PCB 1.2 (English)
This page describes how to assemble the Ardumower PCB, flash the Arduino and configure the robot mower.
Inhaltsverzeichnis
Abstract
The controller is built around a ready microcontroller board (Arduino Mega 2560 using 54 I/O pins).
Components overview
Ardumower PCB connects all modules (available in the shop)
PCB top
PCB back
PCB and MC33926
Needed modules
All modules can be purchased as complete kits via the shop 
.
PCB
The printed circuit board (PCB) connects all electronic modules. The PCB is made with the following design parameters:
- PCB dimensions 241x114mm
- All modules (motor driver, Bluetooth, etc.) can be soldered (or plugged) on the PCB (modules are available in the Ardumower shop)
- Uses the Arduino Mega 2560
- Optional: can use Arduino Due via additional adapter PCB
- Optional: integrated charging circuit (current limiting)
- All connections are available on connectors as well as +5V and GND
- Max. trace current (for motors): 8A
PCB building manual
Robot PCB v0.5 (initial prototype, please do not use anymore)
Robot PCB v1.2 (minor layout changes)
- Schematics
- Photos
- Build instructions
- Build instructions (English translation)
- WorkaRound20150527
- WorkaRound20150530
- also see: Documentation in Github
NOTE: The schematics and PCB files were created with KiCad. They can be downloaded from github and can be edited by open source KiCAD software (Download here or here).
PCB building videos
- Resistors
- Diodes and relay
- Capacitors and transistors
- Piezo buzzer and fuse
- Strip pins
- DC/DC converter
- RTC module
- Dual MC33926
- INA169
- Battery & charger
PCB jumpers
| Feature used | YES | NO | Comment |
|---|---|---|---|
| Integrated charging control via adjustable
voltage regulator (LM350T) with potentiometer for adjustable charging voltage (recommended: NO) |
D7: DIODE
D3: DIODE C1, C4, U4, RV1: used |
D7: SHORT-CIRCUIT
D3: SHORT-CIRCUIT C1, C4, U4, RV1: not used |
Do not use if using external battery charger |
| External power while charging (recommended: NO) | JP6: CLOSE
JP7: OPEN D4: DIODE C5: not used |
JP6: OPEN
JP7: CLOSE D4: SHORT-CIRCUIT C5: used |
Use to power your PCB from externally (disconnect battery from PCB) while charging |
| Arduino controlled charge relay (recommended: YES) | JP4: CLOSE
JP5: OPEN |
JP4: OPEN
JP5: CLOSE |
Use for Arduino controlled charge relay (not automatic charging) |
| Arduino Due (3.3V I/O) | LP0, ..., LP15: OPEN | LP0, ..., LP15: CLOSE | Do not use if using Arduino Mega |
| Bluetooth VCC=3.3V | JP8: OPEN
JP9: CLOSE |
JP8: CLOSE
JP9: OPEN |
Many latest modules use 3.3V |
| Bluetooth programming mode | JP2: CLOSE | JP2: OPEN | Use for reprogramming baud rate etc. |
PCB modules
| Module | Feature | Pinout | Optional | Comment |
|---|---|---|---|---|
| U1 | DC/DC converter (10V) | GND, Vout, Vin, GND | No | |
| U2 | Bluetooth (HC-05) | VCC, GND, TXD, RXD, Key, LED | Yes | |
| U3 | Current sensor (charging) | VCC, GND, OUT, IP+, IP-5 | Yes | |
| U4 | Charge control (LM350T) | AJD, OUT, IN | Yes | |
| U5 | Current sensor (charging) | VCC, GND, OUT, IP+, IP-5 | Yes | |
| U6 | DC/DC converter (3.3V) | GND, Vout, Vin, GND | No | |
| U7 | DC/DC converter (5V) | GND, Vout, Vin, GND | No | |
| U8 | Realtime clock (DS1307) | Batt, GND, VCC, SDA, SCL, DS, SQ | Yes | |
| U9 | Wifi (ESP8266) | TX, CH_PD, Reset, VCC, GND, GP_IO2, GP_IO0, RX | Yes | |
| U10 | Level shifter 5V->3V (Arduino Due) | Yes | ||
| U11 | Wifi (ESP8266) | TX, CH_PD, Reset, VCC, GND, GP_IO2, GP_IO0, RX | Yes | alternative mount position |
PCB connectors
| Connector | Feature | Pinout | Optional | Comment |
|---|---|---|---|---|
| P1 | Sonar center (HC SR-04) | 5V, GND, Trigger, Echo | Yes | |
| P2 | Sonar right (HC SR-04) | 5V, GND, Trigger, Echo | Yes | |
| P3 | Sonar left (HC SR-04) | 5V, GND, Trigger, Echo | Yes | |
| P4 | reserved | Yes | ||
| P5 | IMU (gyro,acceleration,compass) (GY-80) | Yes | ||
| P6 | Lawn sensor | Yes | ||
| P7 | Status LEDs | Yes | ||
| P8 | Odometry right | Yes | ||
| P9 | Odometry left | Yes | ||
| P10 | GPS (GY-NEO6MV2) | Yes | ||
| P11 | Bumper | GND, GND, right, left | Yes | |
| P12 | Perimeter coil (center or left) | 5V, GND, perimeter | Yes | |
| P13 | R/C remote control | 5V, GND, mow, steer, speed, switch | Yes | |
| P14 | Measurement points | 5V, GND, (Depending on JP15: 3.3V, 5V or Arduino 3.3V) | Yes | |
| P15 | Wheel motor left | M1OUT1, M1OUT2 | No | |
| P16 | Optional motor driver input | Yes | Do not connect | |
| P17 | Optional motor driver input | Yes | Do not connect | |
| P18 | Wheel motor right | M2OUT1, M2OUT2 | No | |
| P19 | Tilt sensor | 5V, GND, tilt | Yes | |
| P20 | Button (Start/Stop) | No | ||
| P21 | Drop sensor right | Yes | ||
| P22 | Reserved | Yes | ||
| P23 | Reserved | Yes | ||
| P24 | Reserved | Yes | ||
| P25 | Reserved | Yes | ||
| P26 | Reserved | Yes | ||
| P27 | Reserved | Yes | ||
| P28 | Reserved | Yes | ||
| P29 | Reserved | Yes | ||
| P30 | Perimeter coil right | Yes | ||
| P31 | Drop sensor left | Yes | ||
| P32 | GND | Yes | ||
| P33 | 5V | Yes | ||
| P34 | 3.3V | Yes | ||
| P35 | Mower motor RPM | Yes | ||
| P36 | Reserved | Yes | ||
| P37 | Mower motor | No | ||
| P38 | Reserved | Yes | ||
| P39 | Reserved | Yes | ||
| P40 | User switches | Yes | ||
| P41 | Rain sensor | Yes | ||
| P42 | Charging pins | Yes | ||
| P43 | Battery (24V) | No | ||
| P44 | Wifi module (ESP8266) | Yes | ||
| P45 | Reserved | Yes | ||
| P46 | Reserved | Yes |
Power supply
Please also read the section 'Voltages' under Motor driver for more information on motor voltages.
It is recommended to use a voltage step-down converter (e.g. module using LM2596) to generate the 5V voltage for the Arduino and all additional modules. Before connecting, set the voltage of the converter to 5V.
Warning : never connect more than 5V on the Arduino 5V pins, or you will damage the Arduino. Therefore, always measure the 5V voltage before connecting it to the Arduino 5V pin!
All components together (as shown in the schematics) need about 5W power.
