Ardumower Mini

Abstract

This page describes the 'Ardumower Mini' that can be used to implement a full Ardumower for indoor software development and that you can purchase via the shop

Needed parts

• Ardumower mini chassis including motors etc.
• Ardumower electronics

Pictures

• 

  Ardumower mini front

• 

  Ardumower mini side

• 

  Ardumower mini top

• 

  Indoor perimeter sender (L298-based)

Videos

1. Ardumower mini
2. Ardumower mini tracking perimeter wire

Wiring

NOTE: Do not use more than 7 volt to operate the DC motors!

1. Start button

Button (a) --- Arduino pinButton (see code)
Button (b) --- GND 

2. Piezo buzzer

Buzzer (a) --- Arduino pinBuzzer (see code)
Buzzer (b) --- GND 

3. Motor driver

3.1 For L298N motor driver

+5v  --- leave open
+12v --- LiPo 2s battery 7volt (+) 
GND  --- LiPo 2s battery 7volt (-)
ENA  --- insert jumper (enables OUT1,2)
IN1  --- Arduino pinMotorLeftPWM  (see code)
IN2  --- Arduino pinMotorLeftDir  (see code)
IN3  --- Arduino pinMotorRightPWM (see code)
IN4  --- Arduino pinMotorRightDir (see code)
ENB  --- insert jumper (enables OUT3,4)
S1   --- insert jumper (enables 5v regulator for +12v voltage input)
OUT1 --- left motor (+)
OUT2 --- left motor (-)
OUT3 --- right motor (+)
OUT4 --- right motor (-)

3.2 For MC33926 motor driver

M1_FB     --- Arduino pinMotorLeftSense (see code)
M1_SF     --- Arduino pinMotorLeftFault (see code)
M1_PWM_D1 --- connect with jumper to GND
M1_PWM_D2 --- connect with jumper to VDD
M1_IN1    --- Arduino pinMotorLeftPWM (see code)
M1_IN2    --- Arduino pinMotorLeftDir (see code)
EN        --- Arduino pinMotorEnable  (see code)
M2_FB     --- Arduino pinMotorRightSense (see code)
M2_SF     --- Arduino pinMotorRightFault (see code)
M2_PWM_D1 --- connect with jumper to GND
M2_PWM_D2 --- connect with jumper to VDD
M2_IN1    --- Arduino pinMotorRightPWM (see code)
M2_IN2    --- Arduino pinMotorRightDir (see code)
EN        --- Arduino pinMotorEnable (see code)
VDD       --- Arduino 5V 
M1OUT1    --- left motor (+)
M1OUT2    --- left motor (-)
M2OUT1    --- right motor (+)
M2OUT2    --- right motor (-)
VIN       --- LiPo 2s battery 7volt (+)
GND       --- LiPo 2s battery 7volt (-)

4. Arduino Mega

Power jack       ---  LiPo 2s battery 7volt (outside is-/inside is+)
pinMotorLeftPWM  ---  left motor speed (see code
pinMotorLeftDir  ---  left motor direction (see code)
pinMotorRightPWM ---  right motor speed (see code)
pinMotorRightDir ---  right motor direction (see code)

5. Bluetooth receiver

VCC5.0  --- Arduino 5v   (for 5v Bluetooth version)
VCC3.3  --- Arduino 3.3v (for 3.3v Bluetooth version)
TXD     --- Arduino RX2
RXD     --- Arduino TX2
GND     --- Arduino GND

6. Sonar (ultrasonic)

VCC     --- Arduino 5v
Trig    --- Arduino pinSonarCenterTrigger (see code)
Echo    --- Arduino pinSonarCenterEcho (see code)
GND     --- Arduino GND

7. Model R/C

VCC           --- Arduino 5v
CHANNEL steer --- Arduino pinRemoteSteer (see code)
CHANNEL speed --- Arduino pinRemoteSpeed (see code)

8. IMU (compass/gyro/accel)

SDA     --- Arduino SDA
SCL     --- Arduino SCL
GND     --- Arduino GND
VCC5.0  --- Arduino 5v