AI Motor Introductory Kit User`s Manual
Contents
1. aimCmd aPDN 0 0 0 return 0 Rev 1 1 Garage Technologies Inc 2005 28 Appendix 2 Schematics The following schematics show the circuitry populated on the Introductory Kit controller board If there s sufficient interest we ll publish some application notes for using the IR LEDs and expansion headers aaa es 5u NNN SEN lal sln Tet l l 5u ut s hz e Y YCC VCC yec PBS MOSI PB4 SS s PB4755 Sl PRQ AINI LE PB37AINI Fa PB2 AINQ T Ba AING sui 7 RESET PBLTLES lt PRIVTL H E a erate Prosto s lt 3 CAMES BE A SL Pag ance lt Pag anca v Dod is ona Rxn Pat apes a ae Not populated po PD1 TXD D PA2 ADC2 Paz Anca Internal oscillator used it 34 ra Pn2 1NTe 3 Pasas y Pa37aDc3 v ES is enazimri D PAdvance Faa enca US 16 prd Ux PD4 0C1B 0 PAS ADCS 3T PaS aDcs 5u VCC L m PDS OC1A PA ADC us lt Pa ADC R21 7 Siv v e PD ICP TL PAZ ADC earan R22 E o ea ce2. Page 2 of 2 Rev 1 1 Garage Technologies Inc 2005 30
3. Rev 1 1 Garage Technologies Inc 2005 10 commands Since motor speed varies somewhat with battery voltage the MCU frequently repeats the commands to get updated rotation count and position from the AIMs Basing the motion sequence on motor feedback gives greater accuracy than a sequence based on fixed times The 90 turn uses elapsed time to illustrate the traditional method The turns will become smaller as battery voltage falls Robustly handling both the rotation counter which counts in the opposite direction as the position count and the position with unsigned comparisons gets a bit messy So we ll be including a routine for this in the upcoming AIM addition to the library If the bot is on the floor it will move in a square roughly 1 foot on a side It ll then enter the last phase of the demo 4 The robot will then go into a light tracking mode To get good light following action you may need to adjust the program s coefficients as described in Section 3 a If ambient light is bright enough the bot will move slowly forward turning in the direction of the brightest light Otherwise it ll just sit there b You can direct the robot around with a flashlight Or by shading one of the light sensors c If you cover the right side light sensor the MPU will shut down the AIMs and end the demo Pressing the reset pushbutton restarts the demo sequence The source code for this demo is included on the CD ROM It exercise
4. See AVR Tools Online Help for introduction and assistance 2 The winAVR build of GCC uses parts of Cygwin to recreate many Unix Linux commands within a DOS window a Opena DOS command window then move to the kit s example directory with cd c Code AVRC avrlib examples AIMintro b Enter make clean This will natter a bit and clean up compilation files but not report any errors c Enter make This will re compile the example C source code There ll be a lot of nattering but there should be no errors That was a lot of effort and there s a bit more to learn on how to edit compile and download a C program But once you ve gotten the hang of it the Procyon library and examples make programming surprisingly quick 3 2 An Edit Compile Program Run Iteration In this walk through we ll make a minor modification to the demo program to illustrate the edit compile load run cycle Editing Source Code 1 Open the Programmer s Notepad You can also use your favorite text editor but be sure to save as plain text Programmer s Notepad knows C syntax and provides helpful text coloring and other features From the Notepad open c Code AVRC avrlib examples AIMintro AIMintro c 3 In the position amp force readout demo portion of the code change while curr lt 3 to while curr lt 5 This will make it noticeably more difficult to get the mastering to switch from the left to the right motor 4 Save your modified file Co
5. 31 motors on a single serial bus asynchronous serial at TTL levels Baud rate 2 400 to 460 800 bps Other settable parameters o Movement bounds o Over current threshold o P andD gain 2 1 2 Summary of Protocol The following table summarizes the AI Motor protocol The most used command packets are 4 bytes long Initilization commands are 6 bytes long All command packets except synchronous move are acknowledged by 2 bytes from the motor Here we use conventional C notation for packing data into the command bytes For some commands certain bit fields in command bytes 3 4 and 5 can have arbitrary values but that is ignored in this simplified table A blank in the table indicates that no byte is sent 4 byte commands There is a special command protocol to move several motors simultaneously The motor IDs must be sequential and start at 0 Cmd Bytel OxFF Cmd Byte2 spd lt lt 5 OxIF Cmd Byte3 last ID Cmd Byte4 position for ID 0 Cmd Bytes position for ID 1 Cmd ByteN position for last ID Cmd ByteN 1 checksum exclusive or of all positions anded with Ox7F There are no acknowledgement bytes for the synchronous position send command Rev 1 1 Garage Technologies Inc 2005 12 Name Cmd Cmd Cmd Cmd Cmd Cmd Ack Ack Bytel Byte2 Byte3 Byte4 Bytes Byte6 Bytel Byte2 Position OxFF spd lt lt 5 Position Chksum1 Current Position Send
6. and click Command Send The new position will be displayed in the Return Value panel the Command Value won t be updated 7 Select Act Mode of 7 select a WheelSpdLevel here a higher number is faster then click Command Send The motor will rotate counter clockwise until it s given a new command If that command is another CCW or CCW rotation the Return Values will be the number of rotations since the last command rolling over after 255 decimal and the current position 8 While that motor continues to turn you can issue position full rotation and other commands to the other motor Be sure to change the Act ID to that of the other motor Just remove the power supply plug from the controller board jack to turn everything off Multiplying the current value converted to decimal times 18 5 gives the approximate motor draw in milliamps Current draw is roughly proportional to the mechanical loading on the motor Rev 1 1 Garage Technologies Inc 2005 7 1 3 Running the Built In Demo The Evaluation kit is shipped with a ready to run demonstration program already burned into the microcontroller In the demo the robot is a photovore approaching light and avoiding dark areas The demo also tests all the populated circuitry You can change this program as described in the third part of this document Be careful not to overtighten the screws and nuts Nylon hardware avoids the risk of electrical shorts and provides a little f
7. been configured and tested for the board this will be noted in the revision list comments within the code The library and documentation are continually updated so check www Garage Technologies com for the latest Here we re emphasizing the basics of port input output Accessing registers inside the ATmega is similar and together these form the foundation of programming the special hardware functions of an embedded system Rev 1 1 Garage Technologies Inc 2005 21 3 4 1 Port I O Input output pins on the ATmega are grouped into 8 bit ports On the ATmega8535 16 and 32 these are ports A D for a total of 32 lines These are used by both on board resources and the input output headers as discussed above Each port has 3 corresponding registers within the ATmega One DDRx where x is A B C or D is used to determine whether each pin in an input or output The other two PORTx and PINx are used for output and input respectively Input output and special functions such as timers and counters can be mixed on the same port For example the UART and serial interface are assigned by hardware to 2 pins of Port D This complicates programming a bit Libraries such as AVRLIB are especially helpful in hiding this low level bit banging allowing the programmer to concentrate on the end application At the lowest level DDRx PORTx and PINx can be used in C assignment statements with 8 bit variables or constants to set direction o
8. the JD Scan button Scan ID should now show 0 Both are fine for the first motor Rev 1 1 Garage Technologies Inc 2005 7 Assuming you haven t changed the Act ID and Act Mode on the left side of the GUI from 0 wiggling the slider under the Command Button will cause to motor to move 8 Disconnect the first motor and connect the second Repeat the Baud Scan and ID Scans as in step 6 above Results should be the same 9 You need to set the ID of this motor to 1 Select 1 from the Set ID menu then click on the D Set button 10 After selecting 1 for the Act ID you can now control this second motor from the slider It s important to have only one motor connected when first initializing a motor and giving it an ID number All motors are shipped with a default ID of 0 and having more than one motor with the same ID connected can disrupt communications in a very confusing way Once you ve given each motor a unique ID number you can connect up to 31 motors to a single serial buss The SingleSetting panel also allows you to examine and change the various settings for the AI Motors To change a setting the D Scan must agree with the ID of the motor you want to initialize To change the baud rate first use Baud Set and after that change the GUT s baud rate upper left corner The following examples including the robot demo assume that right hand motor is set to ID 0 and that the left hand motor is set to ID 1 with other settin
9. the position of a motor and controlling full rotation 1 Connect both motors to the controller board This can be either directly to any of the connectors in Figure 1 or by daisy chaining the motors 2 At the far left of the AI Motor Tool GUI use Act ID to select which motor you want to control Select Act Mode of 0 to 4 for whatever speed you d like 3 Enter a value from 0 to 255 into Command Value This is the position that will be commanded 4 Click the Command Send button to issue the command You can also use the slider to send out a rapid series of position commands Experiment with a few positions and speeds 5 You ll notice that each commands results in two additional values being displayed in Return Value at the bottom of the GUI These values are in hexadecimal For most commands the first of each pair indicates motor current and the second is the position Both values are at the time the command was issued So current will be 0 or very low since the motor isn t doing any work while waiting for the command and the position will be the prior target position Add one of the mechanical attachments like the geared wheel to the side axel and apply some resistance while giving another position command You ll see the current value goup And that 7 kg cm is pretty strong 6 Select Act Mode of 6 and click Command Send to remove torque from one of the motors Mechanically move the motor to a new position then select Act Mode of 5
10. used to receive a handshaking signal from the host Pinout for the AIM connectors is as follows Ground 2 AIM RX data from PC to AIM 3 AIM TX data from AIM to PC 4 Supply voltage All AIM connectors are the same serial buss Multiple AIMs can be daisy chained from a single connector 4 connectors are provided for convenience Rev 1 1 Garage Technologies Inc 2005 14 2 2 4 On Board Functions As populated for the AI Motor Introductory Kit the controller board includes the following functions e RS232 conversion to TTL levels for communication with AI Motors e ATmega 16 microcontroller 8 MHz 16 Kbytes program Flash 1 Kbyte data SRAM internal oscillator Reset pushbutton Power LED 2 user programmable LEDs 2 light sensors Serial communication can be jumpered as shown in Figure 1 Placing a jumper on JP1 and pressing reset will activate the program bootloader Otherwise power on or reset will restart execution of the last program loaded 2 2 5 Software Included AI Motor Tool Atmel IDE with assembler debugger and simulator Open source C compiler GCC for the AVR Open source drivers device library and example code AVRLIB The following library routines have been configured for and tested on the AIM Introductory board All include example code e a2d e rprintf e uart 2 3 Two Wheeled Robot The two AI Motors and the controller board are combined with a minimum of additional parts to produce a demon
11. 4 You ll need to rotate each wheel to align it on the hexagonal AIM shaft before you can push it in Install the ETEDS Elastomeric Traction Enhancement Devices aka rubber bands Figure 4 Wheels and Controller Circuit Board 6 Attach the circuit board also shown in Figure 4 with four 4 screws four nuts and 4 washers Place the washers between the circuit board and the mounting brackets Leave the nuts a little loose 7 After adjusting alignment and positioning tighten all the screws and nuts Be careful not to over tighten the nylon threads are easily damaged Don t cause the circuit board to flex leads on the bottom may put it at a slight angle Attach the two AIM cables noting the polarized connectors Rev 1 1 Garage Technologies Inc 2005 9 10 Insert 6 AAA batteries into the battery holder observing polarity Slide the battery holder between the tails and the circuit board with the cable on the side as the circuit board s power connector Secure the battery back to the skits with the Velcro strap as shown in Figure 5 Do not connect power to the board just yet Figure 5 Battery Pack and Light Sensor Pointing The light sensors CdS photo resistors should be pointing outward about 45 and downward about 45 Move the jumpers on J10 and J11 to the lower MCU position as shown in Figure 1 If you leave the jumpers in the upper position the motors remain connected to the RS232 serial interface and not
12. AIMintro doc Last rev 5 15 05 AI Motor Introductory Kit User s Manual Rev 1 1 Garage Technologies Inc 2005 AI Motor Introductory Kit User s Manual The AI Motor Introductory Kit was designed to familiarize you with AI Motors By following the examples in this manual you ll demonstrate and learn to use the key features unique to AI Motors And you ll end up with a 2 wheeled robot programmable in C and extendable with additional sensors Designed specifically for robotics AI Motors AIMs are building blocks combining mechanical connectors servo motor actuator sensors and smarts All motors communicate via a single serial port but at logic rather than RS232 voltage levels Unique features include programmable servo and full rotation modes position feedback position encoder and turns counter and mechanical loading feedback This kit combines 2 AI Motors with a PC serial interface embedded microcontroller and sensors This allows you to initialize and manually control AIMs from a personal computer as well as build and program an autonomous mobile robot All necessary software is included The introductory kit circuit board includes an RS232 serial port LED displays and a light sensor Headers provide for digital input output and analog input The CPU is an ATmegal6 with 16 Kbytes of FLASH program memory and 1 KByte of SRAM data memory It can be programmed over the serial port a chip programmer or programmi
13. Figure 1 Connectors and Jumpers Note Additional connectors for a Devantech SRFO8 sonar sensor and power are not shown these will be documented in an upcoming application note Connect the serial cable between your PC s serial port and the AIM controller board Run the AI Motor Tool Be sure the SingleSetting panel is selected The AI Motor Tool communicates via the PC s serial port For most PCs this is Com 1 so select Com in the upper left of the GUI AI Motors ship with a default ID of 0 and a default baud rate of 57 600 so set the tool s baud rate to 57600 also in the upper left of the GUI Be sure the jumpers J10 and J11 are in the upper position control from PC and that a jumper is installed on JP1 see Figure 1 In this position the serial port talks directly to the AI Motors and the board enters a bootloader mode in which it doesn t try to send commands to the motors Connect only one AI Motor to the controller board Install 6 AAA batteries in the battery holder and plug the holder into the on board jack A small green LED near the serial connector will turn on Another LED near the other side of the board will blink The blinking LED indicates that the microcontroller is active but is waiting before it puts any data on the serial line so that the AI Motor Tool can be used without conflicts To establish communications click on the Baud Scan button 57600 should now be displayed above it Click on
14. ID Position OxFF OxAOIID 0x00 Chksum1 Current Position Read Act OxFF OxCOIID 0x10 Chksuml Cmd Position Down Byte3 Power OxFF OxDF 0x20 Chksum1 arbitrary arbitrary Down Full OxFF O0xCO ID dir 4 Chksuml Net Position Rotation spr rotation count Synch See text See text See text See text See text See text None None ronous Move Set Baud OxFF OxEOIID 0x08 rate Cmd Chksum2 New New Byte4 baud baud Set Gains OxFF OxEO ID 0x09 Pgain Dgain Chksum2 New New Pgain Dgain Set ID OxFF OxEOIID 0x0A New ID New ID Chksum2 New ID New ID Read OxFF OxEOIID OxOC 0x00 0x00 Chksum2 Pgain Dgain Gains Set OxFF OxEO ID OxOD Resol 0 Cmd Chksum2 New New Resolution or 1 Byte4 resol resol Read OxFF OxEOIID OxOE 0x00 0x00 Chksum2 0 1 0 1 Resolution resol resol Set over OxFF OxEOIID OxOF Threshold Cmd Chksum2 New New current mA 18 5 Byte4 Thresh Thresh threshold Read OxFF OxEOIID 0x10 0x00 0x00 Chksum2 Thresh Thresh over current threshold Set OxFF OxEO IID 0x11 Min pos Max pos Chksum2 New min New Bounds pos max pos Read OxFF OxEO IID 0x12 0x00 0x00 Chksum2 Min pos Max pos Bounds Table 1 AI Motor Commands 2 2 Controller Board The AI Motor Introductory kit includes a printed circuit board combining RS232 TTL level converter power regulator microcontroller and sensors On the introductory kit most sensor sites are unpopulated spd is 0 to 4 indicating spee
15. d 0 is fastest 7 Checksum1 Byte2 Byte3 amp Ox7F Turn off motor torque 5 dir is direction 3 counter clockwise 4 clockwise spr 0 to 15 indicating rotation speed 0 is stop 15 is fastest 7 See AI 701 User s manual 8 Chksum2 Byte2 Byte3 Byte4 Byte5 amp Ox7F Rev 1 1 Garage Technologies Inc 2005 13 2 2 1 Mechanical Figure 1 shows the connectors jumpers and mounting hole locations Outer dimensions are 2 125 x 4 00 inches 2 2 2 Power External power is provided by battery or UL listed power converter Input power must be 6 5 to 10 V DC Input voltage is directly routed to the AI Motor connectors and regulated to 5 V DC for on board circuitry Current draw is approximately 50 mA excluding the motors The power connector is a 2 1 mm jack center positive 2 2 3 External I O As populated for the AI Motor Introductory Kit the controller board provides the following external connectors e RJ11 6P4C female connector with true RS232 voltage levels e 42mm headers for AI Motors As shipped the serial adapter cable provides the following connections DB9 female RJ11 6P4C male 1 2 RXD 2 data from AIM to PC red 3 TXD 3 data from PC to AIM green 4 5 GND 1 black 6 7 8 9 Table 2 Serial Cable Pinout Pin 4 yellow of the RJ11 6P4C connector is not connected With the jumper changes described later it can be
16. e cee H 16 anzvace arer 22 T E a i 19 27 24 Ji C g Cr PCa SCL Avec L lt 2a Lo 14 232 01 rr ri H ER PC7 TOsCe L C7 TOSC 20 13 232 11 rTL 01H2 Sa PGRI PC TOSCI Ho PC6 TOSC E 3o 7Tese oe rTL 1e 19 PC3 TMS PCS TDI L CS TDI a i 40 i 8 232 12 TTL O08 2 PC4 TDO earn 6 vo GND GND GND GND T nD e jie jee s c 15 E v Vv v 39 4 4 PC371MS go 4 ECS TK 8o PD7 0C2 GERIT Ht lt P24 QCLB PD3 INTI R39 LK pe Host SBC R29 Ji8 1 2 2 3 vius pus us 50 J11 1 2 8 3 Liau Hz RI Je Jii E TI PER z A94 o Lo t M 0e 102 tere Jere oe 5u 5u cil Com i 2 Er RL Rie 18 VT p ia u e 1 Ja Sf HL 4 7 K 4 7K E AI Motors mp HO gas Pne71ce eca SCL Garage Technologies ll I opu PC1 SDA SadAIN LL II III III NEW UART JUMPER ING Megatrol Core 123 4 12 3 4 1 8 3 4 12 3 4 REVISED L1 FILTER Rev LiL d e 36 3 79 Don Roberts E Page 1 of 2 Rev 1 1 Garage Technologies Inc 2005 20 R 10 R13 16 not populated arse R12 R13 S Om R16 or Pa ANC PA17aDCT PR amp RBC Pas 7 an C5 Pa2 anc R R i e Rie inu 1K 1K 1K LK LK L K PAg ADCg 8 V Re R28 PC TOSC PC TOSC x La D6 ns Ez FT Expansion headers not populated IR LED driver receiver not populated Garage Technnologies Megatrol Sensors Don Roberts Rev 1 8 1171704
17. e there s no Atmel Studio programming window open and hiding elsewhere You can also program the controller board including loading a different bootloader program using a serial or parallel port programming pod as described in the Atmel documentation 3 3 Hardware Interfaces Here we cover the microcontroller lines used for on board features and off board interfacing It s probably more clear and safer to describe these features and input outputs in terms of the ATmega ports This also gets us one step closer to the details of programming the various capabilities 3 3 1 Port A Digital I O or Analog Input Most of the Port A pins go to on board voltage dividers for resistance based sensors such as CdS light sensors and thermistor temperature sensors as shown in the schematic see the Appendix Rev 1 1 Garage Technologies Inc 2005 19 Port A On Board Use PAO ADCO R17 Right light sensor PAI ADCI R16 PA2 ADC2 R15 PA3 ADC3 J13 PA4 ADC4 J12 PAS ADC5 R14 PA6 ADC6 R13 PA7 ADC7 R12 Left light sensor Table 3 Port A Analog reference is 5 V Vcc isolated by an RC filter so inputs are 0 5V The unpopulated sites R13 R16 have 1 spaced pads and can be used for jumpers to be read by software 3 3 2 Port B SPI With direct connections to the microcontroller it s important be sure the pin doesn t see too high a voltage 5 0 V DC max or have to so
18. er h include timer function library timing PWM etc include a2d h include A D converter function library define abs A A gt 0 A 0 A J EE EE SI 28 A sese obe 3e k 3e k k k k k kk A TA CISHDIADy Seer TERE eee naar eae EE EERE should be enums define aPOS 1 AIM send position define aPOSr 2 AIM read position define aDWN 3 AIM act down remove torque define aPDN 4 AIM power down define aROT 5 AIM full rotation define CCW 3 AIM full rotation direction define CW 4 AIM full rotation direction define LEFT 1 left AIM define RIGHT 0 right AIM transmit 4 byte AIM command void aimcmd4 u08 b2 u08 b3 rprintfChar OxFF Rev 1 1 Garage Technologies Inc 2005 24 rprintfChar b2 rprintfChar b3 rprintfChar b2 b3 amp 0x7F j get from AI motor NOT CHECKING FOR UART BUFFER EMPTY ul6 aimAck void u08 b1 0 b2 0 timerPause 1 give motor time to respond uartReceiveB yte amp b1 uartReceiveB yte amp b2 return b1 8 b2 u08 hiByte ul6 x u08 loByte ul6 x return x gt gt 8 return x amp 0x00FF send a command to AI motor ul6 aimCmd u08 cmd u08 id u08 pos u08 spd u16 readback 0x0000 readback 0x0000 switch cmd case aPOS send a positioning command aimcmd4 spd lt lt 5 lid pos readback aimAck break case aPOSr command read position aimcmd4 0xAOl
19. gs at the factory default 1 2 3 Example 2 Manual Control Once each motor has been initialized to a different ID up to 31 motors can be connected to a single interface The AI Motor Tool can be used to issue single commands from the leftmost part of the GUI screen These commands are as follows e Act ID selects which motor ID to command e Act Mode o 0 4 sets the speed The numbering is reversed 0 is fastest 4 is slowest o 5 PositionRead issues a command for the motor to return its current position and load o 6 MotorDown turns off the motor but leaves the motor s microprocessor active This command should be issued when you want to manually move the motor to a particular position otherwise the motor will fight to maintain the last instructed position o 7 PowerDown removes torque from the motor as in Command 6 and puts the motor s microprocessor in power conserving standby It comes out of standby at the next command o 8 WheelActCCW puts the motor in full rotation mode moving counter clockwise o 9 WheelACTCW puts the motor in full rotation mode moving clockwise Rev 1 1 Garage Technologies Inc 2005 6 NOTE The Position Read mode also turns off motor torque To get position and loading feedback without affecting the motor just re issue the last command The following walks you step by step through commanding a motor to a specified position looking at motor current loading reading
20. id 0x00 readback aimAck break case aDWN act down aimecmd4 0xCOlid 0x 10 Rev 1 1 Garage Technologies Inc 2005 25 readback aimAck break case aPDN power down aimcmd4 0xDF 0x20 readback aimAck break case aROT full rotation modes aimcmd4 0xCOlid pos lt lt 4 lspd readback aimAck break default break return readback ee Begin Code eese sese ie ae a ae ee fe oe ee o o ee k k k HE HE HE k k E OE k SEE k k k k kkk be kk k k k k k K K int main void u08 i 0 unsigned 8 bit u08 curr pos ul6 myack u08 leftLight rightLight initialize our libraries initialize the UART serial port uartInit make all rprintf statements use uart for output until told otherwise rprintfInit uartSendB yte uartSetBaudRate 57600 AI motor default initialize the timer system timerlInit turn on and initialize A D converter a2dInit Make the analog port input be sure pull ups are turned off DDRA 0x00 PORTA 0x00 set a2d prescaler speed and accuracy and select voltage reference a2dSetPrescalerrADC PRESCALE DIV32 a2dSetReference ADC REFERENCE AVCC Rev 1 1 Garage Technologies Inc 2005 26 position amp force readout demo move both motors to middle aimCmd aPOS LEFT 128 1 aimCmd aPOS RIGHT 128 1 timerPause 1000 wait a second remove torque from left moto
21. iii iv vi vii viii Go to the Control Panel Double click System and click the Advanced tab Click the Environment Variables button Use the New button to add an environment variable for the user or the full system Enter AVRLIB as the environment variable name in the Variable Name field Enter c Code AVRC avrlib as the value in the Variable Value field Click OK then OK again to set the environmental variable then another OK Then manually reboot b For Windows95 98 or Windows 3 1 there s not an easy built in way for setting environment variables One way is to use Wordpad to edit the file c autoexec bat Add the following line to the end of the file SET AVRLIB c Code AVRC avrlib If you don t want to risk editing your Rev 1 1 Garage Technologies Inc 2005 17 autoexec bat file a major mess up can keep your PC from booting you can enter the same SET command file from a DOS window each time you open a new DOS window for compiling C code c For Windows NT i Go to the Control Panel ii Double click System and click on the Environment tab ui Enter AVRLIB as the environment variable name in the Variable box iv Enter c Code A VRC avrlib as the value in the Value box v Click Set to set the environmental variable 3 1 4 Test Your Installation 1 AVR Studio doesn t load a desktop icon Navigate to the programs menu Atmel AVR Tools gt AVR Studio 4 If the tool comes up the installation should be fine
22. inAVR b Leaving the options all clicked 6 The installer will bring up a window with Programmer s Notepad 2 and information on the GCC installation If you wish review the detailed information and close the window 7 Upon finishing let the installer reboot your machine if requested This will install several icons on your desktop AVR Insight AVR libc manual GNU manuals online Programmer s Notepad README and tkInfo We ll only be using the Programmer s Notepad in this manual 3 1 3 Install Procyon Library This open source GPL software by Pascal Stang is a very useful library of functions for AVR processors The CD ROM contains those routines we ve tested on the AIM Intro board We ll incorporate additional library routines as we configure and test them for Garage Technologies products There s no automatic install software for this library The following instructions include default file folder names and locations and are recommended for compatibility with various examples T oper Use the Windows My Computer icon to navigate to c root of the c disk drive Create a new folder called Code Enter that folder and create a new folder named AVRC Copy the CD ROM folder avrlib into c Code AVRC The full path then becomes c Code AVRC avrlib 5 You now need to create an environment variable saying where the library is The procedure for this depends on which version of Windows you re using a For Windows 2000 XP 1 ii
23. lexing but its easier to strip the threads especially on small screws Figure 2 Bottom with spacers 1 3 1 Build the Two Wheel Robot 1 Connect the two AIMs together using two 34 screws two spacers and two nuts as shown in figure 2 This will be the bottom side of the bot In this upside down position the motor with ID 0 should be on the left and 1 on the right given the orientation of Figure 2 Leave the screws a little loose for now 2 Hlip the motors over and insert one connector assembly into each motor Be sure each is fully inserted It doesn t matter which gets the short cable and which gets the longer cable The motor cables could be daisy chained but this would put a cable on the underside where it s likely to snag 3 Build and attach two skids tails using the AIM parts as shown in Figure 3 You can use the long metal screws and nuts in the AIM packages to firmly attach the skids but they pretty much stay in place by themselves Rev 1 1 Garage Technologies Inc 2005 8 Figure 3 Cables Skids and Brackets 4 Attach the two brackets using two 34 screws and two nuts also as shown in Figure 3 using the lower two holes for the AIMs Using the upper two holes puts the controller board closer to the floor but makes it very tough to get your fingers in to do the work Leave the screws and nuts a little loose for now 5 Attach two wheels and short metal screws from the AIM parts as shown in Figure
24. mpile the Code 1 Open a DOS window run cmd exe 2 cd to c Code AVRC avrlib examples AIMintro N Rev 1 1 Garage Technologies Inc 2005 18 3 Enter make This calls a make utility that compiles AIMintro c and any needed libraries and links them into a downloadable file You ll see lots of nattering but towards the last few lines you should see some info about a AIMintro elf file of a little over 5 KBytes the total size of your compiled code and the message Errors none Load and Run the Code Using the Bootloader 1 Connect a serial cable between your PC s serial port and the AIM controller board 2 Open AVR Studio cancel the Create New Project window pop up 3 Install a jumper block on JP1 This tells the MCU to execute the bootloader rather than the previously loaded application program 4 Press the reset button on the AIM controller circuit board The left user LED should be on to indicate that you re in the bootloader 5 In AVR Studio select Tools 2Avr Prog It should detect the ATmegal6 MCU and ask you to browse to the hex file you want to load in the flash Browse to c Code A VRC avrlib examples AIMintro and select AIMintro hex and the bootloader should load the hex file into the MCUs Flash memory 6 Remove JPI and press the reset button again Your new program will begin to execute If you get the message no support board found re check your jumpers connections and board power Also check to be sur
25. ng pod is not needed The controller board uses free and open source software including an integrated development environment with assembler C compiler and special function library The target audience includes the following e Hobbyists and Developers With the included libraries most people familiar with C and embedded programming should find custom development of AI Motor applications quick and straightforward e Beginning Hobbyists The software distribution includes function libraries and an easy to modify example But you ll need to study C and embedded programming This manual is divided into three sections The first Quick Start lists the kit contents then walks you through several examples using the AI Motors Tool PC software and the demos built into the controller board The second section provides specifications for the controller board and summarizes specifications for AI Motors The third section introduces programming the controller board using the free GCC compiler and libraries This is a lengthy manual but the Quick Start section will get you up and running AI Motors in just a few minutes Rev 1 1 Garage Technologies Inc 2005 2 Part 1 Quick Start This quick start walks you through initializing and controlling AI Motors through a GUI tool and running a demo built in to the controller board For additional information on AI Motors see the AI 701 manual More information on the controller board is included la
26. or analog input have their corresponding DDRA pin set to 0 input and their corresponding PORTA pin also set to 0 turning off the internal pull up resistor You can then call a2dconvert8bit or the corresponding 10 bit call go get the current value of a particular input On the AIM Introductory board PAO 2 and PAS 7 are connected to pads for resistance type sensors with a 1 K pullup to 5 V forming a voltage divider PAO and PA7 are populated with a Cds light sensor The resistor values are such that at typical room Rev 1 1 Garage Technologies Inc 2005 22 conditions the division ratio is a little higher than 2 A D readings returned will thereby be very roughly 100 for 8 bit conversions Software can convert these raw readings to calibrated engineering units degrees F degrees C lux lumens etc The A Mintro c code illustrates this and the avrlib examples a2d a2d c code provides additional comments and code examples 3 4 3 UART Serial Port AVRLIB supports serial port communications using the on chip UART and an on board RS232 level converter avrlib uart contains code and comments on the lower level UART library functions Most people will use the higher level rprintf library The rprintf library provides functions to initialize the UART set output to the serial port and print character strings It s the equivalent of printf of the non embedded C world Detailed comments and examples are in avrlib example
27. r aimCmd aDWN LEFT 0 0 curr 0 left motor as sensor while curr lt 3 while right motor not loaded get position of left motor myack aimCmd aPOSr LEFT 0 0 also removes torque pos loByte myack send position to right motor aimCmd aPOS RIGHT pos 1 timerPause 150 let left motor get to position with reduced current get current of right motor myack aimCmd aPOS RIGHT pos 1 curr hiByte myack right motor as sensor for i 0 1 lt 50 i get position of right motor myack aimCmd aPOSr RIGHT 0 0 pos loByte myack send position to left motor aimCmd aPOS LEFT pos 1 timerPause 100 Rev 1 1 Garage Technologies Inc 2005 27 photovore demo rightLight a2dConvert8bit 0 while rightLight gt 20 covering right sensor will end demo timerPause 100 leftLight a2dConvert8bit 7 rightLight a2dConvert8bit 0 if deftLight rightLight gt 250 bright enough stay put aimCmd aROT RIGHT CW 0 aimCmd aROT LEFT CCW 0 else if abs leftLight rightLight lt 10 move forward aimCmd aROT RIGHT CW 6 aimCmd aROT LEFT CCW 6 else if leftLight gt rightLight turn left aimCmd aROT RIGHT CW 6 aimCmd aROT LEFT CCW 0 by stopping left motor else turn right aimCmd aROT RIGHT CW 0 by stopping right motor aimCmd aROT LEFT CCW 6 shut down motors
28. rking again 3 1 1 Install AVR Studio 4 1 First install the Atmel IDE for downloading programs into AVR processor chips The Studio also incorporates other functions such as debugger and simulator that aren t covered in this manual It can also be downloaded from www atmel com 1 For WindowsNT 2000 XP you must be logged in with administrator rights as new drivers are installed 2 Put the Garage Technologies CD ROM into the drive and navigate into that drive 3 Go into the CdevelopmentToolChain directory and click on the icon for aStudio4b356 4 Follow the on screen instructions We recommend letting everything default including a Letting the directory default to c Program Files AtmeNAVR Tools b No need for USB tools 5 Upon finishing let the installer reboot your machine if requested This will install Atmel AVR Tools to your programs menu 3 1 2 Install GCC Next install WinAVR This is a build of the GNU C Compiler specific to run on Windows systems and compile code for AVR microcontrollers It can also be downloaded from www sourceforge net projects winavr Rev 1 1 Garage Technologies Inc 2005 16 N Re Put the Garage Technologies CD ROM into the drive and navigate into that drive Go into the CdevelopmentToolChain directory and click on the icon for WinAVR 20040720 install 3 Follow the on screen instructions We recommend letting everything default including a Letting the directory default to c W
29. s Inc 2005 3 e CD ROM containing AI Motor Tool Atmel Studio 4 GCC compiler and libraries Source code for demo AI 701 manual This document 00000 0 NOTE Don t substitute a higher voltage unregulated supply Most DC supplies are unregulated A 7 5 V 1 A supply with the light loading of a single motor results in a roughly 10 V output A 7 5 V 1 A supply is adequate for 4 6 AI Motors 1 2 Using the AI Motor Tool The AI Motor Tool provided by the motor manufacturer is a graphical user interface to used to initialize and manually control AI Motors It isn t fully implemented so we ll walk you around the blind spots 1 2 1 Installing the AI Motor Tool The AI Motor Tool is included on the kit s CD ROM and can be downloaded from www Garage Technologies com Go to the CD ROM folder Megarobotics software and copy AI Motor Tool to your computer s desktop Click on the zip compressed file icon 1 2 2 Example 1 Initializing the Motors This example walks you step by step on how to use the GUI to initialize the motors for use in later examples Figure 1 illustrates the connectors and jumper settings Rev 1 1 Garage Technologies Inc 2005 4 power connector connector Al Motor connectors Place jumpers here 5 Temporarily place jumper to control from PC here to activate bootloader g on reset serial port B Place jumpers here te control from on board MCU ES JP1 JL F
30. s most of the AIM functions other than initialization as well as the control board sensors and can serve as a good starting point for your own programming as covered in the Part 3 of this manual Subsequent programming will erase this example It can be re loaded from c Code A VRC avrlib examples AIMintro AIMintro c once you ve done the software installation in Section 3 Part 2 Specifications This section summarizes specifications for the AI Motors and provides the full specifications for the controller board and demo robot The next section will cover custom programming the controller using C 2 1 AI Motors This evaluation kit comes with two AI 701 AI Motors For the full specifications features and description of use see The AI Motor 701 Manual The 701 and 1001 motors are interchangeable the primary difference being that the 1001 uses a higher gear ratio to achieve higher torque at lower speed Rev 1 1 Garage Technologies Inc 2005 11 2 1 1 Summary of Specifications Stall torque 7 kg cm 9 5 V Maximum speed 82 rpm 9 5 V Weight 40 g Size 51 6 x 34 3 x 37 mm Power o Maximum 650 mA 5 VDC 1000 mA 10 VDC o Typical 100 200 mA o Minimum 12 mA Positioning range and resolution o Low resolution mode 0 to 333 3 degrees 1 31 degrees resolution o High resolution mode 0 to 166 6 degrees 0 654 degrees resolution Speed control o Position mode 16 steps o Full rotation mode 5 steps Up to
31. s rprintf Rev 1 1 Garage Technologies Inc 2005 23 Appendix 1 Example Code The following code is a slightly reduced version of the demo code pre loaded into the controller The full version is included in the examples directory on the CD ROM This version shows the AI Motor functions with fewer comments and omits the fixed path demo Note that a standard library and initialization for the AI Motor running commands is less than 2 pages of code and each demo is less than 1 page J EE E E A 2 2 S sese sese oe oe oe hhh o o o oe oe o o oe o oe oe k oe o o o kk k k kk k k EE HE E GE GE E EE k k k k K 3e k K K k k K K K hh File Name AIMintrolite c Shortented version of AIMintro c as program listing example of using AIM motors and the AIM Intro Kit GPL 17 Jan 2005 Garage Technologies Inc J ER E E SESS Ss se sese oe oe oe ok ok ok o o o oe oe oe o oe he oe oe oe oe o eee hhh k k k k k kk k kkk k k k k kk k 3e 3e 3e k k K k k K K k Include Files include lt avr io h gt include I O definitions port names pin names etc include lt avr signal h gt include signal names interrupt names include lt avr interrupt h gt include interrupt support include global h include our global settings include uart h include uart function library include rprintf h include printf function library include tim
32. stration robot e Maximum speed about 8 0 2 m per second e Total power draw 2 to 3 W when active Sensing and processing capabilities are covered in the controller board specification and the motors in the AI Motor specification and User s Manual Rev 1 1 Garage Technologies Inc 2005 15 Part 3 Programming This section presents instructions on loading the development software and a walk through of the programming cycle We then cover the hardware features mapping them back to the ATmega registers Finally we introduce the AVRLIB functions as they relate to the AIM Introductory kit This document assumes familiarity with C and some familiarity with AVR microcontrollers and embedded system programming 3 1 Software Installation The controller board uses a Windows PC as the development host All software is available as free downloads from the internet Garage Technologies provides a distribution CD ROM for your convenience This section summarizes a standard installation To date the only anomalies we ve found are on systems where Cygwin has already been installed The GCC compiler package installs portions of Cygwin to support make files and Linux like commands The GCC installation procedure re installs Cygwin components with a possibly different directory structure and different dll file versions So if you ve already installed Cygwin you re likely to have to patch your Cygwin installation to get it wo
33. ter in this document To use the software you ll need a personal computer running e WindowsXP preferred Windows3 1 NT 95 98 2000 should be fine e Atleast 70 Mbytes free disk space for full C compiler tool chain only a few Mbytes for the AIM demo software e A cable for your PC s serial port For most PCs this will be a DB9 female on one end and a RJ11 6P4C on the other See Table 1 To use the kit and assemble the 2 wheeled robot you ll need the following 1 asmall flat head screwdriver 2 asmall Phillips head screwdriver 3 pliers needle nose preferred 4 6 AAA size batteries Rechargeable NiMH recommended A flashlight will make the light seeking demo program more entertaining If you want to skip ahead to the robot demo you can skip Example 2 but you ll still need to install the AI Motor Tool and go through Example 1 to properly initialize the motors 1 1 Kit Contents e 2 AI 701 motors 7 kg cm stall torque each with o 11 mechanical attachment pieces plus screws and nuts o 2cables o replacement gears e Megatrol 1 circuit board partially populated with RS232 level translator ATmegal6 microcontroller and 2 light sensors DB to RJ11 adapter with RJ11 cable battery holder with plug Velcro strip for securing holder with batteries 2 board mounting brackets 4 2 56 x 34 nylon screws 4 2 56 x 3 8 nylon screws 12 4 40 nylon washers 2 3 16 spacers 2 rubber bands er traction treads Rev 1 1 Garage Technologie
34. the on board microprocessor Don t forget to remove the jumper on JP1 This allows the on board processor to execute its built in program 1 3 2 Example 3 Run the Robot Demo For your first run you ll want to put the bot up on blocks so the wheels are off the ground and it doesn t go anywhere An empty AI Motor box with the unused parts inside makes a good enough stand 1 2 Connect the battery pack to the microcontroller board As before the power LED will turn on and another LED will blink To begin the robot demo completely cover the right light sensor The sensor is fairly sensitive even from the side so pinching it between a thumb and finger is a good way to completely cover it The board will then go through a brief blinking LED sequence The board then enters an AIM position and force read out demo a Slowly rotate the left wheel and right wheel will copy the motion The MCU is reading the position of the left wheel and sending that position as a command to the right wheel The MCU is also monitoring the load current of the right motor b If you twist the right motor hard or rotate the left motor quickly the program will reverse the demo c The right wheel position is read and the left wheel is slaved to it d After 5 seconds the program goes on to the next step of the demo The board then enters an AIM full rotation mode and odometry demo executing a sequence of commands The MCU gives the motors full rotation
35. urce or sink too much current 20 mA max Port B SPI Header PBO TO PB1 T1 PB2 AINO PB3 AINI PB4 SS PB5 MOSI Pin 4 PB6 MISO Pin 1 PB7 SCK Pin 3 Table 4 Port B The SPI header is configured to be compatible with in system programmers in addition to general SPI use It can also be used as 3 general purpose digital I O Pin 1 MISO PB6 Pin 2 5 V Vcc Pin 3 SCK PB7 Pin 4 MOSI PB5 Pin 5 Reset Pin 6 Ground Table 5 SPI Header Pinout Rev 1 1 Garage Technologies Inc 2005 20 3 3 3 Port C LEDs Port D Serial RS232 Port C On Board PCO SCL PCI SDA PC2 TCK J14 PC3 TMS PC4 TDO DCS TDI PC6 TOSCI User LED PC7 TOSC2 User LED Table 6 Port C Port D On Board PDO R XD Serial I O PD1 TXD Serial I O PD2 INTO PD3 INTI PD4 OCIB PDS OCIA PD6 ICP PD7 OC2 Table 7 Port D Jumper JP1 Jumper JP1 is used to activate the bootstrap loader 3 4 Software Development Here we discuss the details of programming specific features on the controller board We re not covering the principles and techniques of embedded system programming There s additional comments and documentation in the example and library code itself If a library element has
36. utput or input respectively This sets outputs or reads all 8 bits The C functions inb port value and outb port value are preferred however Individual bits can be set by sbi port pin and cleared by cbi port pin without disturbing any of the other pins Comments in the code avrlib examples basicio basiciotest c include a more lengthy discussion of I O pins and port programming Specific to the AIM Introductory kit board 2 LEDs are connected to PC6 7 Port C pins 6 and 7 Like most microprocessors AVR outputs are better at sinking current rather than sourcing current so the LEDs are pulled up to 5V through a 1 K resistor Setting the output to 0 grounds the other LED pin and turns the LED on Jumper JP1 is connected to PD2 By enabling the PD2 pullup PORTD 00000100 even though it s input this jumper is a software readable input There s no debouncing so some software may require extra checking of the switch level 3 4 2 Analog Input Analog input uses the Port A pins connected to the internal A D analog to digital converter The ATmega A D converter and related circuitry is controlled by setting and monitoring numerous internal registers AVRLIB does most of the low level work for you in a library of functions called a2d The user must call a2dInit to initialize the converter plus a few routines to set options such as conversion time related to accuracy It s also necessary to be sure that any Port A pins used f
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