www.wiki.ardumower.de - Benutzerbeiträge [de]

Ardumower PCB

2015-04-23T21:02:53Z

Autega: /* Download and flash Arduino code */

=Abstract=
This page describes how to assemble the Ardumower PCB, flash the Arduino and configure the robot mower.

The controller is built around a ready microcontroller board (Arduino Mega 2560 using 54 I/O pins).
<gallery>
File: Ardumower_overview.png | Components overview
File: Arduinomega.jpg | Ardumower's heart: Arduino Mega 2560 microcontroller
File: Ardumower_parts.jpg| Modules available in the shop
File: Ardumower_pcb_photo.jpg | Ardumower PCB connects all modules (available in the shop)
File: Ardumower_chassis_pcb1.jpg | Chassis and PCB inside
File: Ardumower_chassis_pcb2.jpg | PCB mount
</gallery>

=Needed modules=

All modules can be purchased as complete kits via the [https://www.marotronics.de/index.php?k=7 shop] [[File: shopping.png|link=https://www.marotronics.de/index.php?k=7]] .

* Main functions
** Arduino cable (female-female and male-female jumper cable)
** Arduino Mega 2560 (or Arduino Due)
** DC voltage step-down module
** dual motor driver module with integrated current sensor (2 wheel motors)
** current sensor module
** motor driver module with integrated current sensor (mower motor)
** Resistors, Capacitors, Fuse
** Piezo buzzer, button, ON/OFF switch

* Perimeter sender (optional)
** Arduino Nano
** DC voltage step-down module
** motor driver module with integrated current sensor

* Perimeter receiver (optional)
** pre-amplifier module
** Capacitor, Receiver coil

* Additional modules
** ultrasonic sensor module (optional)
** IMU module (gyro, accel. compass) (optional)
** realtime clock module (optional)
** Bluetooth module (for phone control)

=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

'''Click here for photos''': https://github.com/Ardumower/ardumower/tree/master/pcb/megashield_svn_0.5/Platinenbilder

More photos to come...

=Schematics=

A schematics says more than a thousand words...

<gallery>
File: Ardumower_schematics.png | for old v0.9.3 code (not recommended)
</gallery>

'''Click here for latest version''' (PDF): https://github.com/Ardumower/ardumower/blob/master/pcb/megashield_svn_0.5/ardumower%20mega%20shield%20svn.pdf

The schematics and PCB files were created with KiCad. They can be downloaded from [https://github.com/Ardumower/ardumower/archive/master.zip github] and can be edited by open source [http://kicad.nosoftware.cz/windows/KiCad_testing-2014.10.19-BZR5203_Win_full_version.exe KiCAD software].

=PCB jumpers=

{| class="wikitable"
|-
! 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=

{| class="wikitable"
|-
! 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=

{| class="wikitable"
|-
! 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.

[[File:warning.png]]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.

<gallery>
File: Dcdc_noise.jpg | NOTE: Keep away coil/pre-amplifier from DC/DC converters!
</gallery>

=Download and flash Arduino code=

<b>NOTE</b>: If you have never worked with Arduino before, read our <b>[http://wiki.ardumower.de/index.php?title=Arduino_first_steps 'Arduino first steps' introduction]</b>.

You have two options:
* Download [https://github.com/Ardumower/ardumower/archive/master.zip github code (recommended)] OR
* Download [http://www.ardumower.de/index.php/de/downloads v0.9.3 code (old, not recommended)]

Finally, download and start the [http://arduino.cc/en/Main/Software Arduino IDE] to flash the code to your Arduino.

'''Arduino Version''': It is very Importent that you use the Arduino IDE version 1.6.3 or above AND select the right Board (Mega 2560 or Due).

[[File:warning.png]] Note: Always verify that the pin configuration in your Arduino code (config.h/mower.cpp) matches your actual circuit!

=First-time calibration=
==Wheel motors==
[[File:warning.png]]Security note: For security reasons, always remove mower blades in your first tests!

Initially, you should verify that the wheel motors are controlled correctly and in the right direction. The software offers a diagnostic mode. Open the serial console in the Arduino IDE (CTRL+SHIFT+M) and set the baudrate to 19200. The motor and sensor values should appear constantly:

<blockquote style="background-color: lightgrey; border: solid thin grey;">
<pre>
20 OFF spd 0 0 0 sen 0 0 0 bum 0 0 son...
21 OFF spd 0 0 0 sen 0 0 0 bum 0 0 son...
22 OFF spd 0 0 0 sen 0 0 0 bum 0 0 son...
23 OFF spd 0 0 0 sen 0 0 0 bum 0 0 son...
24 OFF spd 0 0 0 sen 0 0 0 bum 0 0 son...
...
</pre>
</blockquote>

Now, press the key ‘t’ on the keyboard, and confirm using ENTER. The diagnostic mode should appear, and you can test your motors.

==ADC calibration==
Run the ADC calibration once (either via serial console or "pfodApp->ADC Calibration"), so that the received signal is symmetric around zero.

=Diagnostics/troubleshooting=
Each time a sensor triggers, its corresponding sensor counter increases. The sensor trigger counters as well as the current sensor values can be viewed on the serial console. The following values are shown for the trigger counters in the serial console:

# Time of state machine's state (ms)
# loop()-counts per second
# choosen Verbose-Mode (0=counter readings/1=current values/2=current values)
# current state machine state (FORW, REV, ROLL etc.)
# drive home? (1/0)
# "spd" - Control/speed motors: left (PWM), right (PWM), mower (RPM)
# "sen" - Current limit exceeded counter motors: left, right, mower
# "bum" - bumper counter: left, right
# "son" - Ultrasonic-distance threshold exceeded (counter)
# "pit/roll" - Tilt (computed by acceleration sensor)
# "com" - compass course
# "per" - Perimeter loop detected: counter
# "bat" - Battery voltage
# "chg" - Charging current

Using the key 'v', you can toggle between sensor trigger counters and current sensor values.

[[File:warning.png]] Additionally, you can use pfodApp (Android) to plot the sensors (trigger counters and current values) over time. This allows you to wirelessly monitor your robot mower for error diagnostics. It is highly recommended.

<gallery>
File:Ardumower_sensor_counter_plotting.jpg |Sensor trigger counters
File:Ardumower_plot_sensors.jpg |Sensor measurement values
</gallery>

=Starting the mower=

To start the mower, you need to add a button and a buzzer:

pinButton —o Button o— GND (button for ON/OFF)

pinBuzzer —o Buzzer o— GND (Piezo buzzer)

Now, press the button as long as you hear the beeps:

Mode (press button for x beeps):
1 beeps : Normal mowing (using blade modulation if available)
2 beeps : Normal mowing (without blade modulation)
3 beeps : Drive by model remote control (RC)
4 beeps : Drive without mowing
5 beeps : Find perimeter and track it

=Error counter / error beeps=
If there's a communication problem or another serious problem, the error counter increases. The error counter can be monitored via pfodApp. Additionally, the robot mower will beep when started.

==I2C bus / error beeps==
Several components (Arduino Nano, RTC, IMU, etc.) are communicating via the I2C bus (SDA/SCL wires). These wires should be very short (maybe even twisted) and they should be far away from DC converter and motor drivers. If there's a communication problem, the error counter will increase and robot will beep when started. The error counter can be monitored via pfodApp.

=Config files=
You can adapt the Ardumower code to your own robot mower hardware using the config file:
* config.h (old v9.0.3)
* mower.cpp (SVN version)

Config files translate the commands of the main program into the specific hardware (i.e. actuators and sensors) - that allows us to adapt the main program to different robot mowers:

<gallery>
File:Ardumower_config_files.png
</gallery>

Example:

The main program wants to drive the left wheel motor with speed 100. The chosen robot config file is called by the main program with this command:
setActuator(ACT_MOTOR_LEFT, 100)

The actual config file will execute this command by calling the specific motor driver:
setL298N(pinMotorLeft, pinMotorLeftPWM, 100)

To enable a sensor, remove the comment of that line. To disable a sensor, comment the line with a double slash (//).

==pfodApp==
The configuration of the robot mower can be set via Android phone ([http://wiki.ardumower.de/index.php?title=Bluetooth pfodApp]).

Important: If you flashed a new version, reset all settings via pfodApp once (Settings->Factory reset). This will delete all existing settings. Old settings can produce malfunction if the internal settings format has changed.

=Further links=

Arduino first steps

2015-04-23T21:01:25Z

Autega:

__NOTOC__
If you have never worked with Arduino before, this page describes how to <b>start with your Arduino</b> that you can purchase via the [https://www.marotronics.de/index.php?k=7 shop] [[File: shopping.png|link=https://www.marotronics.de/index.php?k=7]].

All you need to run the example below is:
* One Arduino Nano (or Arduino Mega2560)
* One USB cable
[[File: Arduino nano usb cable.jpg|300px]]

<h3><b>1. Attach the Arduino to your computer</b></h3>
Using an USB cable, attach the Arduino (Arduino Nano or Arduino Mega) to your computer as shown below.
<gallery>
File: Arduino nano usb connected.jpg|Arduino Nano connected via USB
File: Arduino atmega2560 usb connected.jpg|Arduino Mega 2560 connected via USB
</gallery>
You may need to install a driver for your Arduino:
* Arduino Nano: Click [http://forum.diamex.de/attachment.php?attachmentid=65&d=1346742303 here] to download 'FTDI CDM 2.08.24'
Note: Do NOT use the newest FTDI drivers as they may make your Arduino malfunction). Here are the steps to remove any newer driver:
1. In Windows, choose 'Computer->Properties->Extended system settings->Hardware device settings'
2. Set 'Should Windows install drivers automatically?' to 'NO'
3. Activate 'Never install drivers via Windows Update'
4. Run [http://www.ftdichip.com/Support/Utilities.htm CDM Uninstaller]
5. Click 'Add', then 'Remove Devices'
6. Restart your computer
7. Re-plug Arduino Nano, now Windows should ask for driver installation, and you can choose the correct driver version (2.08.24)
* Arduino Mega 2560:
1. Download the Arduino development software (link in next section below) to your computer
2. Navigate to and select the driver file named "arduino.inf", located in the "Drivers" folder of the Arduino Software download.

<h3><b>2. Download</b></h3>
Click here to download the Arduino development software (v1.6.3) to your computer
(Windows users should download the 'Installer' version on that page):

[[File: Arduino symbol small.jpg |link=http://arduino.cc/en/Main/Software#toc3]]

<h3><b>3. Install</b></h3>
After the download completed, install the Arduino development software on your computer:
For Windows users, double click the downloaded file ('arduino-1.6.3-windows.exe') in your
Windows file explorer to run the installation.

<h3><b>4. Run</b></h3>
After the installation completed, run the Arduino development software on your computer
by double clicking the 'Arduino' symbol on your Windows desktop.

[[File: Arduino_start_symbol_small.jpg]]

<h3><b>5. Choose blink example</b></h3>
After the Arduino development software has started, choose the menu,
and click on 'File->Examples->Basics->Blink'. This will load the Arduino blink example.

[[File: Arduino ide blink example.jpg]]

<h3><b>6. Choose correct board type</b></h3>
Via the menu, click on 'Tools->Board->Arduino Nano' to choose your Nano board
(or Arduino Mega 2560 if you want to use a Mega board).

[[File: Arduino ide choose board.jpg]]

<h3><b>7. Choose correct USB serial port</b></h3>
Via the menu, click on 'Tools->Port', and choose the detected USB serial port.

[[File: Arduino ide choose port.jpg]]

<h3><b>8. Upload the blink example</b></h3>
Click on the 'Upload' symbol to upload the blink example to your Arduino.

[[File: Arduino ide upload.jpg]]

After the code is uploaded, your Arduino will start to blink!

[[File: Arduino nano blink example.gif]]

<h3><b>Congratulations!</b></h3>
You have just programmed your first Arduino!

<h3><b>Now let's look a little bit closer at the above blink code to understand it:</b></h3>
The Arduino has several pins, each of them has a number. As shown below, Pin 13 is already (internally) connected to the on-board LED:

[[File: Arduino nano pinout.jpg|300px]]

Each pin can be configured as either <b>INPUT</b> or <b>OUTPUT</b> depending on wheter you want
to measure or control that pin :

<blockquote style="background-color: lightgrey; border: solid thin grey;">
<pre>
INPUT means that you can read (or measure) that pin. The measurement can be either ON
(there is voltage on that pin) or OFF (there is no voltage on that pin).
</pre>
</blockquote>

<blockquote style="background-color: lightgrey; border: solid thin grey;">
<pre>
OUTPUT means that you can write (or control) the voltage of that pin.
</pre>
</blockquote>

In the blink example above, we are using the LED pin (pin 13) that is already connected to an LED.
Because we want to control that pin, we are configuring it as <b>OUTPUT</b>:

<blockquote style="background-color: lightgrey; border: solid thin grey;">
<pre>
pinMode(13, OUTPUT);
</pre>
</blockquote>

Now let's see how we can turn ON or OFF the LED using an Arduino command. This command will turn ON the voltage for pin 13:

<blockquote style="background-color: lightgrey; border: solid thin grey;">
<pre>
digitalWrite(13, HIGH);
</pre>
</blockquote>

And consequently this command will turn OFF the voltage for pin 13:

<blockquote style="background-color: lightgrey; border: solid thin grey;">
<pre>
digitalWrite(13, LOW);
</pre>
</blockquote>

Let's see how we can wait one second between the ON and OFF toggling. This command will wait (halt)
the program for one second (=1000 milliseconds):

<blockquote style="background-color: lightgrey; border: solid thin grey;">
<pre>
delay(1000);
</pre>
</blockquote>

So let's look at the complete blink program again:

<blockquote style="background-color: lightgrey; border: solid thin grey;">
<pre>
void setup(){
pinMode(13, OUTPUT); // we want to control pin 13
}

void loop(){
digitalWrite(13, HIGH); // pin 13 will go HIGH (voltage ON)
delay(1000); // wait one second (=1000 milliseconds)
digitalWrite(13, LOW); // pin 13 wil go LOW (voltage OFF)
delay(1000); // wait one second (=1000 milliseconds)
// ...now everything repeats
}
</pre>
</blockquote>

<h3><b>How to go further...</b></h3>
Now you can try to upload the [http://wiki.ardumower.de/index.php?title=Ardumower_PCB Ardumower code] the same way as you uploaded the blink example!

 
 
 
 
 