MR-Servo4433 User Manual
Contents
1. same_absolute_deg S0 S 1 S2 S3 S4 S5 S6 S7 O 90 100 same_absolute_deg S0 S2 S2 90 100 buzzer Buzzing sound Special test mode function to adjust all servomotors Press and release the S3 Reset key while pressing the S2 key and then release the S2 key to enter this mode Each servomotor turns 90 int main void int i system_init System Initialize buzzer Buzzer motor_enable sei Global interrupt enable if bit_is_clear PINB 0 adjust_mode until_ switch_intput delay_1ms 500 buzzer delay_1ms 2000 while 1 User own functions Main function Initialization interrupt enable and user functions blank www microrobot com2. set TOIEO Timer0 overflow Interrupt enable Sets time constant to the timer0 and enables timer0 interrupt Even if the timerO interrupt is enabled the timerO interrupt will not occur until the global interrupt bit is enabled void motor_disable void __ outw 0 TCNT1L outp O TCNTO outp 0 PORTD cbi TIMSK OCIE1 clear OCIE1 Timer1 Output Compare Interrupt disable cbi TIMSK TOIEO clear TOIEO Timer0 overflow Interrupt disable Function to disable the servomotors void motor_zero void int i SERVO 4 SERVO 5 SERVO 6 SERVO 7 FACTOR_ 0 FACTOR 1 Factor 2 FACTOR 2 Factor 3 FACTOR 3 Factor 0 1 2 3 Factor 4 FACTOR_4 5 6 7 Factor Factor 5 FACTOR 5 Factor 6 FACTOR_ 6 Factor 7 FACTOR_ 7 for i 0 i lt 8 i Deg i Speed i 0 Pulse i Init i Copies user adjusted defined constants to the variables The constants can be used directly instead of being copied to the variables However for the upgrade version the variables are used In the upgrade version the variables may be also filled out with constants from the PC void system_init void port_init motor_init motor_zero System initialization 2 Function c void delay int ticks while ticks 1msec UNIT delay function void delay_1ms unsigned int i word j while i j 2000 8Mhz while j 1 ms based delay function For exam
3. Build Build Option gt General tab The Build Option window appears Select Intel hex as a Hex format a90s4433 as a microcontroller Check Object file and Rom file boxes in the Generation menu Type c source as an Output Directory and click on OK Select Build Build Option Compiler tab Click on the Default button and select Size radio button in the Optimization box Do not use Speed optimization Select Build Build Option Linker tab Click on the User Link script radio button and select C Program Files Microrobot Microrobot AVR GCC Avrilib ldscripts avr4433 x and click on OK Press F7 or select Build Build menu to build main c editing window must be selected before building it if there are more than two source editing windows If you see the following message warning asm operand1 probably doesn t match constraints in the output message window press F7 again Create ROM file Build complete message appears in the output message window Run the Atmel AVR ISP Select Project New Project menu Select AT90S LS4433 Click on the Program Memory window Select File gt Load menu and open c source main rom Select Project Save Project menu and save the project as c source main avr Select Options Advanced Check Disable Signature Check box in the Advanced Options message box Select Prog
4. 5267 2P u D1 C6 y LED 104 C4 100uF 10V 5045 2P J5 osa 5267 2P VCC VCC PB5 SCK Ug99UU999UUU99UU0 J2 SERVO HEADER 48 3 X 8 Header VCC D3 LED vv s2 R3 Tack PB3 MOSI 10 470 3 Parts List NO Reference Parts name Value Qty Remark 1 Ci C2 Capacitor 30pF 2 Ceramic Condenser 2 C3 1uF 1 Electrolytic Condenser 3 C4 100uF 10V 1 Electrolytic Condenser 4 C5 C6 104 0 1uF 2 Monolithic Condenser 5 D1 D2 D3 LED RED 39 3 6 J1 Connector 5045 1 5V Power Part 7 J2 HEADER PIN Male 1 SERVO HEADER 48PIN 8 J3 CON10AP 1 HIF3F 10PIN 9 J4 J5 5267 2 Battery Power Part 10 R1 R2 R3 Resistor 470Q 2 11 R4 R5 10K 2 12 SP1 BUZZER BTG 47 1 PIEZO 13 S1 S W SLIDE S W 1 14 S2 S3 Tack S W 2 15 U1 MCU AT90S4433 TOFP 1 AVR Microcontroller 16 Y1 X TAL 8MHz 1 ATS type Printed Circuit 17 Board PCB 1 Main PCB 18 PaE FIONA 5051 2P 1 AA size 4 Power Connector 19 Pin head Screw 4 39 20 Nut 12 30 21 Flat head Screw 4 39 Downloading h 22 Adapter 1 Option 23 Ribbon Cable 1 Option 1m Fig 2 1 Downloading Adapter Fig 2 2 Ribbon cable Fig 2 3 Battery Holder amp Power Connector PART 3 Software Tools 1 AVR Development Program Installation AVR Development Tools There are many different kinds of development tools for AVR microcontrollers Atmel the AVR CPU
5. position or holding torque the pulses must be provided every from 10 ms to 20 ms 3 Adjusting servomotors When the power is on the servos which are connected to the board should turn to the center but they might not This is because the characteristics of the servomotors are a little different To adjust each motor the initial setting values in source code must be changed The AT90S4433 CPU board can control eight servomotors at the same time The eight servomotors are named SERVO_0 SERVO_1 and SERVO_7 in the program source On the upper part of the PCB index numbers from 1 to 16 are marked for the servomotor ports Refer to Fig 1 1 above Port numbers 1 to 8 correspond to SERVO_0 to SERVO_7 respectively Run MICROROBOT AVR GCC and open the file main c At the beginning of the source code there are some user definitions kkkkkkkkkkkkkkkkkkk s TM kkkkkkkkkkkkkkkkkkkkkkkkkkk User definition define SERVO_0O 150078 define SERVO_1 define SERVO_2 define SERVO_3 1400 8 define SERVO_4 define SERVO_5 define SERVO_6 define SERVO_7 1500 8 Note The actual values might differ from those above The defined values are initial center pulse values for each servomotor The center value refers to a time constant which makes a servomotor s axle turned to the center 0 Refer to Fig 4 2 The user must determine these center values with actual servomotor test In the above definition 15
6. 00 8 means 1 5 ms which is a typical center value When the value is changed by 1 8 the axle turns approximately 0 1125 Repeat source changing compiling and downloading to determine the final correct center values For example when one servomotor s axle turns 5 degrees count clockwise past the center position subtract 44 5 0 1125 from the initial value Below are some other definitions in the source file define FACTOR_0 1024 define FACTOR 1 1024 define FACTOR_2 950 define FACTOR_3 1024 define FACTOR_4 1023 define FACTOR_5 1024 define FACTOR_6 930 define FACTOR_7 1024 Note The actual values might differ from the above The above values constants are used as turning factors To make the servos turned properly the above values should be adjusted after testing There is a special test mode to determine the above constants Press and release the S3 Reset key while pressing the S2 key and then release the S2 key Each servomotor should turn 90 If not change the corresponding values For example if the SERVO_0 turns more than 90 degrees reduce FACTOR O If the SERVO_2 turns less than 90 degrees increase FACTOR _2 After determining the proper values push the S3 Reset key for the reset and push S2 key to start the user routine PART 5 Source Codes Source files description main c Main program io h Header file which has AVR CPU sregisters and I O pins definition signal h Int
7. 4 45 speed Enables the motor 0 2 4 6 Motor 1 3 turns to the 45 degree position and motor 0 4 turns to the 45 degree position with the speed same_absolute_deg S0 S2 S2 15 speed Enables the motor 0 2 Motor O turns to the 15 degree position and motor 2 turns to the 15 degree position with the speed relative angle turning function for the each motor void relative_deg int no int deg int speed int temp temp int long Deg no lt lt 10 long Factor no deg temp Deg no int long deg long Factor no gt gt 10 Speed no int long Speed long Factor no gt gt 10 Turns motors by the relative angle at the given speed void same_relative_deg byte flag byte dir int deg int speed int i wait_until_move for i 0 i lt 8 i if flag amp 1 lt lt i if dir amp 1 lt lt i relative_deg i deg speed else relative_deg i deg speed This function can be used when several motors need to move by the same relative angle or angle This is a same function as the same_absolute_deg except that the deg is a relative angle 5 Main c typedef unsigned char byte typedef unsigned int word define sei asm volatile sei define cli asm volatile cli define sei asm volatile sei Inline assembler definition for the convenience sei changes to sei assembler instruction void adjust_mode void until_ switch_intput
8. MR Servo4433 User Manual CONTENTS PART 1 MR Servo4433 1 Introduction 2 Features 3 Control PART 2 CPU Board 1 Placement Diagram Silkscreen 2 Circuit Diagram 3 Parts List PART 3 Software Tools 1 AVR Development Program Installation 2 How to use Microrobot AVR GCC 3 How to use AVR ISP In System Programming PART 4 How to Operate 1 Compile and Download 2 R C servomotor HES 288 3 Adjusting motors PART 5 Source Codes 1 Init c 2 Function c 3 Inter c 4 Motion c 5 Main PART 1 MR Servo4433 1 Introduction MR Servo4433 is a small pre assembled R C Radio Control servomotor controller which has 16 R C servo connectable I O pins The MR Servo4433 can control up to 8 R C servos at the same time The MR Servo4433 uses an AT90S4433 Atmel AVR series CPU chip as a controller The AT90S4433 has a 4K bytes In System Programmable Flash memory 128 bytes SRAM 256 bytes EEPROM and many other peripherals The user can download a program to the board without a ROM Writer using the ISP function A free C compiler Microrobot AVR GCC is provided 2 Features e AT90S4433 Atmel AVR series 8MHz 8 MIPS e 4Kbyte ISP flash 128 bytes SRAM 256 bytes EEPROM 2 Timers ADC 6ch UART e Four R C servomotors e 16 I O port pins e Controls up to 8 R C servomotors at the same time e C source code e Free Windows C compiler Microrobot AVR GCC e ISP downloader Optional e On board piezo Buzzer 3 Contro
9. SK OCIE1 clear OCIE1 Timer1 Output Compare Interrupt disable TimerO overflow interrupt occurs every 2 5 ms In the interrupt service routine one of eight servomotor control pins is activated by turns It means each servomotor has a controlled focus every 20 ms 2 5msec 8 No is an index variable that has a port number to be serviced No n be form 0 to 7 The corresponding port pin is set high and the high pulse time variable Pulse No is set to the OCR1L After the set time elapsed output_compare1a interrupt occurs which makes the pulse low Speed No value is used to control the servomotor turning speed When the Speed No is 71 the servo turns 1 20ms 50 sec It takes time for a servomotor to turn to its destination Flag_motor is used to check whether the servomotors are finish tuning Flag_motor is a one byte valuable Each bit stands for each servomotor s status 1 means the motor is still turning and 0 means the turning is done The servomotor turns 19 when the pulse width is changed by 8 888 us The timer1 s dock is 1 8 us Thus the servomotor turns 19 every 71 timer1 sclock ticks Init No is the time constant in order that the servomotor saxle gets the center 0 position 4 Motion c void wait_until_move void Flag_motor Oxff nitialze with Oxff all servos are still turning while Flag_motor Wait until all servomotor finish turning Waits until all servomotors have f
10. errupt vectors functions and interrupts vector table definition init c Basic initialization function c Delay buzzer and switch functions motion c Servomotor control functions inter c Interrupt routine functions void port_init void outp Oxfe DDRB _ LSB of the port B input pin the other pins output pin outp Oxff DDRC Set all PORTC pins to output outp Oxff DDRD Set all PORTD pins to output outp 1 PORTB Set the bitO of the Port B to use the internal full up resistor outp 0 PORTC outp 0 PORTD Initializes ports void motor_init void outp 4 TCCRO TIMER_0 CK 256 gt 1 32usec outp 0 TCCR1A outp 1 TCCR1B CTC1 clear TIMER_1 CK 1 gt 8 1usec __ outw Oxffff OCR1L 65535 gt 65535 8 usec 8 192msec Initializes two timers to generate continuous pulse with constant period 20 ms which are used to control the servomotors MCU main clock is 8 MHz 1 8 us The timer0 s prescaler is set to 256 It means that the timer0 clock is 32 us 1 8 us 256 The timer1 uses the main clock 1 8 us without prescaling void motor_enable void outp 178 TCNTO ll 256 178 78 gt 78 32usec 2 496msec __ outw 0 TCNT1L cbi TIFR TOVO clear OCIF1 Output Compare Flag1 clear sbi TIMSK OCIE1 set OCIE1 Timer1 Output Compare Interrupt enable cbi TIFR OCF1 clear TOVO TimerO overflow Flag clear sbi TIMSK TOIEO
11. inished turning before starting a new next action Turn the servo to the absolute angle at the speed void absolute_deg int no int deg int speed Deg no int long deg long Factor no gt gt 10 Speed no int long speed long Factor no gt gt 10 Turns the servo no to the absolute angle deg at the given speed speed Shift operation gt gt is used instead of divide operation to save the operation speed The Factor no is used to calculate the Speed no as well as the Deg no It is because each motor has a different characteristic void same_absolute_deg byte flag byte dir int deg int speed int i wait_until_move for i 0 i lt 8 i if flag amp 1 lt lt i if dir amp 1 lt lt i absolute_deg i deg speed else absolute_deg i deg speed Moves the motors up to eight at the same time to the same absolute angle The angle deg and the speed are applied to all enabled servomotors equally but the direction can be selected with the dir parameter clockwise or counterclockwise lt Parameters gt flag Motor Enable flags Each bit is a corresponding servomotor senable 1 enable 0 disable dir Direction flags for the each motor 1 use deg 0 use deg deg Absolute angle to turn speed turning speed This function is used when several motors need to move to the same angle or symmetric angle For examples same_absolute_deg S0 S2 S4 S6 S2 S
12. l The board has sixteen I O port pins and can control 8 servomotors at the same time The AT90S4433 CPU has two internal counters The board generates up to eight periodic pulses using the timers The periodic pulses control R C servomotors PART 2 BOARD 1 Placement Diagram Silkscreen 111213141516 eoeeee 6oeeeeo LLU a U 2 Ul gt E2 e inmi Een e _ e on exe o mmm oS ot con 8_ n e 0000o med EXX Ta o o gee Hee J Ta N o ete TW i FERAT Fig 1 1 AT90S4433 Servomotor control board silkscreen 2 Circuit Diagram U1 PDO RXD 30 28__ PC5 ADC5 PDO RXD PC5 ADO5 PDI TXD 31 27 PC4 ADC4 PD2NTO 32 PDI TXD POS ADO4 28 PO3 ADC3 PDSUNTi 1 BDAINTO PCS ADC3 25__PC2Z ADO2 PD4 TO 2 POSIINT PCAADOS 24 POHADC1 PD5 T g PD4 TO PCHADOD 23 PCO ADCO C1 30pF PDG AINO 10 FPA No FD PDPANI 14 vec vec PD7AND 1 PDAANT m I H voc xtatz i GND LEJ R4 17___ PB5 SCK 10K PB5 SCK j6__ PB4MISO c2 30pF_ _ AVCC PB4 MISO 15 PB3 MOSI ARE PB3 MOSI 14 PB2USS AGND PB2 SS ech RESET PB1 OC1 153 PBOICP 8 29 RESET Ppo icr HA S3 L x H NC NG asx x JNc NC FE Tack AT90S4433 TOFP vec vec vec R5 v 10K P FF cc 0 oo c5 R2 470 PBO ICP SLIDE 104
13. manufacturer provides some AVR development tools free Microrobot Co Ltd also provides a free Windows C compiler Wavrasm AVR assembler Atmel AVR Studio AVR Emulator Simulator Atmel AVR ISP ISP downloading program Atmel Microrobot AVR GCC C compiler Microrobot System requirements for AVR development tools Windows 95 98 ME Pentium 133 or higher Atleast 4 Mbytes of RAM CD ROM Drive AVR ISP installation Run setup exe in the CD s avr_isp folder Microrobot AVR GCC installation Refer to the Microrobot AVR GCC User Guide pdf file in the CD s MaroGcc0 9C folder 2 How to use Microrobot AVR GCC Refer to the Microrobot AVR GCC User Guide pdf file in the CD s MaroGcc0 9C folder 3 How to use AVR ISP In System Programming Refer to the AVR ISP Manual for AVR 4433 Board pdf le PART 4 How to Operate 1 Compile and Download Compile the source file and download the executable file in the following order Put four batteries into the battery holder and insert the power connector to J1 of the Main PCB Connect the downloading adapter to the PC printer port Then connect the downloading adapter and the CPU board by using the ribbon cable Turn on the power switch S1 on the control board LED D1 turns on Copy the Source folder on the CD to the CNSource Remove uncheck read only file attributes for the all copied files Run the Microrobot AVR GCC Open c source main c Select
14. ple to make 1 sec time delay call delay_1ms 1000 This function does not consider other interrupts It means that other interrupts during the delay function can make the delay time longer void buzzer void word i for i O i lt 50 i BUZZER_ON delay BUZ_DLY1 BUZZER_OFF delay BUZ_DLY1 for i O i lt 50 i BUZZER_ON delay BUZ_DLYO BUZZER_ OFF delay BUZ_DLYO Makes buzzing sound using the BTG 47 buzzer The BTG 47 is freguency pulses activated void until_switch_intput void loop_until_bit_is_clear PINB 0 loop_until_bit_is_set PINB 0 Push button switch S2 input function which waits until the S2 key is pressed and released 3 Inter c In the source two different interrupts are used The interrupts are exclusive It means when one interrupt service routine is served the other one must wait SIGNAL _overflow0_ __ outw 0 TCNT1L outp 178 TCNTO ll 256 178 78 gt 78 32usec 2 496msec sbi PORTD No if Pulse No gt Init No Deg No 71 Speed No 2 Pulse No Speed No else if Pulse No lt Init No Deg No 71 Speed No 2 Pulse No Speed No else Flag_motor amp 1 lt lt No __ outw Pulse No OCR1L sbi TIMSK OCIE1 set OCIE1 Timer1 Output Compare Interrupt enable No 4 No amp 0x07 cbi TIFR TOVO clear OCIE1 Output Compare Flag1 clear SIGNAL _output_compare1a_ outp 0 PORTD Clear PortD cbi TIM
15. ram Auto Program Options menu Check boxes properly Press F5 for the Auto Programming Take a look at the downloading error messages in the output message window If there is no verify error uncheck the Verify Device check box in Auto Program Options Remove the ribbon cable from the control board and restart the board 2 R C servomotor HES 288 An R C servomotor is a special type of geared motor It has its own internal controller which uses feedback to control the DC motor according to the PWM Pulse Width Modulation position signal The degree of turn of the servomotor s axle depends upon the input pulse width signal Generally it turns from 0 to 180 or 90 90 Therefore the servomotor does not need an encoder to get the axle scurrent position HES 288 is an inexpensive general servomotor It is controlled using three wires as is general servomotor Two wires are for the power input and the other wire is for the PWM control signal input HES 288 Specification Torque 2 5 kg cm Speed 60 degrees 0 2sec Size 41 x 20 x 35 mm length x depth x height Weight 42 g Voltage 4 6 V Operating Frequency 50Hz 100Hz Period 10msec 20msec Wire connection Red Vcc DC 4 6V Brown Gnd Orange PWM control signal input YCC RED PH ORANGE GND BROWN Fig 4 1 Control signal 1 5 msec 0 Center 0 7 msec 90 2 3 msec 90 To keep the desired
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