledPin 13 int key_s6 2 int key_s7 3 void setup pinMode ledPin OUTPUT pinMode key_s6 INPUT pinMode key_s7 INPUT void loop if digitalRead key_s6 0 digitalWrite ledPin HIGH if digitalRead key_s7 0 digitalWrite ledPin LOW y Dual DC Motor Speed Control Pin Allocation Digital 4 Motor 1 Direction control Digital 5 Motor 1 PWM control Digital 6 Motor 2 PWM control BBB Digital 7 Motor 2 Direction control FIVEBRO FIVEBRO Fivebro International Corp Digital 4 Motor 1 Enable control Digital 5 Motor 1 Direction control Digital 6 Motor 2 Direction control BBB Digital 7 Motor 2 Enable control PWM Control Mode The PWM DC motor control is implemented by manipulating two digital IO pins and two PWM pins As illustrated in the diagram above Pin 4 7 are motor direction control pins Pin 5 6 are motor speed control pins Sample code3 Standard PWM DC control Code function Open Arduino IDE s serial monitor Sending the character w will cause motors M1 and M2 to spin forward for 1 second Sending the character s will cause the same moiors to spin backward for 1 second define LED 13 pin for the LED labelled L motor control pins unsigned char E1 6 unsigned char E2 5 unsigned char M1 4 unsigned char M2 7 int incomin
14. r Select Jumper is applied the servo is powered by an internal 5V When the Servo Power Select Jumper is not applied the servo is powered by an external power source Motor control pin jumper Applying the Motor Control Pin Jumpers will allocate Pins 4 5 6 and 7 for motor control Removing the jumpers will release the above pins Wireless select jumper Applying the Wireless Select Jumper will allow the controller to communicate via a wireless module such as the APC220 If no wireless module is plugged in this jumper will not make any difference Removing the jumper will disable wireless module and allows the sketch to be uploaded Button enable jumpers Applying these jumpers will enable push buttons S1 through S7 FIVEBRO FIVEBRO Fivebro International Corp Powering the Arduino control board Applying power This is one of the most important steps in getting your control board up and communicating with your host controller Your control board can be powered from its USB port connected to your computer from its motor power input or from its servo power input Power from the USB port will provide the control board with enough power to upload and run sketches but not enough power to drive servos or DC motors for these applications use power from the 6 12V Motor Power Input shown on page 15 Please note When applying power to either the Motor Power Input or the Servo Power Input please ensure you use the corre
15. retail value will be provided or 2 you may after the day that is 30 days from the date of retail purchase or such other period specified by the return policies of the place of purchase and within the Warranty Period contact Fivebro Customer Support to arrange for the replacement of this Product In the event that a replacement for this Product is not available this Product will be replaced by Fivebro with a product of equivalent or greater retail value A purchase receipt or other proof of the date of retail purchase is required in order to claim the benefit of this warranty If this Product is replaced the replacement product becomes your property and the replaced Product becomes Fivebros property If the place of purchase refunds the purchase price of this Product or issues a store credit of equivalent retail value this Product must be returned to the place of purchase and becomes Fivebros property EXCLUSIONS AND LIMITATIONS This warranty covers the normal and intended use of this Product This warranty does not apply a to damage caused by accident abuse unreasonable use improper handling and care or other external causes not arising out of defects in materials or workmanship b to damage caused by power line surge lightning or acts of God c to damage caused by service performed by anyone who is not an authorized representative of Fivebro d to any hardware software or other add on components installed by the end user e if th
16. tv Accessories Check pi f 22002 Arduino Board Atmega328 J 1 2 22006 Arduino Expansion V1 2 1 fC o 3 20012 Ultrasonic Sensor Module 3 Cable Screws 71001 Motor Encoder Cable 4 y O Arduino USB Cabe 1 o Ultrasonic Cable amp Screws 3 y O O JumperCable S o ControllerScrewsBag 1 Battery Mounting Bracket Screws OA ooo SOS ANMAT FIVEBRO Fivebro International Corp FB002 Mecanum 4WD Chassis Construction Welcome to your new FB002 Mecanum 4WD Robotic Platform Please take a moment to remove all of chassis parts from the box and check all of parts against the parts list before commencing assembly Please note A Phillips screwdriver is required for assembly and is not included Step 1 Take out the chassis body from the packaging The chassis body has the DC motors and their couplers pre installed Step 2 Take off the chassis cover plate by undoing the screws with a Phillips screwdriver FIVEBRO FIVEBRO Fivebro International Corp Step 3 Take out the Arduino motherboard part 22002 and attach 4 screws and 4 spacers as illustrated Step 4 install the motherboard into the chassis as shown You will need to install 4 more screws into the opposite side of the chassis as indicated by the black arrows Next Install 6 rubber grommets as indicated by the red arrows FIVEBRO
17. w_4WD_samplecode8 Arduino 0022 oj x File Edit Sketch Tools Help O O 4 Auto Format Ctrl T Archive Sketch Fix Encoding amp Reload Roa Serial Monitor COHSRIFEEM E i0000 A Please set up yo Teme Arduino Uno Serial Port Arduino Duemilanove or Nano w ATmega328 Arduino Diecimila Duemilanove or Nano w 4Tmega168 Arduino Mega 2560 MS Arduino Mega ATmega1280 Arduino Mini Burn Bootloader gt Arduino Fio Arduino BT w ATmega328 sonar Ux131 Arduino BT w ATmega168 LilyPad Arduino wf ATmega328 LilyPad Arduino w ATmega168 Arduino Pro or Pro Mini 5Y 16 MHz w ATmega328 Arduino Pro or Pro Mini S 16 MHz w ATmega168 AA A Arduino Pro or Pro Mini 3 3Y 8 MHz w ATmega328 Arduino Pro or Pro Mini 3 3 8 MHz w ATmega168 M4 Arduino NG or older w ATmega168 Arduino NG or older w ATmegad 4 gt Next click File gt Serial Port gt and then choose one of the serial ports listed Ports COM1 and COM2 are usually already reserved by your computer so try COM3 or above Finally upload the program to the board by pressing the icon This will compile the sketch and upload it into your Arduino control board If uploading is successful your Arduino IDE should look like this FIVEBRO FIVEBRO Fivebro International Corp c9new_4WD_samplecode8 Arduino 0022 i Oj x File Edit Sketch Tools Help OO pr ARA AA OOO OOOO RRR RCC T I A 6 R A hi WR E AO OOOO IE AE AEAEE ada
18. yyy v1 0 05 18 2011 Author AJ sample code v1 0 1 FB002 Robotic Platform Overview This manual will explain how to assemble and configure your FiveBOT robot Please take your time to carefully read through this manual The FiveBOT002 is designed for robotic research and development The FiveBOT002 can be used as a transporter a remote monitoring device and a Navigation Patrol robot The maximum load capacity of the FiveBOT002 is 20kg The FB002 comes with 4 mecanum wheels controlled by 4 DC motors allowing clockwise anti clockwise rotation as well as sideways movement The robotic platform s 3 ultrasonic sensors allow the robotic platform to detect objects or avoid obstacles The FiveBOT002 robotic platform s maximum load capacity is 20kg This load can be placed on top of the platform FIVEBRO FIVEBRO Fivebro International Corp 2 FB002 Mecanum 4WD Parts List FB002 Mecanum 4WD Parts List ll Part Part Name QTY Accessories A la 12053 Chassis Body Front Sonar Mounting Bracket Chassis Cover Plate FIVEBRO FIVEBRO Fivebro International Corp 100mm Al Mecanum Wheel Left 100mm Al Mecanum Wheel Right Wheel Hub Assembly FIVEBRO FIVEBRO Fivebro International Corp Ultrasonic Rubber Grommet Hex 1 2 pieces set Screwdrivers Power switch 1 One main power switch one charge socket one power switch rip Partnumber PartName a
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