Ardumower Mini
Inhaltsverzeichnis
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 mini electronics:
- Arduino Mega 2560 Board
- Mega Sensor Shield Special Sensor Expansion Board für Arduino
- 20 cables female-to-female
- Dual MC33926 Motor Driver Carrier (or STL298N Dual Moto Driver)
- Bluetooth RF Transceiver Module (HC-05) (optional)
- Odometry sensor module (encoder) (optional)
- Ultrasonic Ranging module (HC-SR04) (optional)
- Sound Sensor LM386 Audio Amplifier 200x and 150 mH perimeter coil (optional)
Pictures
Ardumower mini front
Ardumower mini side
Ardumower mini top
Indoor perimeter sender (L298-based)
Videos
Steps
The Ardumower Mini can run the same software as the 'big Ardumower'. For the PCB, you don't need to use an Ardumower PCB - instead you can (with some limitation) connect the components directly to the Arduino Mega as shown below. The limitations are: there will be no battery charging circuit, no charging station, and of course your wiring will not look as nice as a ready PCB :-)
For software download, see the Ardumower PCB/code page. In the Arduino IDE, go into file 'config.h', and activate the pin configuration for the Ardumower Mini (enable '#define USE_MINI' and disable '#define USER_MOWER'). Now the code will use the Ardumower Mini pin configuration file ('mini.cpp').
NOTE: Do not use more than 7 volt to operate the mini DC motors!
1. Start button
Button (a) --- Arduino pinButton (for actual pin number, see code: mini.cpp) Button (b) --- Arduino GND
2. Piezo buzzer
Buzzer (a) --- Arduino pinBuzzer (for actual pin number, see code: mini.cpp) Buzzer (b) --- Arduino GND
3. Motor driver
3.1 For L298N motor driver
+5v --- leave open +12v --- LiPo 2s battery 7volt (+) GND --- LiPo 2s battery 7volt (-) OUT1 --- left motor (+) OUT2 --- left motor (-) OUT3 --- right motor (+) OUT4 --- right motor (-) ENA --- insert jumper (enables OUT1,2) IN1 --- Arduino pinMotorLeftPWM (for actual pin number, see code: mini.cpp) IN2 --- Arduino pinMotorLeftDir (for actual pin number, see code: mini.cpp) IN3 --- Arduino pinMotorRightPWM (for actual pin number, see code: mini.cpp) IN4 --- Arduino pinMotorRightDir (for actual pin number, see code: mini.cpp) ENB --- insert jumper (enables OUT3,4) S1 --- insert jumper (enables 5v regulator for +12v voltage input)
3.2 For MC33926 motor driver
VIN --- LiPo 2s battery 7volt (+) GND --- LiPo 2s battery 7volt (-) M1OUT1 --- left motor (+) M1OUT2 --- left motor (-) M2OUT1 --- right motor (+) M2OUT2 --- right motor (-) M1_FB --- Arduino pinMotorLeftSense (see code: mini.cpp) M1_SF --- Arduino pinMotorLeftFault (see code: mini.cpp) M1_PWM_D1 --- connect with jumper to GND M1_PWM_D2 --- connect with jumper to VDD M1_IN1 --- Arduino pinMotorLeftPWM (see code: mini.cpp) M1_IN2 --- Arduino pinMotorLeftDir (see code: mini.cpp) EN --- Arduino pinMotorEnable (see code: mini.cpp) M2_FB --- Arduino pinMotorRightSense (see code: mini.cpp) M2_SF --- Arduino pinMotorRightFault (see code: mini.cpp) M2_PWM_D1 --- connect with jumper to GND M2_PWM_D2 --- connect with jumper to VDD M2_IN1 --- Arduino pinMotorRightPWM (see code: mini.cpp) M2_IN2 --- Arduino pinMotorRightDir (see code: mini.cpp) EN --- Arduino pinMotorEnable (see code: mini.cpp) VDD --- Arduino 5V
4. Arduino Mega
Power jack --- LiPo 2s battery 7volt (outside is-/inside is+)
5. Bluetooth receiver (optional, but recommended)
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 (optional, but recommended)
VCC --- Arduino 5v Trig --- Arduino pinSonarCenterTrigger (see code: mini.cpp) Echo --- Arduino pinSonarCenterEcho (see code: mini.cpp) GND --- Arduino GND
7. Model R/C (optional)
VCC --- Arduino 5v CHANNEL steer --- Arduino pinRemoteSteer (see code: mini.cpp) CHANNEL speed --- Arduino pinRemoteSpeed (see code: mini.cpp)
8. IMU (compass/gyro/accel) (optional)
SDA --- Arduino SDA SCL --- Arduino SCL GND --- Arduino GND VCC5.0 --- Arduino 5v
9. Perimeter receiver (optional, but recommended)
VCC --- Arduino 5v IN --- coil (a) GND --- coil (b) GND --- Arduino GND Out --- Arduino pinPerimeterLeft (see code: mini.cpp)
10. Perimeter sender (optional, but recommended)
See Ardumower sender.
11. Odometry/wheel encoder (optional)
VCC --- Arduino 5v GND --- Arduino GND DO1 (left motor) --- Arduino pinOdometryLeft (see code: mini.cpp) DO2 (right motor) --- Arduino pinOdometryRight (see code: mini.cpp) NOTE: Set 'twoWayOdometrySensorUse = 1'
