FireBird V Hardware Manual V1.08 2012-10-12
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Transcript of FireBird V Hardware Manual V1.08 2012-10-12
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Fire Bird V ATMEGA2560 Hardware Manual
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Fire Bird V ATMEGA2560 Hardware Manual
FIRE BIRD V
HARDWARE MANUAL
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A 2
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Fire Bird V ATMEGA2560 Hardware Manual
Version 7.00
15th August 2012
Documentation author
%ac-itanand Malewar& NEX Robotic !"t# $td#+r# Anant Malewar& NEX Robotic !"t# $td#
re!its "A#$ha%etica##&'
Adit*a %-ar)a& NEX Robotic
A)e* A.te& NEX RoboticA)it /ada"& NEX Robotic
A-i- Gud-e& '%E& M#Tec-& ((T Bo)ba*
Be-lul %utarwala& NEX Robotic
Gaura" $o-ar& NEX RoboticGuruline- R# '%E& M#Tec-& ((T Bo)ba*
(nder.reet Arora& EE& M#Tec-& ((T Bo)ba*!ro1# a"i Ar*a& '%E& ((T Bo)ba*
!ro1# rit-i Ra)a)rit-a)& '%E& ((T Bo)ba*
unal 3o-i& NEX Robotic Nandan %alun4e& RA& '%E& ((T Bo)ba*
!rati) !atil& NEX Robotic
!reeti Mali4& RA& '%E& ((T Bo)ba*
!ra4-ar Go*al& '%E& M#Tec-& ((T Bo)ba*Ra"ira B-atane& RA& '%E& ((T Bo)ba*
Ro-it '-au-an& NEX Robotic
Raani4ant %awant& NEX Robotic%aurab- Benali& RA& '%E& ((T Bo)ba*
Vaib-a" +a-e& RA& '%E& ((T Bo)ba*
Vib-ooti Ver)a& '%E& M#Tec-& ((T Bo)ba*Vinod +eai& NEX Robotic
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A
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Fire Bird V ATMEGA2560 Hardware Manual
Notice
T-e content o1 t-i )anual are ubect to c-ane wit-out notice# All e11ort -a"e been )ade toenure t-e accurac* o1 content in t-i )anual# Howe"er& -ould an* error be detected& NEX
Robotic welco)e *our correction# /ou can end u *our 7uerie 8 uetion at
in1o9ne:;robotic#co)
'ontent o1 t-i )anual i releaed under t-e 'reati"e 'o))ence cc b*;nc;a licene# For leal
in1or)ation re1er to< -tt.<88creati"eco))on#or8licene8b*;nc;a8#08lealcode
• Ro%ot(s e#ectronics is static sensiti)e. Use ro%ot in static *ree en)ironment.
• Rea! the har!+are an! so*t+are manua# com$#ete#& %e*ore using this ro%ot
Rec&c#ing,Al)ot all o1 t-e robot .art are rec*clable# !leae end t-e robot .art to t-e rec*clin .lant
a1ter it o.erational li1e# B* rec*clin we can contribute to cleaner and -ealt-ier en"iron)ent 1or
1uture eneration#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A =
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Fire Bird V ATMEGA2560 Hardware Manual
Re)ision Histor&,
,# >er )ut o t-rou- t-e Fire Bird V? Hardware and %o1tware )anual
be1ore uin t-e robot#
2# T-i -ardware )anual i a..licable 1ro) Main board Verion ,, dated ,2 t-
Auut 20,2 onward and ATMEGA2560 )icrocontroller board Verion @
dated ,5t- Auut 20,2#
# 'r*tal o1 t-e ATMEGA2560 )icrocontroller i u.raded to ,=#@=56MH
1ro) ,,#052M- in all t-e Fire Bird V ATMEGA2560 robot deli"ered on
or a1ter ,t +ece)ber 20,0# T-i docu)entation i u.dated coniderin
cr*tal 1re7uenc* a ,=#@=56MH#
=# Followin are t-e u.rade )ade in Main board Verion ,, dated ,2 t-
Auut 20,2 and ATMEGA2560 )icrocontroller board Verion @ dated ,5 t-
Auut 20,2#
• Main board u..ort an* )icrocontroller wor4in on #V and 5V#
• Cn;board NiMH Batter* c-arer alon wit- batter* le"el indicator#
• Au:iliar* .ower connector and batter* c-arin connector are e.arated
and re7uire a inle uni1ied connector 1ro) t-e A' ada.ter#
• )) (R .ro:i)it* %enor are re.laced wit- 5)) (R !ro:i)it* enor 1or
better rane#
• ti)e reduction in .ower conu)ed b* (R .ro:i)it* enor#• Added u..ort 1or @ c-annel w-ite line enor wit- all @ enor calibration
.otentio)eter on )ain board#
• All Motor& %enor .od D batter* connector are re.laced wit- reli)ate 25,0
t*.e connector 1or better reliabilit*#
• Added Fue .rotection#
• Re)o"able batter* .ac4 wit- Velcro batter* tra.#
• Botto) acr*lic .late i re.laced wit- -i- trent- alu)inu) )etal .late#
• Ea* to re.lace )otor t-an .re"iou )odel#
• Added u..ort 1or Ma:Boti: >ltraonic Rane %enor#• Added .in to )eaure inal trent- o1 XBee wirele )odule#
• $arer -eat in4 area 1or t-e on;board "oltae reulator#
• Tin .lated .ower and )otor trac4 1or 1urt-er increain .ower ratin o1 t-e
)ain board#
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Fire Bird V ATMEGA2560 Hardware Manual
-n!e
1. -ntro!uction 7
2. /ire ir! V AMEA2530 4
. Using /ire ir! V Ro%ot 1
6. in /unctiona#it& 74
5. U$gra!ing Ro%ot(s Har!+are 44
3. ase! ontro# Using 8eria# ommunication 93
7. Ro%ot ontro# using :U-( *or /ire ir! V AMEA2530 111
4 Errata 121
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Fire Bird V ATMEGA2560 Hardware Manual
1. -ntro!uction
T-an4 1or c-ooin t-e Fire Bird V )obile robotic .lat1or)# Fire Bird V will -el. *ou ain
e:.oure to t-e world o1 robotic and e)bedded *te)# it- -el. o1 it inno"ati"e arc-itecture
and ado.tion o1 t-e C.en %ource !-iloo.-*? in it o1tware and -ardware dein& *ou will be
able to create and contribute to co).le: a..lication t-at run on t-i .lat1or)& -el.in *ouac7uire e:.ertie a *ou .end )ore ti)e wit- t-e)#
8a*et& $recautions,
• Robot? electronic i tatic eniti"e# >e robot in tatic 1ree en"iron)ent#
• Read t-e ae)blin and o.eratin intruction be1ore wor4in wit- t-e robot#
• (1 robot? batter* low buer tart bee.in& i))ediatel* c-are t-e batterie#
• To .re"ent 1ire -aard& do not e:.oe t-e e7ui.)ent to rain or )oiture#
• Re1rain 1ro) di)antlin t-e unit or an* o1 it acceorie once robot i ae)bled#
• '-are t-e NiMH batter* onl* wit- t-e c-arer .ro"ided on t-e robot#
• Ne"er allow NiMH batter* to dee. dic-are#• Mount all t-e co).onent wit- correct .olarit*#
• ee. w-eel awa* 1ro) lon -air or 1ur#
• ee. t-e robot awa* 1ro) t-e wet area# 'ontact wit- water will da)ae t-e robot#
• To a"oid ri4 o1 1all& 4ee. *our robot in a table .oition#
• +o not attac- an* connector w-ile robot i .owered CN#
• Ne"er lea"e t-e robot .owered CN w-en it i not in ue#
• +iconnect t-e batter* c-arer a1ter c-arin t-e robot#
-na$$ro$riate ;$eration,
(na..ro.riate o.eration can da)ae *our robot# (na..ro.riate o.eration include& but i notli)ited to<
• +ro..in t-e robot& runnin it o11 an ede& or ot-erwie o.eratin it in irre.onible)anner#
• (nter1acin new -ardware wit-out coniderin co).atibilit*#
• C"erloadin t-e robot abo"e it .a*load ca.acit*#
• E:.oin t-e robot to wet en"iron)ent#
• 'ontinuin to run t-e robot a1ter -air& *arn& trin& or an* ot-er ite) i entanled in t-e
robot? a:le or w-eel#
• All ot-er 1or) o1 ina..ro.riate o.eration#
• >in robot in area .rone to tatic electricit*#
• Read care1ull* .arara.- )ar4ed wit- caution *)bol#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A @
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Fire Bird V ATMEGA2560 Hardware Manual
2. /ire ir! V AMEA2530
T-e Fire Bird V robot i t-e 5 t- in t-e Fire Bird erie o1 robot# Firt two "erion o1 t-e robot
were deined 1or t-e E)bedded Real;Ti)e %*te) $ab& +e.art)ent o1 'o).uter %cience and
Enineerin& ((T Bo)ba*# T-ee .lat1or) were )ade co))erciall* a"ailable 1ro) t-e "erion
onward# All t-e Fire Bird V erie robot -are t-e a)e )ain board and ot-er acceorie#+i11erent 1a)il* o1 )icrocontroller can be added b* i).l* c-anin to. )icrocontroller
ada.ter board# Fire Bird V u..ort ATMEGA2560 AVR& !IV5,R+2 I05, and $!'2,=I
ARM@ )icrocontroller ada.ter board# T-i )odularit* in c-anin t-e )icrocontrollerada.ter board )a4e Fire Bird V robot "er* "eratile# /ou can alo add *our own cuto)
deined )icrocontroller ada.ter board#
/ire ir! V AMEA2530 "AVR' /ire ir! V 49V51RD2 "4051'
/igure ir! V L2164 "ARM7 DM-'
/igure 2.1, /ire ir! V Ro%ots
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Fire Bird V ATMEGA2560 Hardware Manual
/igure 2.2, AMEA2530 "AVR'< 49V51RD2 "4051' an! L2164 ARM7
microcontro##er a!a$ter %oar!s *or /ire ir! V
/igure 2. /ire ir! V AMEA2530 ro%ot
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A
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Fire Bird V ATMEGA2560 Hardware Manual
2.1 A)atars o* /ire ir! V Ro%ot
All Fire Bird V Robot -are t-e a)e uni1ied arc-itecture# All Robot ue t-e a)e )ain boardand )icrocontroller ada.ter board#
/ire ir! V /ire ir! V an= /ire ir! V ;mni!irectiona# Ro%ot
/ire ir! V -nsect /ire ir! V Hea$o! /ire ir! V 6WD +ith ri$$er
/igure 2.6, A)atars o* /ire ir! V Ro%ot
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Fire Bird V ATMEGA2560 Hardware Manual
2.2 /ire ir! V #oc= Diagram,
/igure 2.5, /ire ir! V AMEA2530 ro%ot %#oc= !iagram
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Fire Bird V ATMEGA2560 Hardware Manual
. Using /ire ir! V Ro%ot
(n t-i c-a.ter "ariou co).onent o1 t-e robot and t-eir .rinci.al o1 o.eration are e:.lained in
detail# (t i "er* i).ortant t-at uer o t-rou- c-a.ter be1ore tartin to ue robot#
/ire ir! V ro%ot has 3 im$ortant mo!u#es,
,# !ower )anae)ent
2# %enin# Actuation loco)otion
=# Ct-er .eri.-eral
5# 'o))unication
6# (ntellience )icrocontroller
/igure .1 /ire ir! V AMEA2530 ro%ot
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Fire Bird V ATMEGA2560 Hardware Manual
.1 onnections
/igure .2, /ire ir! V AMEA2530 ro%ot %ottom )ie+
/igure ., AMEA2530 microcontro##er a!a$ter %oar!
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,=
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Fire Bird V ATMEGA2560 Hardware Manual
/igure .6, o$ )ie+ o* the main %oar!
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Fire Bird V ATMEGA2560 Hardware Manual
/igure .5, ottom )ie+ o* the main %oar!
/igure .3, Microcontro##er a!a$ter %oar! soc=et connection num%ers on the main %oar!
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Fire Bird V ATMEGA2560 Hardware Manual
.2 o+ering u$ /ire ir! V
Fire Bird V -a on board rec-areable #6V& 2#,A- Nic4el Metal H*dride batter* w-ic- can
.ower t-e robot 1or a..ro:i)atel* 2 -our# Batter* i 1i:ed uin Velcro tra. o t-at it can be
re.laced eail*# (n cae t-e e:.eri)ent are to be .er1or)ed 1or an e:tended .eriod& robot can
alo be .owered b* e:ternal au:iliar* .ower u..l*#
/igure .7, o+er 8+itch
/igure .4, onnecting the %atter& on the /ire ir! V main %oar!
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,@
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Fire Bird V ATMEGA2560 Hardware Manual
Fiure #@ -ow t-e .ower witc-# !ower witc- can eit-er be LB! Batter* !ower or LA!
Au:iliar* !ower .oition# -en au:iliar* .ower or batter* c-arer connector i not connected&robot can be turned CN w-en .ower witc- i in B! .oition# >e o1 Au:iliar* .ower to .ower
t-e robot 1or e:tended a)ount o1 ti)e will be co"ered in ube7uent ection#
For t-e a1et* durin tran.ortation& robot? batter* i diconnected# Be1ore connectin batter* to
t-e robot& )a4e ure t-at robot i turned CFF# To do t-i& )o"e t-e .ower witc- toward t-e
LA!# Fiure #I -ow t-e batter* connector# (nert batter* 5 .in reli)ate connector in t-eoc4et# To turn CN t-e robot& )o"e .ower witc- toward t-e LB!#
T-e NiMH batterie are 1ull* c-ared be1ore deli"er*# Howe"er& NiMH batterie will et
dic-ared o"er t-e .eriod o1 ti)e# T-ere1ore it reco))ended to c-are t-e batterie be1oreuin t-e robot#
Robot i .re;loaded wit- a .rora) to )o"e robot in re.eatedl* in 1orward& bac4ward& le1t and
ri-t direction#
Re1er to ection #= 1or batter* c-arin# For runnin t-e robot on batter* .ower or au:iliar* .ower& re1er to t-e ection #5 and #6#
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Fire Bird V ATMEGA2560 Hardware Manual
. o+er management s&stem on the /ire ir! V
Fire Bird V i .owered b* #6V rec-areable Nic4el Metal H*dride batter* .ac4# T-e batter*"oltae can "ar* between ,2V 1ull* c-ared to IV dic-ared# Batter* .ac4 -ould not be
dic-ared below IV ,V .er cell 1or e:tended batter* li1e# Fire Bird V robot -a on;board
intellient NiMH batter* c-arer w-ic- 1ollow t-e correct c-arin .ro1ile 1or t-e batterie# Toa"oid an* accidental da)ae to t-e batterie& do not ue e:ternal batter* c-arer#
Warning, '-are t-e batter* a .er t-e intruction i"en in t-i )anual# +o not ue an*
e:ternal c-arer to c-are t-e batter*# >in e:ternal c-arer )a* da)ae t-e batter* .er)anentl*#
!ower )anae)ent bloc4 on t-e Fire Bird V .er1or) 1ollowin 1unction#,# Batter* "oltae )onitorin and %)art batter* c-arin
2# Reulated u..l* 1or on;board .a*load
# Batter* current eninO
> urrent sensing is an o$tiona# accessor&.
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Fire Bird V ATMEGA2560 Hardware Manual
..1 atter&Fire Bird V i .owered b* #6V rec-areable Nic4el Metal H*dride batter* .ac4# -en 1ull*
c-ared& batter* .ac4 i"e ,2V and w-en it i 1ull* dic-ared& "oltae dro. to about IV# NiMH batter* .ac4 -a 5 .in 25,0 reli)ate connector w-ic- will 1it into t-e connector on t-e
)ain board onl* in one orientation# +o not 1orce t-e connection in an* ot-er wa*#
/igure .9, atter& onnector on the main %oar!
/igure .10, atter& *or /ire ir! V AMEA2530
in Num%er /unction
,&2 Batter* !oiti"e V''
T-er)itor
=&5 Batter* Neati"e GN+
a%#e .1, atter& connections
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Fire Bird V ATMEGA2560 Hardware Manual
..2 o+er sources an! )o#tage regu#ation on the main %oar!
Fire Bird V i .ri)aril* .owered b* NiMH batter*# (n order to continue ue 1or loner durationwit-out worr*in about t-e batter* ettin low& robot can be .owered b* e:ternal .ower ource
w-ic- i alo 4nown a au:iliar* .ower ource# Au:iliar* u..l* .ro"ide reulated ,2V& ,A).
u..l*# -en robot i .owered b* batter*& it can ue )a:i)u) o1 2A). current w-ile Au:iliar*u..l* will .ro"ide onl* ,A). current#
Robot .ower i di"ided in two e.arate .ower rail# LV Mot %u..l* .ro"ide .ower to all t-e
noi* de"ice on t-e robot uc- a )otor and ot-er -ea"* load# LV Batt %u..l* .ower )oto1 t-e electronic on t-e robot# Mot o1 t-e *te) on t-e robot are .owered b* #V and 5V "ia
"oltae reulator#
1. V att 8u$$#&
LV Batt %u..l* tand 1or tabilied u..l* co)in 1ro) t-e batter*# T-i u..l* line i
ued to .ower al)ot all t-e .a*load on t-e robot#
-en batter* i al)ot dic-ared about 0K .ower re)ainin and onboard .a*load drawcurrent in e:ce o1 2 a).ere& t-en t-e batter* "oltae can 1all below 6#V )o)entar*#
Voltae reulator will not be able to 1unction .ro.erl* below 6#V and t-eir out.ut will 1all below 5V# (n t-i cae t-e )icrocontroller can reet# To e:tend t-e uable batter* li1e and to
reduce t-e .robabilit* o1 )icrocontroller ettin reet w-en batter* i about to 1ull*
dic-are& diode +@ alon wit- t-e ca.acitor '5= i ued# -en batter* "oltae uddenl*dro.& diode +@ .re"ent t-e re"ere 1low o1 t-e current and ca.acitor '5= )aintain "oltae
wit-in a1e li)it 1or about ,00 )illiecond# For t-i duration ca.acitor '5= act a )all
batter*# %i)ilar arrane)ent i done in t-e LV Mot %u..l* uin diode + and ca.acitor'5# T-i c-e)e e:tend uable rane o1 t-e 1ull* c-ared batter*#
2. V Mot 8u$$#&LV Mot %u..l* tand 1or )otor u..l*# (t i ued to .ower +' )otor and ot-er -ea"*load w-ic- -a"e lot o1 current 1luctuation# (t i t-e noiet u..l* line on t-e robot# (t
-ould be ued 1or -ea"* load t-at re7uire lare a)ount o1 current# T-i u..l* can be
"aried between IV to ,,#V de.endin on t-e batter* c-arin tate and t*.e o1 .owerource batter* 8 au:iliar* .ower ued# T-i line can u..l* additional 500)A to t-e
e:ternal load#
/igure .11, Vo#tage regu#ators on the main %oar!
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Fire Bird V ATMEGA2560 Hardware Manual
. 5V 8&stem
L5V %*te) i ued to .ower "ariou )odule o1 t-e robot w-ic- doe not re7uire -i-
current and w-ere "oltae tabilit* i "er* i).ortant# (t i ued to .ower loic u..l* o1 t-e('& %-ar. enor & $'+ etc# (t i t-e )ot table ource o1 t-e u..l* on t-e )ain board# (t
can ource =00)A current 1or t-e e:ternal load#
6. .V 8ensorL#V %enor i ued to .ower I (R .ro:i)it* enor& u. to @ w-ite line enor# (n 1ull*
loaded Fire Bird V robot t-i u..l* -ould not be ued to .ower e:ternal load -a"in current
re7uire)ent )ore t-an ,00)A#
5. .V Wire#ess mo!u#e
#V irele )odule u..l* i ued to .ower XBee wirele )odule#
3. .V att Mon su$$#&
Batt Mon %u..l* .ro"ide #V to t-e %)art batter* )onitorin and c-arer circuit#
Note, A.art 1ro) t-ee 1our "oltae reulator Fire Bird V ATMEGA2560 -a two "oltae
reulator 1or .owerin )icrocontroller and er"o )otor on t-e )icrocontroller ada.ter oc4et#.. urrent sensing.Fire Bird V robot can ene it current conu).tion uin o.tional Hall E11ect current enorA'%@,2 8 A'%@,=#
/igure .12, urrent sensing in /ire ir! V
%enor? current enin ele)ent i located between batter* .oiti"e ter)inal and robotelectronic# -en no current i 1lowin t-rou- t-e enor& it i"e 2#5V out.ut# T-i out.ut
"alue reduce b* ,I5)V .er a).ere o1 current 1low i1 5 A).ere current enor i intalled# (1 20
A).ere current enor i intalled t-en "alue i reduced b* ,00)V .er a).ere# T-i enor i ano.tional acceor*# -en t-i enor i abent& t-e enin .at- i -orted wit- 0 o-) reitor or
wit- a wire# For )ore in1or)ation on t-e enor o.eration& re1er to it data-eet w-ic- i located
in t-e L+ata-eet 1older o1 t-e docu)entation '+#
..6 atter& #o+ in!ication
Fire Bird V ue )art batter* )onitorin *te) baed on (' BAT0,# -en batter* "oltaeoe below IV& buer tart i"in one lon bee. 1ollowed b* 2 -ort bee. wit- dela* o1 -al1
econd# At t-e a)e ti)e red led )ar4ed in 1iure #,= tart 1la-in#
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.6 atter& harging
Fire Bird V i .owered b* #6V NiMH rec-areable batter*# T-e on;board NiMH c-arer willc-are t-e batter* in to 5 -our de.endin on t-e batter* tate#
Batter* c-arer c-ec4 tate o1 batter* be1ore initiatin t-e c-arin .roce# -ile c-arin t-e batter*& b* loo4in at batter* "oltae& current and te).erature it elect o.ti)al c-arin
alorit-)# Batter* c-are tatu i indicated b* a buer& a red $E+ and a reen $E+ -own in
1iure #,=#
/igure .1, onnection *or %atter& charging
/igure .16, atter& charging status in!icator LEDs ? u@@er
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3. harge termination !ue to %atter& *ai#ure,
At an* ti)e durin batter* c-arin i1 robot detect 1ailure in t-e batter* t-en it to. batter*
c-arin and buer i"e , "er* lon bee. wit- a "er* -ort dela* in between# (n t-i cae batter* need to be re.laced#
Note, Buer i -ared between batter* )onitorin circuit and )ain )icrocontroller oc4et#
-m$ortant,
(1 *ou are uin batter* w-ic- i not ued 1or lon ti)e t-en *ou -a"e to c-are it anddic-are it at leat 1ew ti)e to brin t-e batter* to it 1ull torae ca.acit*# To do t-i *ou
can load an* )otion .rora) 1ro) t-e LE:.eri)ent 1older w-ic- i located in t-e
docu)entation '+ and dic-are t-e batterie a1ter c-arin#
Warning,
Ne"er e"er atte).t to c-are t-e robot w-ile it .owered on# (n cae& i1 robot i .owered u. 1irt
and i1 *ou inert t-e batter* c-arin oc4et& it will not enter in c-arin )ode# (n cae& w-en*ou inert batter* c-arin oc4et 1irt and tart c-arin& and t-en .ower u. t-e robot& t-e robot
will be .owered u. and at t-e a)e ti)e batter* will et c-ared# T-i i a "er* danerou
cenario w-ere robot batter* c-arin circuit )a* et con1ued becaue o1 noie 1ro) )otor
and bot- batter* and robot )a* et .er)anentl* da)aed#
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.5 o+ering the ro%ot on %atter& $o+er
To turn CN t-e robot on t-e batter* .ower& )a4e ure t-at batter* i connected to t-e robot and)o"e t-e .ower witc- toward bac4 direction B! a -own in t-e 1iure #@
Warning,
+o not run t-e robot i1 batter* i low# (t will reduce t-e batter* li1e c*cle#
.3 o+ering the ro%ot on aui#iar& $o+er
>nder nor)al condition robot i .owered b* on;board batter*# (n order to do e:.eri)ent 1or
loner duration wit-out worr*in about t-e batter* runnin low& robot can alo be .owered b*e:ternal .ower ource# Au:iliar* .ower ource .ro"ide reulated ,2V& ,A). u..l* to t-e
robot#
/igure .15, Ro%ot o+ering )ia atter& an! Aui#iar& su$$#&
To run t-e robot on t-e au:iliar* .ower& ue 1ollowin te.<
,# +iconnect t-e batter* b* re)o"in t-e 5.in reli)ate connector on t-e )ain board w-ic-i located at t-e botto) o1 t-e robot# re1er to 1iure #I
2# Mo"e t-e .ower witc- to t-e B! .oition re1er to 1iure ## T-i i o11 tate 1or
Au:iliar* .ower )ode#
# 'onnect A' ada.ter in t-e )ain# 'onnect ot-er end o1 A' ada.ter in t-e A>X !Rreli)ate )ale connector on t-e )ain board connector on t-e ri-t ide and turn on t-e
A' ada.ter#=# Now to turn on t-e robot& )o"e .ower witc- toward LA! 1iure ##
Warning,
+o not connect au:iliar* .ower w-ile batter* i connected to t-e robot# (n uc- cae& robot will
eit-er run on t-e batter* .ower or on au:iliar* .ower de.endin on t-e .oition o1 t-e witc-#
Robot can not be turned o11 in t-i cenario#
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.7 atter& Maintenance
(1 not ued& 1ull* c-ared NiMH batter* can et co).letel* dic-ared wit-in 1ew wee4#
Alwa* c-are t-e batter* be1ore ue# (1 1ull* c-ared batter* i 4e.t in torae 1or about a
)ont- and a1terward e"en i1 it i 1ull* c-ared aain& it can deli"er onl* ,8 rd .ower o1 it ratin#
(n uc- cae& to retore t-e batter* to it 1ull .otential aain& .er1or) at leat 2; c-aredic-are c*cle#
To enure lon li1e& c-are batter* at leat once a wee4 and dic-are it till robot tart i"in batter* low warnin# Be1ore torae& c-are t-e batter* aain#
For dic-arin t-e batter* 7uic4l*& *ou can load an* .rora) 1ro) t-e LE:.eri)ent 1older o1
t-e docu)entation '+# !rora) in"ol"in )otion dic-are batter* 7uic4l*# /ou can .ut robotu.ide down and let )otor run 1or 1ater dic-are#
+iconnect t-e batter* connector i1 robot i to be tored 1or lon duration#
.7A urrent #imiting an! short circuit $rotection,(n t-e Verion ,, o1 )ain board& older .ad 1or t-e 1ue are added# T-ee .ad are -ortedtoet-er a -own in le1t ide i)ae o1 1iure #,I# /ou can )ount 1ue o1 2A to ,0A ratin on
t-ee .ad a -own in t-e ri-t ide i)ae o1 1iure #,6#
/igure .13, ;$tiona# /use on the main %oar!
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.4 Motion contro#
Fire Bird V robot -a two @5 R!M +' eared )otor in di11erential dri"e con1iuration alonwit- t-e t-ird cater w-eel 1or t-e u..ort# Robot -a to. .eed o1 about 2=c) .er econd# >in
t-i con1iuration& t-e robot can turn wit- ero turnin radiu b* rotatin one w-eel in cloc4wie
direction and ot-er in countercloc4wie direction# !oition encoder are )ounted on bot- t-e)otor? a:le to i"e a .oition 1eedbac4 to t-e )icrocontroller#
/igure .17, D geare! motors an! $osition enco!ers
Motion control in"ol"e "elocit* and direction control# Motor are controlled b* $2+ dual
)otor dri"er w-ic- can .ro"ide u. to 600)A o1 current to eac- )otor# To c-ane t-e directiono1 t-e )otor& a..ro.riate loic le"el Hi-8$ow are a..lied to $2+? direction control .in#Velocit* control i done uin !ule idt- Modulation !M#
$E+ are connected at t-e in.ut tae o1 t-e )otor dri"er 1or 7uic4 inter.retation o1 t-e )otion
co))and#
/igure .14, Motor Dri)ers
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u#se Wi!th Mo!u#ation *or )e#ocit& contro#,
!ule widt- )odulation i a .roce in w-ic- dut* c*cle o1 contant 1re7uenc* 7uare wa"e i)odulated to control .ower deli"ered to t-e load i#e# )otor#
+ut* c*cle i t-e ratio o1 :;N (# -ere :;N( i CN ti)e and :( i t-e ti)e .eriod o1 t-ewa"e# !ower deli"ered to t-e )otor i .ro.ortional to t-e :;N( ti)e o1 t-e inal# (n cae o1
!M t-e )otor react to t-e ti)e a"erae o1 t-e inal#
!M i ued to control total a)ount o1 .ower deli"ered to t-e load wit-out .ower loe w-ic-enerall* occur in reiti"e )et-od o1 .ower control#
/igure .19, u#se Wi!th Mo!u#ation "WM'
Fiure #, -ow t-e !M wa"e1or) 1or )otor "elocit* control# (n cae A& CN ti)e i 0K
o1 ti)e .eriod# T-i wa"e -a )ore a"erae "alue and -ence )ore .ower i deli"ered to t-e
)otor# (n cae B& t-e )otor will run lower& a t-e CN ti)e i ut ,0K o1 ti)e .eriod#
For t-e Fire Bird V ATMEGA2560 "erion& loic le"el 1or t-e )otor direction control i i"en in
t-e table #=#
Microcontro##er in /unction
!$ C'5A !ule widt- )odulation 1or t-e le1t )otor "elocit* control
!$= C'5B !ule widt- )odulation 1or t-e ri-t )otor "elocit* control!A0 $e1t )otor , direction control
!A, $e1t )otor 2 direction control
!A2 Ri-t )otor , direction control
!A Ri-t )otor 2 direction control
a%#e ., in *unctions *or the motion contro#
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D-RE-;N
LE/
WD "L'
A0 "L1'
LE/
/WD"L/'
A1 "L2'
R-H
/WD"R/'
A2 "R1'
R-H
WD"R'
A "R2'
WM
L "WML' *or
#e*t motor
L6 "WMR' *or
right motor
FCRAR+ 0 , , 0A .er "elocit*
re7uire)ent
REVER%E , 0 0 ,A .er "elocit*
re7uire)ent
R(GHT (Left wheel
forward, Right wheel
backward)0 , 0 ,
A .er "elocit*
re7uire)ent
$EFT(Left wheel
backward, Right wheel
forward,), 0 , 0
A .er "elocit*
re7uire)ent
%CFT R(GHT(Left wheel
forward,, Right wheel
stop)0 , 0 0
A .er "elocit*re7uire)ent
%CFT $EFT(Left wheel
stop, Right wheel
forward,)0 0 , 0
A .er "elocit*re7uire)ent
%CFT R(GHT 2 (Left
wheel stop, Right wheel
backward)0 0 0 ,
A .er "elocit*re7uire)ent
%CFT $EFT 2 (Left
wheel backward, Right
wheel stop), 0 0 0
A .er "elocit*
re7uire)ent
HAR+ %TC! 0 0 0 0A .er "elocit*
re7uire)ent
%CFT %TC! Free
runnin to.X X X X 0
a%#e .6, Logic ta%#e *or motor !irection contro#
e can ober"e all t-e co))and i"en on t-e $E+ located at t-e to. ri-t ide on t-e robot#
Fiure #20 -ow t-e location and 1unction o1 indicator $E+ related to )otion control#
/igure .20, Motion status LED in!ication on the /ire ir! V main %oar!
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Note, ', and '2 )otor connector are ued in o)nidirectional and = w-eel dri"e robot# $E+
1or ', )otor c-annel are .reent i1 ', )otor c-annel i ued#
Warning,
Au:iliar* .ower can u..l* current u. to , A).ere w-ile Batter* can u..l* current u. to 2
A).ere# -en bot- )otor o1 t-e robot c-ane direction uddenl* wit-out to..in& it .roducelare current ure# -en robot i .owered b* Au:iliar* .ower w-ic- can u..l* onl* , A).ereo1 current& udden direction c-ane in bot- t-e )otor will caue current ure w-ic- can reet
t-e )icrocontroller becaue o1 udden 1all in "oltae# (t i a ood .ractice to to. t-e )otor 1or
at leat 0#5 econd be1ore c-anin t-e direction# T-i will alo increae t-e ueable ti)e o1 t-e
1ull* c-ared batter*#
Robot -a two (' -older 1or two $2+ )otor dri"er wit- eac- -a"in two 6 .in 25,0
reli)ate connector 1or two +' )otor# Eac- 6 .in reli)ate connector .ro"ide connection 1ort-e +' )otor and t-e aociated .oition encoder# Eac- connector can dri"e )otor wit- u. to
600)A current ratin# Fiure #,I -ow t-e location o1 t-e two $2+ dual )otor dri"er on
t-e )ain board# $e1t ide $2+ dri"e ', and '2 )otor and ri-t ide $2+ dri"e $e1t andRi-t ide )otor# (n t-e two w-eel dri"e robot le1t ide $2+ i abent a it not ued -owe"er
to ue ', and '2 )otor dri"er c-annel *ou can inert $2+ in t-e le1t ide (' -older#
/igure .21, Motion contro# connections on the main %oar!
onnector Name Descri$tion
$ $e1t )otor connector ,R Ri-t )otor connector 2
', ', )otor connector
'2 '2 )otor connector
E:ternal Motor (nter1ace !ort,
$oic inal o1 .in =@ to 55 o1 t-e )ain board oc4et 1or inter1acin e:ternal -i- .ower)otor dri"er 1or $&R and ', )otor
E:ternal Motor (nter1ace !ort2
$oic inal o1 .in 66 to 6I o1 t-e )ain board oc4et 1or inter1acin e:ternal -i- .ower)otor dri"er 1or '2 )otor
a%#e .5, Use o* connectors o* the motion contro# mo!u#e
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in No. /unction
, V''& 5V %*te)
2 !oition Encoder data
N'
= GN+
5 Motor 2
6 Motor ,a%#e .3, Motor connector $ort $in connections
/igure .22, 8chematic o* the motion contro# mo!u#e an! the $osition enco!er
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/igure .2, Motion status LED in!ication in terms o* microcontro##er a!a$ter soc=et $in
num%er
L5V *te) u..l* i ued 1or dri"in $2+ loic circuit# LV Batt Mot i ued to u..l*
.ower to t-e )otor# '22 P '25 and '2 P '2 i ued 1or noie u..reion# $oic inal to
dri"e t-e two $2+ co)e 1ro) t-e .in =@ to 55 and .in 66 to 6I o1 t-e )icrocontrollerada.ter board oc4et# $oic le"el on t-e .in =@ to 55 are alo connected to t-e )otion $E+ t-e
)ain board a -own abo"e#
u -N
N;
in name U8ED /;R 8tatus Main oar!
in No.
5 C'A8A(N,8!E !M out.ut 1or '2 )otor dri"e Cut.ut 6I
I C'5A8!$ !M 1or le1t )otor# Cut.ut 50
C'5B8!$= !M 1or ri-t )otor# Cut.ut 5=
=0 C'5'8!$5 !M 1or ', )otor# Cut.ut =I
@, !A@ '2;2 $oic in.ut 2 1or '2 )otor dri"e Cut.ut 66
@2 !A6 '2;, $oic in.ut , 1or '2 )otor dri"e Cut.ut 6@
@ !A5 ',;2 $oic in.ut 2 1or ', )otor dri"e Cut.ut =
@= !A= ',;, $oic in.ut , 1or ', )otor dri"e Cut.ut =@
@5 !A $oic in.ut , 1or Ri-t )otor Ri-t bac4 Cut.ut 5
@6 !A2$oic in.ut 2 1or Ri-t )otor Ri-t
1orwardCut.ut 55
@@ !A,$oic in.ut 2 1or $e1t )otor $e1t
1orwardCut.ut 52
@I !A0 $oic in.ut , 1or $e1t )otor $e1t bac4 Cut.ut 5,
a%#e .7, onnections o* the motor !ri)er +ith the AMEA2530 microcontro##er
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onnecting /ire ir! V ro%ot %oar! to %igger ro%ot
$2+ )otor dri"er on t-e )ain board can onl* .ro"ide current u. to 600)A .er )otor# (1 *ouwant to dri"e bier robot uin Fire Bird V )ain board t-en re)o"e $2+ )otor dri"er 1ro)
t-eir (' oc4et# /ou can inter1ace -i- .ower )otor dri"er uc- a Hercule or Hercule lite
1ro) NEX Robotic w-ic- can dri"e )otor u. to 6V and 0A). to t-e e:ternal )otorinter1ace .ort# $ocation o1 $2+ (' i -own in 1iure #,I and E:ternal Motor (nter1ace .ort
, and E:ternal Motor (nter1ace !ort 2 in 1iure #2,#
/igure .26, Hercu#es series 0Am$. Motor Dri)ers
-m$ortant,
Gi"e -i- current .ower u..l* to t-e )otor dri"er directl* wit-out oin t-rou- Fire Bird V
)ain board and )a4e ure t-at Robot round and )otor dri"er round are co))on#
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.9 osition Enco!ers
!oition encoder i"e .oition 8 "elocit* 1eedbac4 to t-e robot# (t i ued in cloed loo. tocontrol robot? .oition and "elocit*# !oition encoder conit o1 lotted dic w-ic- rotate
between o.tical encoder o.tical tran)itter and recei"er# -en lotted dic )o"e in between
t-e o.tical encoder we et 7uare wa"e inal w-oe .ule count indicate .oition and ti)e .eriod 8 1re7uenc* indicate "elocit*#
C.tical encoder MC'@I,, i ued a .oition encoder on t-e robot# (t conit o1 (R $E+ andt-e .-oto tranitor )ounted in 1ront o1 eac- ot-er e.arated b* a lot and encaed in blac4
o.a7ue cain and 1acin eac- ot-er t-rou- narrow window# -en (R li-t 1all on t-e .-oto
tranitor it et in to aturation and i"e loic 0 a t-e out.ut# (n abence o1 t-e (R li-t it i"eloic , a out.ut# A lotted encoder dic i )ounted on t-e w-eel i .laced in between t-e lot o1
MC'@I,,# -en encoder dic rotate it cut (R illu)ination alternatel* becaue o1 w-ic- .-oto
tranitor i"e 7uare .ule train a out.ut# Cut.ut 1ro) t-e .oition encoder i cleaned uin
%c-)itt trier baed in"erter not ate (' '+=0,06#
/igure .25, D geare! motors an! $osition enco!ers
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O !oition encoder o1 t-e )otor ', i connected to t-e (NT@ .in o1 t-e ATMEGA2560
)icrocontroller "ia olderin .ad !,# (NT@ interru.t .in i alo connected to bootloader witc-
and T%C!,@I "ia .ad on )icrocontroller oc4et# (1 *ou want to ue .oition encoder o1 ',&t-en )a4e ure t-at bootloader code i re)o"ed 1ro) t-e t-e ATMEGA2560 )icrocontroller
and olderin .ad 1or T%C!,@I connection on t-e )icrocontroller oc4et i o.en# A1ter t-ee
two .recaution are ta4en& older .ad !, on t-e )ain board to connect ', )otor .oitionencoder to t-e ATMEGA2560 )icrocontroller oc4et# T-i i "er* i).ortant# (1 not done t-en
becaue o1 .ule 1ro) ', )otor .oition encoder& ATMEGA2560 )icrocontroller will o in to
boot )ode# Fiure #2I -ow location o1 t-e .ad !, on t-e )ain board#
/igure .24, a! 1 o$en an! +ith short
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a#cu#ation o* $osition enco!er reso#ution,
ase 1, Ro%ot is mo)ing *or+ar! or %ac=+ar! "enco!er reso#ution is in mm'
-eel dia)eter< 5#,c)
-eel circu)1erence< 5#,c) O #,= Q ,6#0,=c) Q ,60#,=)) Nu)ber lot on t-e encoder dic< 0
!oition encoder reolution< ,6#2 )) 8 0 Q 5#==)) 8 .ule#
ase 2, Ro%ot is turning +ith one +hee# rotating c#oc=+ise +hi#e other +hee# is rotating
anti c#oc=+ise. enter o* rotation is in the center o* #ine $assing through +hee# ae# an!
%oth +hee#s are rotating in o$$osite !irection "enco!er reso#ution is in !egrees'
+itance between -eel Q ,5c)
Radiu o1 'ircle 1or)ed in 600 rotation o1 Robot Q +itance between -eel 8 2
Q @#5 c)
+itance 'o"ered b* Robot in 600 Rotation Q 'ircu)1erence o1 'ircle traced Q 2 : @#5 : #,=
Q =@#, c) or =@,))
Nu)ber o1 w-eel rotation o1 in 600 rotation o1 robot
Q 'ircu)1erence o1 Traced 'ircle 8 'ircu)1erence o1 -eel
Q =@, 8 ,60#,=
Q 2#=,
Total .ule in 600 Rotation o1 Robot
Q Nu)ber o1 lot on t-e encoder dic 8 Nu)ber o1 w-eel rotation o1 in 600 rotation o1 robot Q 0 : 2#=,
Q II#2 a..ro:i)atel* II
!oition Encoder Reolution in +eree Q 60 8 II
Q =#00 deree .er count
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ase , Ro%ot is turning +ith one +hee# stationar& +hi#e other +hee# is rotating c#oc=+ise
or anti c#oc=+ise. enter o* rotation is center o* the stationar& +hee# "enco!er reso#ution is
in !egrees'
(n t-i cae onl* one w-eel i rotatin and ot-er w-eel i tationar* o robot will co).lete it
600
rotation wit- tationar* w-eel a it center#Radiu o1 'ircle 1or)ed in 600 rotation o1 Robot Q +itance between -eel
Q ,5 c)
+itance 'o"ered b* Robot in 600 Rotation Q 'ircu)1erence o1 'ircle traced
Q 2 : ,5 : #,=
Q =#20 c) or =2 ))
Nu)ber o1 w-eel rotation o1 in 600 rotation o1 robot
Q 'ircu)1erence o1 Traced 'ircle 8 'ircu)1erence o1 -eel
Q =2 8 ,60#,=
Q 5#II2
Total .ule in 600 Rotation o1 RobotQ Nu)ber o1 lot on t-e encoder dic 8 Nu)ber o1 w-eel rotation o1 in 600 rotation o1 robot
Q 0 : 5#II2
Q ,@6#=6 a..ro:i)atel* ,@6
!oition Encoder Reolution in +eree Q 60 8,@6
Q 2#0=5 deree .er count
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.10 8har$ -R range sensors
For accurate ditance )eaure)ent& robot ue %-ar. (R rane enor# Robot can be 1itted wit-1i"e (R rane enor a -own in 1iure #2# %-ar. (R rane enor conit o1 (R $E+ and
linear ''+ arra*& bot- enca.ulated in t-e -ouin wit- .reciion len ae)bl* )ounted in
1ront o1 t-e)# (R $E+ wit- t-e -el. o1 t-e lean tran)it a narrow (R bea)# -en li-t -it t-eobtacle and re1lect bac4 to t-e linear ''+ arra*& de.endin on t-e ditance 1ro) t-e obtacle&
anle o1 t-e re1lected li-t "arie# T-i anle i )eaured uin t-e ''+ arra* to eti)ate
ditance 1ro) t-e obtacle# (t i"e a)e re.one to di11erent colored obect a )eauredditance i 1unction o1 t-e anle o1 re1lection and not on t-e re1lected li-t intenit*#
Fiure #0 -ow t-e internal o1 t-e enor# Fiure #, e:.lain -ow c-ane in t-e ditance1ro) t-e obtacle can be )eaured b* )eaurin anle o1 re1lection o1 t-e re1lected li-t bea)
1ro) t-e obtacle# %ince enor )eaure)ent i baed on trianulation and not on intenit* o1 t-e
re1lected li-t& it i i))une to diturbance caued b* a)bient li-t#
%enor i"e out analo "oltae corre.ondin to anle o1 re1lection# Relation-i. between t-e
anle o1 re1lection and out.ut "oltae i not linear becaue o1 triono)etr* in"ol"ed# T-ee
enor -a"e blind .ot in t-e rane o1 0)) to o)e .eci1ic ditance de.endin on t-e t*.e o1t-e enor# (n t-e blind .ot reion enor i"e incorrect readin# Table # i"e in1or)ation
about enin rane and t-e blind .ot ditance 1or t-e .articular enor#
/igure .29, 8har$ 8ensors mounte! on /ire ir! V
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/igure .0, -n*rare! Range *in!er sensor an! its insi!e )ie+
/igure .1, Distance measurement %ase! on ange# o* re*#ection
Fire Bird V u..ort t-ree t*.e o1 (R rane enor 1ro) %-ar. Microelectronic#
G!2+,20 G!2+,2 G!2/0A02/
/igure .2, 8har$ -R Range sensors *or /ire ir! V
8ensor Range #in! 8$ot
G!2+,20X 0c) to 20c) =c) to 0c)
G!2/0A02/ I0c) to ,0c) ,0c) to 0c)
G!2/0A02 ,50c) to 20c) 20c) to 0c)
a%#e .9, 8har$ -R Range sensors co)erage
/igure ., Distance Vs. ;ut$ut )o#tage o* 2D120< 2B0A02BC an! 2B0A02BC
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Fiure # -ow t-e t*.ical out.ut c-aracter o1 t-e G!2+,20& G!2+,2 and G!2/0A02/
enor# (n t-ee ra.- X a:i re.reent ditance 1ro) t-e obtacle and / a:i re.reent t-e
out.ut "oltae# T-e enor? out.ut c-aracteritic i li-tl* loarit-)ic in nature -ence to ett-e ditance in )illi)eter we -a"e to ue 1ollowin 1or)ula#
+itance in )) 1or G!2+,20 Q ,0#00O,#008 0#00,2=0I@5O1loat A+' "alue 0#005 P0#=2
+itance in )) 1or G!2/0A02/ Qint,0#00 O 2@#6 O ,#00 8 1loatdoubleA+'SValuedouble,#,5=6U
U
-N
No.
in name U8ED /;R U $in correct
-; setting
,5 C'=A8!H%-ar. (R rane enor , to 5 diable#
Turn o11 t-ee enor& w-en out.ut i loic ,OCut.ut
I=!58A+',8!'(NT2
,
A+' in.ut 1or %-ar. (R rane enor 5 (n.ut Floatin
I5!=8A+',28!'(NT2
0A+' in.ut 1or %-ar. (R rane enor = (n.ut Floatin
I6!8A+',,8!'(NT,
A+' in.ut 1or %-ar. (R rane enor (n.ut Floatin
I@!28A+',08!'(NT,
IA+' in.ut 1or %-ar. (R rane enor 2 (n.ut Floatin
II !,8A+'8!'(NT,@ A+' in.ut 1or %-ar. (R rane enor , (n.ut Floatin
a%#e .10, onnections o* the 8har$ -R range sensors an! its $o+er contro# M;8/Es
+ith the AMEA2530 microcontro##er
O %-ar. (R rane enor enablin and diablin i co"ered in ection #,0A
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.10A A)oi!ing sensor inter*erence in mu#tiro%ot en)ironment
Man* o1 t-e enor ued in t-e Fire Bird V e)it o)e ort o1 inal to ene t-e obect uc- a%-ar. (R rane enor& ultraonic rane enor& (R .ro:i)it* enor& w-ite line enor etc#
All t-ee enor are 4nown a acti"e enor#
(1 )an* robot wit- uc- acti"e enor are .laced in a)e .ace t-en t-eir enor will inter1ere
wit- eac- ot-er# Cnl* wa* to o.erate )an* robot in a)e .ace wit-out a))in eac- ot-er
enor i to ue& enor on eac- robot in ti)e di"iion )ulti.le:in wa*# T-i can be done b**nc-roniin eac- robot enor witc-in uin wirele )odule uc- a XBee& iFi or
Bluetoot- o1 t-e robot#
All t-e enor on t-e Fire Bird V robot can be turned on or o11 b* o1tware# T-i enable Fire
Bird V to wor4 in )ultirobot en"iron)ent wit-out a))in eac- ot-er#
/igure .6, 8har$ -R range sensor(s $o+er contro# circuit
Fiure #2 -ow t-e location o1 t-e %-ar. (R rane enor on t-e robot# T-e* are nu)bered1ro) , to 5 in t-e cloc4wie direction# Fiure #= -ow t-e c-e)atic o1 t-e MC%FET and
u).er w-ic- control witc-in on8o11 o1 t-e enor# %-ar. (R rane enor , to 5 are
controlled b* t-e MC%FET M,# !H .in,5 o1 t-e ATMEGA2560 )icrocontroller i connectedto t-e %-ar. (R rane enor .ower witc-in circuit "ia .in o1 t-e )ain board oc4et# %-ar.
enor can be turned on and o11 b* witc-in circuit "ia )icrocontroller w-en 3u).er 3,;
-own in 1iure #= i o.en abent# (1 u).er i inerted t-en enor re)ain .er)anentl* CN#Microcontroller will no be able to turn t-e) CFF t-e enor once t-i u).er i inerted#
-en )icrocontroller .in i at loic low& Tranitor T2 i o11 -ence ate o1 MC%FET M, i
.ulled u. at 5V w-ic- turn on t-e MC%FET w-ic- turn on t-e %-ar. (R rane enor# -en$oic , i a..lied at t-e bae o1 tranitor T2 it et turn on and it .ull down t-e ate o1 t-e
MC%FET M, to turn it CFF# $ocation o1 t-e u).er i -own in 1iure #I#
%a)e wa* -ite line enor and (R .ro:i)it* enor can be witc-ed CN and CFF& w-ic- can
bee .er)anentl* turned CN b* .lacin re.ecti"e u).er# T-eir witc-in circuit are dicued
in t-eir re.ecti"e to.ic#
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8ensors Main %oar! soc=et $in
num%er
AMEA2530 u
in
Logic state
%-ar. (R rane enor , to 5 !H .in ,50< %enor are turned on
,< %enor are turned o11
w-ite line enor le1t&
center& ri-t=0 !G2 .in @0
0< %enor are turned on
,< %enor are turned o11
(R .ro:i)it* enor , to I = !H .in ,= 0< %enor are turned on,< %enor are turned o11
a%#e .11, 8ensor $o+er contro# $ins an! um$ers "Assuming corres$on!ing um$er at 1
is o$en'
/igure .5, 8ensor status in!icator LEDs
3u).er , et i -own b* red rectanle in 1iure #5# (t conit o1 et o1 = u).er# Cn 8 C11
tatu o1 t-e enor i -own b* *ellow $E+ are -i-li-ted b* blue rectanle# CN $E+
indicate t-at enor i CN# Table #,,A -ow t-e 1unction o1 t-ee u).er and corre.ondinenor .ower indicatin $E+#
um$er Name /unction
"-* um$er is inserte!'
8ensor $o+er
in!icating LEDname
urrent consum$tion
3,;,$'+ B$ Turn on $'+ bac4 li-t $'+ Bac4;li-t 20)A
3,;2(R!Turn on all I (R .ro:i)it*
enor(R!
5,)A all I (R .ro:i)it*
enor
3,;%HAR!Turn on intalled %-ar. (R
rane enor%HAR! 25)A .er enor intalled
3=;,$ Turn on all w-ite line enor $,6)A t*.ical 1or c-annel
w-ite line enor
a%#e .11A, 8ensor $o+er on um$ers an! LED in!icators
-m$ortant
• Robot are 1actor* -i..ed wit- all u).er inerted# %o a .er 1actor* ettin all enor
will re)ain .er)anentl* CN# (1 *ou are not oin to witc- enor on8o11 uinMC%FET t-en lea"e u).er a it i#
• %-ar. G!2/0A02 enor bod* i )ade u. o1 conducti"e .latic# Hence 1oa) ta.e iadded a an inulator between t-e enor and t-e )etal tri. w-ic- -old t-e enor in
.lace# (1 t-i iolation i not .ro"ided t-en enor will et .artiall* o11 w-en
corre.ondin MC%FET i turned o11# (n uc- cae enor will till conu)e .ower and)i-t i"e incorrect readin w-en enor i turned o11# To a"oid t-i )all inulator 1oa)
i inerted between t-e enor and t-e )etal tri.e w-ic- -old t-e enor in .lace#
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.11 -n*rare! $roimit& an! !irectiona# #ight intensit& sensors
(n1rared .ro:i)it* enor are ued to detect .ro:i)it* o1 an* obtacle in t-e -ort rane# (R .ro:i)it* enor -a"e about ,0c) enin rane# T-ee enor ene t-e .reence o1 t-e
obtacle in t-e blind .ot reion o1 t-e %-ar. (R rane enor# Fire Bird V robot -a I (R
.ro:i)it* enor# Fiure #6 -ow t-e location o1 t-e I (R .ro:i)it* enor# %enor arenu)bered a , to I 1ro) le1t to ri-t in cloc4wie direction# (n all t-e )anual a)e nu)berin
con"ention will be ued 1or addrein t-e .articular (R enor#
(n t-e abence o1 t-e obtacle t-ere i no re1lected li-t -ence no lea4ae current will 1low
t-rou- t-e .-oto diode and out.ut "oltae o1 t-e .-oto diode will be around #V# A obtacle
co)e cloer& )ore li-t et re1lected and 1all on t-e .-oto diode and lea4ae current 1lowint-rou- t-e .-oto diode tart to increae w-ic- caue "oltae acro t-e diode to 1all#
/igure .3, Eight -R $roimit& sensors on /ire ir! V
-en enabled I (R .ro:i)it* enor co)bined toet-er conu)e about 5,)A current# /ou
can a"e .ower b* turnin on t-ee enor onl* w-en re7uired# Re1er to table #,,& t-eeenor can be turned o11 b* a..l*in loic , 5V to t-e .in no# = o1 t-e )ain board# To enable
t-ee enor .er)anentl* connect t-e (R! u).er on 3, o1 )ain board# For u).er location
re1er to 1iure #I#
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/igure .4, 8ensor ontro# 8+itches an! um$ers
Name /unction
3, $'+ Bac4;li-t Enable8+iable u).er (R .ro:i)it* enor Enable8+iable u).er
%-ar. enor Enable8+iable u).er
-ite line enor Enable8+iable u).er
M, D T2 MC%FET M, and Tranitor T2 1or %-ar. (R rane enor witc-in
T D T= Tranitor T and T= 1or (R !ro:i)it* %enor witc-in
T5 D T6 Tranitor T5 and T6 1or -ite $ine %enor witc-in
a%#e .12, 8ensor ontro# 8+itches an! um$ers *unctions
-NN
;
in name
"AMEA2530
master u'
U8ED /;R 8tatus
,5 X'28 !H2 (R .ro:i)it* enor , to I diable#Turn o11 t-ee enor w-en out.ut i loic , O
Cut.ut
I !08A+'I8!'(NT,6 A+' in.ut 1or (R .ro:i)it* analo enor 5 (n.ut Floatin
0 !F@A+'@8T+( A+' in.ut 1or (R .ro:i)it* analo enor =OO (n.ut Floatin
, !F68A+'68T+0 A+' in.ut 1or (R .ro:i)it* analo enor OO (n.ut Floatin
2 !F5A+'58TM% A+' in.ut 1or (R .ro:i)it* analo enor 2OO (n.ut Floatin
!F=8A+'=8T' A+' in.ut 1or (R .ro:i)it* analo enor ,OO (n.ut Floatin
a%#e .1, onnections o* the -R roimit& sensors an! its $o+er contro# transistor +ith
the AMEA2530 microcontro##er "main microcontro##er'
O For )ore detail re1er to ection #,0 and #,2#
OOFor uin Analo (R .ro:i)it* ,& 2& and = enor -ort t-e u).er 32 on t-e)icrocontroller ada.ter board# For )ore detail re1er to ection #,#6# To ue 3TAG "ia
e:.anion lot o1 t-e )icrocontroller oc4et re)o"e t-ee u).er#
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-N
N;
in name
"AMEA4 s#a)e u'
U8ED /;R
,= %%8C',B !B2
(%! (n %*te) !rora))in and %!( 'o))unication wit-
ATMEGA2560# O
,5 MC%(8C'2 !B
,6 M(%C !B=
,@ !B5 %'
, A+'6 A+' in.ut 1or (R .ro:i)it* analo enor @
22 A+'@ A+' in.ut 1or (R .ro:i)it* analo enor I
2I !'5 A+'58%'$ A+' in.ut 1or (R .ro:i)it* analo enor 6
a%#e .16, onnections o* the -R roimit& sensors +ith the AMEA4 "s#a)e
microcontro##er'
> -n 8&stem $rogramming an! Mu#tiF$rocessor communication %et+een master an! sa#)e
microcontro##er
MC%(& M(%C& %' and %% .in o1 ATMEGA2560 )ater )icrocontroller are connected to t-e
(%! (n %*te) .rora))in .ort a well a t-e %!( bu o1 ATMEGAI la"e )icrocontroller#Hence to do (%! *ou need to diconnect u).er 3= on t-e )icrocontroller ada.tor board# To
acce data 1ro) t-e la"e )icrocontroller ATMEGAI o"er %!( bu 3u).er 3= on t-e
)icrocontroller oc4et need to be connected#
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.12 White Line 8ensor,
-ite line enor are ued 1or detectin w-ite line on t-e round ur1ace# -ite line are ued
to i"e robot ene o1 localiation# -ite line enor conit o1 a -i-l* directional .-oto
tranitor 1or line enin and bri-t red $E+ 1or t-e illu)ination# +ue to t-e directional nature
o1 t-e .-oto diode it doe not et a11ected wit- a)bient li-t unle it i "er* bri-t#
/igure .9, White #ine sensor
/igure .60, White Line sensor
-en t-e robot i not on a w-ite line& a)ount o1 li-t re1lected i le& -ence le lea4ae current1low t-rou- t-e .-oto tranitor# (n t-i cae& t-e line enor i"e an out.ut in t-e rane o1 2V
to #V# -en t-e enor i on a w-ite line& )ore li-t et re1lected reultin in coniderable
increae in t-e lea4ae current w-ic- caue "oltae acro t-e enor to 1all between 2 to 0#,V#
!ower to t-e red $E+ o1 w-ite line enor i controlled !G5 o1 ATMEGA2560 )icrocontroller
to e:tend robot? batter* li1e# %witc-in action o1 t-e .ower control circuit i e:actl* a)e a
.ower witc-in circuit o1 (R .ro:i)it* enor a dicued in ection #,,# $ine enor can be .er)anentl* turned on b* inertin u).er in t-e 3u).er 3,;=# For )ore in1or)ation re1er to
1iure #5 and table #,,#
Fiure #=,a -ow c-e)atic o1 t-e w-iteline enor )odule on t-e )ain board and 1iure #=2
-ow location o1 .otentio)eter 1or t-e w-ite line enor calibration# %tandard Fire Bird V robot
-a c-annel w-ite line enor )odule# (t can alo be ea)lel* u.raded to @ c-annel w-ite
line enor )odule uin t-e a)e connector# Main board -a .otentio)enter 1or @ c- w-ite lineenor# For )ore in1or)ation reardin u.rade& re1er to t-e a..lication note in t-e a..lication
note ection in t-e docu)entation '+#
-m$ortant,
%tandard Fire Bird V robot i -i..ed wit- .otentio)entr 1or c-annel w-ite line enor
)odule# Additional = .otentio)enter can be readl* oldered on t-e )ain board# Fiure #=2
-ow all e"en .otentio)enter but robot i -i..ed wit- onl* .otentio)entr 1or le1t& centreand ri-t ide w-ite line enor#
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/igure .61a. White #ine sensor mo!u#e on main %oar! schematic
/igure .61%. White #ine sensor schematic
Note,
-ite line enor nu)ber = t o@ ue A+' o1 t-e ATMEGAI la"e )icrocontroller#
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/igure .62, otentiometers *or +hite #ine sensor ca#i%ration
/igure .6, White #ine sensor $in connections "White #ine 8ensor oar!'
/igure .66, White #ine +hite #ine sensor connector $in con*iguration on main %oar!
in No. /unction, -ite line enor , $e1t enor +ata Cut
2 -ite line enor , $E+ "ia .otentio)eter
-ite line enor 2 'enter %enor +ata Cut
= -ite line enor 2 $E+ "ia .otentio)eter
5 -ite line enor Ri-t enor +ata Cut
6 -ite line enor $E+ "ia .otentio)eter
@ -ite line enor = +ata Cut
I -ite line enor = $E+ "ia .otentio)eterO
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-ite line enor 5 +ata Cut
,0 -ite line enor 5 $E+ "ia .otentio)eterO
,, -ite line enor 6 +ata Cut
,2 -ite line enor 6 $E+ "ia .otentio)eterO
, -ite line enor @ +ata Cut
,= -ite line enor @ $E+ "ia .otentio)eterO
,5 GN+,6 GN+
,@ -ite $ine witc-3u).er# Re1er to 1iure #=,a and #=,b
,I -ite $ine witc-3u).er# Re1er to 1iure #=,a and #=,b
, V %enor u..l*
20 V %enor u..l*
a%#e .15, White #ine sensor $in connections
O !otentio)eter 1or w-ite line enor no# 5 to @ need to be oldered and are not included in t-e
.ac4ae# T-e* are not oldered at t-e 1actor*#
in
No
AMEA2530 master
microcontro##er $in name
U8ED /;R 8tatus
@0 !G28A$E%-ar. (R rane enor 2& & = and red $E+ o1w-ite line enor ,& 2& diable# O
Turn o11 t-ee enor w-en out.ut i loic ,
Cut.ut
= !F8A+' '-annel 1or A+' $e1t in.ut 1or w-ite line enor (n.ut Floatin
5 !F28A+'2'-annel 2 1or A+' 'enter in.ut 1or w-ite line
enor(n.ut Floatin
6 !F,8A+','-annel , 1or A+' Ri-t in.ut 1or w-ite line
enor(n.ut Floatin
a%#e .13 White #ine sensor connections +ith AD o* AMEA2530 "Master
microcontro##er'
O For )ore detail re1er to ection #,0 and #,2#
inNo.
AMEA4 s#a)emicrocontro##er $in name
U8ED /;R
,= %%8C',B !B2
(%! (n %*te) !rora))in and %!( 'o))unication wit-
ATMEGA2560# O
,5 MC%(8C'2 !B
,6 M(%C !B=
,@ !B5 %'
2 !'0 A+'0 A+' in.ut 1or w-ite line enor =
2= !', A+', A+' in.ut 1or w-ite line enor 58%er"o .od
25 !'2 A+'2 A+' in.ut 1or w-ite line enor 6
26 !' A+' A+' in.ut 1or w-ite line enor @8%er"o .od
a%#e .17 onnections o* the -R roimit& sensors +ith the AMEA4 "s#a)e
microcontro##er'
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> -n 8&stem $rogramming an! Mu#tiF$rocessor communication %et+een master an! sa#)e
microcontro##er
MC%(& M(%C& %' and %% .in o1 ATMEGA2560 )ater )icrocontroller are connected to t-e(%! (n %*te) .rora))in .ort a well a t-e %!( bu o1 ATMEGAI la"e )icrocontroller#
Hence to do (%! *ou need to diconnect u).er 3= on t-e )icrocontroller ada.tor board# To
acce data 1ro) t-e la"e )icrocontroller ATMEGAI o"er %!( bu 3u).er 3= on t-e)icrocontroller oc4et need to be connected#
White Line sensor ca#i%ration
B* uin tri))in .otentio)eter located on t-e to. center o1 t-e )ain board& line enor can
be calibrated 1or o.ti)al .er1or)ance# $ine enor are 1actor* calibrated 1or o.ti)al
.er1or)ance# >in t-ee .otentio)eter we can adut t-e intenit* o1 t-e red $E+ o1 t-e w-ite
line enor# %eniti"it* adut)ent i needed& w-en color contrat between t-e w-ite and non;w-ite ur1ace in a w-ite line rid i not ade7uate# (n uc- cae t-e enor can be tuned to i"e
)a:i)u) di11erence between w-ite and non w-ite ur1ace# /ou can alo turn on and turn o11
red $E+ and ta4e enor readin at t-e a)e .lace and nulli1* t-e e11ect o1 t-e a)bient li-t#
Robot co)e wit- a 1le: tri.e .rinted w-ite line# /ou can ue it to calibrrate robot w-ite lineenor b* .uttin t-e) on blace and w-ite enor#
E**ect o* am%ient #ight on the +hite #ine sensors
-ite line enor are -i-l* directional in nature -ence t-e* are i))une to t-e illu)ination1ro) tube li-t or 'F$# Note t-at tube li-t w-ic- ue i).le inducti"e c-oc4 actuall* blin4 50
ti)e a econd and t-i blin4 i ca.tured b* t-e w-ite line enor a A+' can ac7uire data at
"er* 1at rate# Hence it i reco))ended t-at ue 'F$ li-t or tube li-t wit- electronic c-oc4
or ballat# T-ee tube li-t are t-e one w-ic- turn on li4e a bulb wit-out 1lic4erin#
-ite line enor are eentiall* eniti"e .-oto tranitor wit- .reciion len ae)bl*# All t-e .-oto diode and .-oto tranitor are )an* ti)e eniti"e to in1rared t-an to red li-t# Hence1or conitent reult a"oid roo) w-ic- -a"e lare window e"en i1 t-e* -a"e curtain# Alo
a"oid uin robot in area illu)inated wit- 1ila)ent baed bulb a t-e* -a"e lare in1rared li-t
radiation
Wh& re! LEDs are use! instea! o* -R LEDs in the +hite #ine sensorsG
!-oto tranitor are )an* ti)e eniti"e to (R t-an to "iible li-t but we till ue red li-tillu)ination becaue o1 1ollowin reaon<
• Red li-t i nearer to t-e in1rared
• %ince we can ee red li-t it eaier to calibrate it uin e*e
• An* color a..ear blac4 becaue it doe not re1lect "iible li-t# -ic- )ean blac4ur1ace can be ultra"iolet or in1rared in color# (1 blac4 i in1rared color t-en robot w-ite
line enor will not be able to ditinui- between w-ite and blac4 a blac4 will re1lectall in1rared wa"e a e11ecti"el* a w-ite ur1ace# (n cae o1 red illu)ination w-ic- -a
"er* le in1rared radiation e"en in1rared blac4 i till conidered a blac4 w-ic- )a4e
red li-t a color o1 c-oice#
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/igure .66c, U#trasonic Range 8ensor inter*acing an! um$er settings
8u$$orte! U#trasonic range sensors
FireBird V robot )ainl* ue EJ0 to EJ= enor 1ro) Ma:Boti:# All t-ee enor are a"ailable
on NEX Robotic webite# Ct-er enor 1ro) Ma:Boti: -a"in co).atible .in )a..in can
alo be ued intead o1 t-ee enor# For )ore detail on co).atibilit*& re1er to t-e re.ecti"eenor? data-eet#
EJ0 to EJ= enor -a"e .rorei"el* )ore directionalit*# Re1er to below 1iure to et rou-
idea o1 t-e enor c-aracteritic#
/igure .66!, Range 8ho+n on 1F*oot gri! to )arious !iameter !o+e#s "courtes&, Maoti
+e%site'
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Mounting U#trasonic range sensors,
Fire Bird V robot )ain board -a e).t* lot 1or t-e ultraonic rane enor )ountin# /ou
can directl* older t-e) uin ri-t anled )ale ber tri. or *ou can older 1low older 1e)ale ber tri. on t-e )ain board and inert enor w-ic- i alread* oldered to ri-t anled )ale
ber tri.e# Cnce *ou older 1e)ale ber tri. on t-e )ain board& *ou can not inert %-ar. (R
rane enor in to it#
>ltraonic rane enor -a"e wider bea) anle# E"en i1 t-e* )ounted in wit- enor e:actl*
ri-t anled to t-e )ain board it will ee round 1ew )eter a-ead# (t i ood idea to older t-e)directl* on )ain board and li-t bend t-e) u.ward#
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.1 LD -nter*acing
$'+ can be inter1aced in Ibit or = bit inter1acin )ode# (n I bit )ode it re7uire control lineand I data line# To reduce nu)ber o1 (8C re7uired& Fire Bird V robot ue = bit inter1acin
)ode w-ic- re7uire control line and = data line# (n t-i )ode u..er and lower nibble o1 t-e
data8co))and b*te need to be ent e.aratel*# Fiure #=@ -ow $'+ inter1acin in = bit)ode wit- t-ree control line EN Enable& R% Reiter %elect& and R Read 8 rite#
T-e EN line i connected to !'2# T-i control line i ued to tell t-e $'+ t-at )icrocontroller-a ent data to it or )icrocontroller i read* to recei"e data 1ro) $'+# T-i i indicated b* a
-i-;to;low tranition on t-i line# To end data to t-e $'+& .rora) -ould )a4e ure t-at t-i
line i low 0 and t-en et t-e ot-er two control line a re7uired and .ut data on t-e data bu#-en t-i i done& )a4e EN -i- , and wait 1or t-e )ini)u) a)ount o1 ti)e a .eci1ied b*
t-e $'+ data-eet& and end b* brinin it to low 0 aain#
T-e R% line i connected to !'0# -en R% i low 0& data i treated a a co))and or .ecialintruction b* t-e $'+ uc- a clear creen& .oition curor& etc## -en R% i -i- ,& data
bein ent i treated a te:t data w-ic- -ould be di.la*ed on t-e creen#
T-e R line i connected to !',# -en R i low 0& t-e in1or)ation on t-e data bu i beinwritten to t-e $'+# -en R i -i- ,& t-e .rora) i e11ecti"el* 7uer*in or readin 1ro)
t-e $'+#
T-e data bu i bidirectional& = bit wide and i connected to !'= to !'@ o1 t-e )icrocontroller#
T-e M%B bit +B@ o1 data bu i alo ued a a Bu* 1la# -en t-e Bu* 1la i ,& t-e $'+ i
in internal o.eration )ode& and t-e ne:t intruction will not be acce.ted# -en R% Q 0 and R8
Q ,& t-e Bu* 1la i out.ut on +B@# T-e ne:t intruction )ut be written a1ter enurin t-at t-e bu* 1la i 0# Re1er $'+ data-eet .ro"ided in docu)entation '+ 1or uin Bu* 1la#
/igure .65, LD soc=et an! other settings
/igure .63, LD soc=et $in connection
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.
/igure .69, LD iming Diagram.
$'+ i inter1aced to t-e .in 22 to 2I o1 t-e )ain board oc4et# $'+ ue 5V %*te) u..l* 1or
it o.eration# For $'+ bac4li-t V Batter* u..l* i ued# Fiure I#=5 -ow $'+ bac4li-t u).er and $'+ contrat control .otentio)eter# (n order to a"e .ower $'+ bac4li-t can be
turned o11 b* re)o"in $'+ bac4li-t u).er# $'+? contrat can be aduted b* $'+ contratcontrol .otentio)eter#
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.16 u@@er
Robot -a H .ieo buer# (t can be ued 1or debuin .ur.oe or a attention ee4er 1or a .articular e"ent# T-e buer i connected to !' .in o1 t-e )icrocontroller# Alo t-e a)e
buer i ued in batter* )onitorin circuit to alert t-e batter* low indication#
/igure .50, u@@er
/igure .51, u@@er 8chematic
Buer i dri"en b* B'5=I tranitor# Reitor ,00 i ued to 4ee. tranitor o11& i1 t-e in.ut
.in i 1loatin# Buer will et turned on i1 in.ut "oltae i reater t-an 0#65V#
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.15 8- e$ansion $ort on the main %oar!Main board -a %!( connector 1or addin acceorie uc- a robotic ar)& color enor etc#
Fiure #52 -ow it location on t-e )ain board and 1iure #52a -ow it connection#
/igure .52, 8- e$ansion $ort $ins
/igure .52a, 8- e$ansion $ort $ins
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.17 U8 communicationFire Bird V? )ain board -a >%B .ort oc4et# Microcontroller accee >%B .ort "ia )ain
board oc4et# All it .in are connected to t-e )icrocontroller ada.ter board "ia )ain boardoc4et connector#
/igure .55, U8 $ort on the /ire ir! V main %oar!
/igure .55a, U8 $ort connections +ith the main %oar! soc=et
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.14 Wire#ess communication a!a$tor
Fiure #5@ -ow location o1 t-e oc4et 1or t-e wirele )odule# (t u..ort XBee and XBee !roerie , and erie 2 JiBee wirele )odule 1ro) dii international& RN;XV iFi to erial
)odule and Bluetoot- )odule# Table #20 -ow t-e 1unction o1 t-e tatu indicator $E+ 1or
t-e XBee wirele )odule#
/igure .53, igee +ire#ess mo!u#e schematics
/igure .57, igee +ire#ess mo!u#e an! LED in!icators
LEDonnection to Iee Wire#ess
mo!u#e in no.Descri$tion
A%%C ,5 Aociate $E+
R%%( 6 RX %inal %trent- (ndicator
a%#e .20, Iee +ire#ess mo!u#e LED *unctions-m$ortant,
/ou can c-ane XBee wirele )odule? 1re7uenc* and !an (+& o t-at )ulti.le XBee wirele
)odule can coe:it at t-e a)e ti)e# For )ore in1or)ation on t-i& re1er to LA..lication Note1older w-ic- i located inide t-e LManual and A..lication note 1older in t-e docu)entation
'+#
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.19.2 atter& )o#tage sensing
Filtered batter* "oltae i ued 1or batter* "oltae enin# Analo to +iital 'on"erter A+'can )eaure )a:i)u) "oltae o1 5V# Hence batter* "oltae i caled down 1ro) I;,5V to le
t-an 5V uin reitor di"ider networ4 1or)ed b* R,2 and R,# (t cale down t-e "oltae b*
a..ro:i)atel* ,8 o1 t-e actual "alue#
ATMEGA2560 A+' can be ued in I bit or ,0 bit reolution# To calculate "oltae 1ro) t-e
A+'? ac7uired diital "alue in I bit reolution we ue 1ollowin 1or)ula<
V Batter* Q 0#@V A+' "alue O 5V8255 O ,0 # 8 #
V Batter* Q 0#@V A+' "alue O 0#0@0
(n t-e abo"e 1or)ula<
• 0#@V re.reent "oltae dro. acro t-e diode +@ and +# 1or )ore detail re1er to 1iure
#,,#
• 5V8255 re.reent t-e A+' te. reolution
• ,0 # 8 # i a "oltae di"ider 1or)ula
/igure .30, atter& Vo#tage Di)i!er ias ircuit
Note, For ,0 bit reolution re.lace 255 b* ,02=#
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.19.6 AMEA2530 Microcontro##er oar! E$ansion 8oc=et
ATMEGA2560 i a 1eature ric- )icrocontroller wit- lot o1 a"ailable (8C .ort# Man* o1 t-e .ort are a"ailable 1or e:ternal ue on t-e u' E:.anion %oc4et# For !in con1iuration o1
e:.anion -eader re1er ection =# 1ro) c-a.ter =#
/igure .3, u E$ansion 8oc=et on the AMEA2530 Microcontro##er oar!
.19.5 8er)o o! 8ensor 8oc=et
%er"o .od enor oc4et i ued to connect e:ternal enor 8 actuator w-ic- are )ounted on .an
8 tilt er"o .od# (t i a I .in 2560 reli)ate connector# Table #22 i"e it .in connection#
/ig .36, 8er)o o! 8ensor 8oc=et
/igure .35, 8er)o $o! sensor connector $in ma$$ing
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in No. in Name Descri$tion
, %er"o !C+, 'onnection wit- ATMEGA2560 A+' c-annel ,=
2 %er"o !C+2 'onnection wit- ATMEGA2560 A+' c-annel ,5
G!(C 'onnection wit- ATMEGA2560 C'2A8!B= .in !in no# 2
= At)eaI A+' 'onnection wit- ATMEGAI A+' c-annel ,
5 At)eaI A+' 'onnection wit- ATMEGAI A+' c-annel
6 Ground Ground@ V %/% 5V V''
I V BATT Batter* VoltaeV P ,,V
a%#e .22, 8er)o o! soc=et $in !escri$tion
.19.3 Microcontro##er oar! um$ers
/igure .33, um$ers schematic
Microcontroller board -a = u).er labeled 1ro) 3, to 3= a -own in Fiure #5I and 1iure
#66#
1, 3u).er 3, i ued to elect between t-e >ART2 .in connection o1 ATMEGA2560 on t-eu' E:.anion %oc4et and to t-e onboard FT22 >%B to erial con"erter circuit# -en u).er i
in .oition a -own in t-e 1iure #66& it enable t-e onboard >%B co))unication t-rou->ART2 de1ault tate#
2, -en 32 i on (R !ro:i)it* enor , to = are connected to t-e A+' .in o1 t-eATMEGA2560# -en 32 i o.en& a)e A+' .in can be ued 1or 3TAG on t-e u' e:.anion
oc4et or a A+' 1or e:ternal enor inter1acin# (n t-e de1ault tate 32 i on#
, (1 3 i on& all t-e .in o1 t-e !CRT 3 are connected to t-e $E+ barra.- di.la*# (t can be
ued 1or 7uic4 )eae di.la* 1or debu .ur.oe# (1 3 i o11& $E+ connection i diabled# All
t-e .in o1 t-e !CRT 3 are a"ailable on t-e u' e:.anion oc4et 1or ue a G!(C# (n t-e de1ault
tate 3 i 4e.t on#
6, -en 3= i on& %!( bu between ATMEGA2560 )ater and ATMEGAI la"e i
connected and *ou can acce date 1ro) t-e la"e )icrocontroller# %ince %!( line are alo ued1or (n %*te) !rora))in (%! to load 1ir)ware on t-e )ater and la"e )icrocontroller "ia
%!( .ort *ou need to re)o"e all u).er 1ro) 3= be1ore atte).tin (%!# 3= i 4e.t o.en a
de1ault ettin#
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Fire Bird V ATMEGA2560 Hardware Manual
/ou can alo .rora) robot uin boot loader utilit* "ia >%B .ort# T-i will re)o"e t-e need 1or
1re7uent re)o"al o1 u).er on 3= 1or loadin new 1ir)ware#
-n 8&stem rogramming "-8' soc=ets
/igure .37 -8 8chematic
ATMEGA2560 )icrocontroller ada.ter board -a (%! oc4et 1or t-e ATMEGA2560 and
ATMEGAI )icrocontroller#
Note, To do (n %*te) !rora))in o1 ATMEGA2560 and ATMEGAI )icrocontroller
u).er 3= )ut be abent# For )ore detail re1er to ection #,#6 1or t-e 3=#
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Fire Bird V ATMEGA2560 Hardware Manual
.19.7 /22 U8 to seria# con)erter on UAR 2 o* the AMEA2530 microcontro##er
FT22 i a >%B to TT$ le"el erial con"erter# (t i ued 1or addin >%B connecti"it* to t-e)icrocontroller ada.ter board# it- onboard >%B circuit Fire Bird V can co))unicate eriall*
wit- t-e !' t-rou- >%B .ort wit-out t-e ue o1 an* e:ternal >%B to %erial con"erter#
Microcontroller oc4et ue >%B .ort 1ro) t-e )ain board# +ata tran)iion and rece.tion iindicated uin TX and RX $E+ w-ic- are located near t-e FT22 ('# Re1er to 1iure #5I 1or
$E+ location# To enable >%B to erial co))unication& u).er 3, -ould be con1iured in a
.articular wa*# Re1er to ection #,#6 1or correct u).er ettin#
/igure .34, /22 8chematic
Note, >in bootloader 1ro) NEX Robotic& Robot can be .rora))ed directl* "ia >%B .ortwit-out an* need o1 e:ternal (%! .rora))er# How to ue Bootloader G>( i co"ered in t-e
o1tware )anual#
.19.4 L to R822 con)erter on UAR 1 o* the AMEA2530 microcontro##er
MAX202 (' i ued 1or con"erion o1 t-e TT$ le"el inal o1 t-e >ART , to t-e R%22 le"el# (t
i connected to t-e +B 1e)ale erial connector on t-e )ain board# For )ore detail on t-e-ardware connection re1er to ection #,6#
/igure .39, MAI202 L to R822 con)erter
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Fire Bird V ATMEGA2560 Hardware Manual
.19.9 RE/5050 $recision re*erence )o#tage generator
ATMEGA2560 )icrocontroller? A+' c-annel re7uire e:ternal table "oltae re1erence# (n t-ede1ault tate )icrocontroller ue L5V u' %u..l* a a e:ternal re1erence "oltae# (n cae i1 *ou
want to inter1ace )icrocontroller wit- t-e enor w-ere .reciion i "er* i).ortant t-en
REF5050 e:ternal re1erence "oltae enerator can be added on t-e )icrocontroller board# (n t-ede1ault tate "oltae re1erence i directl* ta4en 1ro) L5V u' u..l* b* connectin .in 2 and ,
o1 t-e .ad o1 %3, w-ic- i located ut below t-e 32 on t-e )icrocontroller board# Fiure #@,
-ow )ountin o1 REF5050 and c-ane in t-e older .ad -ortin#
/igure .70, RE/5050 8chematic
/igure .71, Le*tF um$er shorte! to use 5V u as A Re*. RightF RE/5050 is insta##e! an!
um$er shorte! to use its 5V out$ut as re*erence.
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Fire Bird V ATMEGA2560 Hardware Manual
.19.10 -nterru$t 8+itch
(nterru.t witc- on t-e )icrocontroller ada.ter board i connected to !E@ (NT@ .in o1 t-e
)icrocontroller# (t -a e:ternal ,0 .ull;u. reitor# -en witc- i .reed& !E@ beco)e loiclow# $ocation o1 t-e interru.t witc- i -own in 1iure #5I#
/igure .72, -nterru$t s+itch
-m$ortant,
Be1ore uin interru.t witc-& enure t-at olderin .ad !, on t-e )ain board i o.en# For )orein1or)ation re1er to 1iure #2I and ection ##
.19.11 8er)o onnectors
T-e )icrocontroller board -a t-ree %er"o connector a -own in 1iure #5I# (t can be ued 1or
dri"in er"o )otor o1 ca)era .od or an* ot-er attac-)ent# !ower 1or t-e er"o connector i
.ro"ided b* t-e L5V er"o u..l* "oltae reulator# Fiure #@ -ow correct orientation o1
t-e er"o )otor connector#
/igure, .7, 8er)o onnectors 8chematic.
/igure, .7a, 8er)o onnectors 8chematic
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Fire Bird V ATMEGA2560 Hardware Manual
.19.16 AMEA4 8#a)e Microcontro##er
Fire Bird V robot can be inter1aced wit- )ore t-an 0 enor at t-e a)e ti)e# ATMEGA2560doe not -a"e u11icient nu)ber o1 A+' a"ailable o1 enor inter1acin# Hence ATMEGAI
)icrocontroller i connected wit- ATMEGA2560 )icrocontroller o"er t-e %!( .ort# 3u).er 3=
need to be re)o"ed be1ore atte).tin to do (%! wit- ATMEGA2560 and ATMEGAI a t-ere%!( line are connected wit- t-e u).er 3=# For )ore detail on t-e u).er& re1er to t-e ection
#,#6#
/igure .73, AMEA4 8HEMA-
Note, Fir)ware ATMEGAI#-e: 1or t-e ATMEGAI )icrocontroller i located in t-e G>( and
Related Fir)ware 1older in t-e docu)entation '+#
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Fire Bird V ATMEGA2560 Hardware Manual
.19.15 AMEA2530 Microcontro##er
ATMEGA2560 i inter1aced directl* to )ot o1 t-e onboard .eri.-eral# (t c-e)atic i -ownin t-e 1iure #@I#
/igure .74, AMEA2530 microcontro##er schematic
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Fire Bird V ATMEGA2560 Hardware Manual
6. in /unctiona#it&
Fire Bird V ATMEGA2560 )icrocontroller ada.ter board -a two )icrocontroller#
ATMEGA2560 )ater )icrocontroller and ATMEGAI la"e )icrocontroller#
ATMEGA2560 co))unicate wit- ATMEGAI uin %!( bu#
ATMEGA2560 i inter1aced to all t-e i).ortant )odule 1or t-e robot w-ile ATMEGAI
)icrocontroller i inter1aced wit- non critical )odule uc- a (R .ro:i)it* enor 6& @& I&
Robot current enin i1 A'%@,2 current enor i intalled& e:tended w-ite line enorc-annel =& 5& 6& @ and .in on t-e er"o enor oc4et etc#
6.1 AMEA2530 "master' microcontro##er $in con*igurationin
No
in name U8ED /;R 8tatus
, C'0B!G5%la"e %elect %% o1 t-e %!( e:.anion .ort on t-e )ain board
re1er to 1iure #5;;
2 RX+08!'(NTI8!E0 >ART 0 recei"e 1or XBee wirele )odule i1 intalled +e1ault TX+08!E, >ART 0 tran)it 1or XBee wirele )odule i1 intalled +e1ault
= X'08A(N08!E2G!(CO A"ailable on e:.anion lot o1 t-e )icrocontroller
oc4et
5 C'A8A(N,8!E !M out.ut 1or '2 )otor dri"e Cut.ut
6 C'B8(NT=8!E= E:ternal (nterru.t 1or t-e le1t )otor? .oition encoder (n.ut
@ C''8(NT58!E5 E:ternal (nterru.t 1or t-e ri-t )otor? .oition encoder (n.ut
I T8(NT68!E6 E:ternal (nterru.t 1or t-e '2 )otor? .oition encoder (n.ut
'$08('!8(NT@8 !E@
E:ternal (nterru.t 1or (nterru.t witc- on t-e )icrocontroller board& E:ternal (nterru.t 1or t-e ', )otor? .oition encoder&
'onnection to T%C!,@I i1 .ad i -orted& can alo be ued
a Boot loadin witc- OOOOOOOO
(n.ut
,0 V'' 5V
,, GN+ Ground,2 RX+28!H0
>ART 2 recei"e 1or >%B 'o))unication#
For )ore detail re1er to ection #,#@+e1ault
, TX+28!H,>ART 2 tran)it 1or >%B 'o))unication#
For )ore detail re1er to ection #,#@+e1ault
,= X'28!H2(R .ro:i)it* enor , to I enable 8 diable#
Turn o11 t-ee enor w-en out.ut i loic , OOOOOOOCut.ut
,5 C'=A 8 !H%-ar. (R rane enor ,and 5 enable 8 diable#
Turn o11 t-ee enor w-en out.ut i loic , OOOOOOOCut.ut
,6 C'=B 8 !H=
'onnected to R: .in o1 ,t >ltraonic rane enor to trier
t-e ultraonic enor i1 enor i )ounted# Alo A"ailable on
e:.anion lot o1 t-e )icrocontroller oc4etOOOOOOOOO
;;
,@ C'=' 8 !H5 A"ailable on e:.anion lot o1 t-e )icrocontroller oc4et ;;
,I C'2B 8 !H6 A"ailable on e:.anion lot o1 t-e )icrocontroller oc4et ;;, %%8!'(NT08!B0
(%! (n %*te) !rora))in& %!( 'o))unication wit-
ATMEGAI OO& 'onnection to t-e %!( .ort on t-e )ain board#
Alo a"ailable on e:.anion lot o1 t-e )icrocontroller oc4et
20 %'8!'(NT,8!B, Cut.ut
2, MC%(8!'(NT28!B2 Cut.ut
22 M(%C8!'(NT8!B (n.ut
2 C'2A8!'(NT=8!B= %er"o !od G!(C ;;
2= C',A8!'(NT58!B5 !M 1or %er"o )otor ,# OOO Cut.ut
25 C',B8!'(NT68!B6 !M 1or %er"o )otor 2# OOO Cut.ut
26 C'0A8C','8!'(NT@8!B@ !M 1or %er"o )otor # OOO Cut.ut
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Fire Bird V ATMEGA2560 Hardware Manual
2@ T=8!H@ G!(C A"ailable Cn E:.anion %lot ;;
2I TC%'28!GRT' Real Ti)e 'loc4OOOO
2 TC%',8!G=
0 RE%ET Microcontroller reet
, V'' 5V
2 GN+ Ground XTA$2
'r*tal ,=#@=56 MH= XTA$,
5 ('!=8!$0'onnected to R%%( .in o1 XBee )odule# Alo A"ailable on
e:.anion lot o1 t-e )icrocontroller oc4et#;;
6 ('!58!$, A"ailable on e:.anion lot o1 t-e )icrocontroller oc4et# ;;
@ T%8!$2 A"ailable on e:.anion lot o1 t-e )icrocontroller oc4et# ;;
I C'5A8!$ !M 1or le1t )otor# Cut.ut
C'5B8!$= !M 1or ri-t )otor# Cut.ut
=0 C'5'8!$5 !M 1or ', )otor# Cut.ut
=, !$6 G!(CO A"ailable on e:.anion lot o1 t-e )icrocontroller
oc4et
;;
=2 !$@ ;;= %'$8(NT08!+0 (2' bu 8 G!(C A"ailable on e:.anion lot o1 t-e
)icrocontroller oc4et
;;
== %+A8(NT,8!+, ;;
=5 RX+,8(NT28!+2 >ART, recei"e 1or R%22 erial co))unication +e1ault
=6 TX+,8(NT8!+ >ART, tran)it 1or R%22 erial co))unication +e1ault
=@ ('!,8!+=
G!(CO A"ailable on e:.anion lot o1 t-e )icrocontroller
oc4et
;;
=I X',8!+5 ;;
= T,8!+6 ;;
50 T08!+@ ;;
5, !G08R G!(CO A"ailable on e:.anion lot o1 t-e )icrocontroller
oc4et
;;
52 !G,8R+ ;;
5 !'0 $'+ control line R% Reiter %elect Cut.ut5= !', $'+ control line RRead8rite %elect Cut.ut
55 !'2 $'+ control line ENEnable %inal Cut.ut
56 !' Buer Cut.ut
5@ !'=
$'+ data line =;bit )ode Cut.ut5I !'5
5 !'6
60 !'@
6, V'' 5V
62 GN+ Ground
6 !308RX+8!'(NT
$E+ barra.- di.la* and G!(CO A"ailable on e:.anion
lot o1 t-e )icrocontroller oc4etCut.ut
6= !3,8TX+8!'(NT,065 !328X'8!'(NT,,
66 !38!'(NT,2
6@ !3=8!'(NT,
6I !358!'(NT,=
6 !368!'(NT,5
@0 !G28A$ERed $E+ o1 w-ite line enor enable8diable# OOOOOOO
Turn o11 t-ee enor w-en out.ut i loic ,Cut.ut
@, !A@ '2;2 $oic in.ut 2 1or '2 )otor dri"e Cut.ut
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Fire Bird V ATMEGA2560 Hardware Manual
@2 !A6 '2;, $oic in.ut , 1or '2 )otor dri"e Cut.ut
@ !A5 ',;2 $oic in.ut 2 1or ', )otor dri"e Cut.ut
@= !A= ',;, $oic in.ut , 1or ', )otor dri"e Cut.ut
@5 !A $oic in.ut , 1or Ri-t )otor Ri-t bac4 Cut.ut
@6 !A2 $oic in.ut 2 1or Ri-t )otor Ri-t 1orward Cut.ut
@@ !A, $oic in.ut 2 1or $e1t )otor $e1t 1orward Cut.ut@I !A0 $oic in.ut , 1or $e1t )otor $e1t bac4 Cut.ut
@ !3@$E+ Bar Gra.- and G!(CO A"ailable on e:.anion lot o1
t-e )icrocontroller oc4et
I0 V'' 5V
I, GN+ Ground
I2 !@8A+',58!'(NT2 A+' (n.ut For %er"o !od 2(n.utFloatin
I !68A+',=8!'(NT22 A+' (n.ut For %er"o !od ,(n.utFloatin
I= !58A+',8!'(NT2, A+' in.ut 1or %-ar. (R rane enor 5(n.ut
Floatin
I5 !=8A+',28!'(NT20 A+' in.ut 1or %-ar. (R rane enor =(n.ut
Floatin
I6 !8A+',,8!'(NT, A+' in.ut 1or %-ar. (R rane enor (n.ut
Floatin
I@ !28A+',08!'(NT,I A+' in.ut 1or %-ar. (R rane enor 2(n.ut
Floatin
II !,8A+'8!'(NT,@ A+' in.ut 1or %-ar. (R rane enor ,(n.ut
Floatin
I !08A+'I8!'(NT,6 A+' in.ut 1or (R .ro:i)it* analo enor 5(n.ut
Floatin
0 !F@A+'@8T+( A+' in.ut 1or (R .ro:i)it* analo enor =OOOOO(n.ut
Floatin
, !F68A+'68T+0 A+' in.ut 1or (R .ro:i)it* analo enor OOOOO(n.ut
Floatin
2 !F5A+'58TM% A+' in.ut 1or (R .ro:i)it* analo enor 2OOOOO(n.ut
Floatin
!F=8A+'=8T' A+' in.ut 1or (R .ro:i)it* analo enor ,OOOOO(n.utFloatin
= !F8A+' A+' in.ut 1or w-ite line enor ,(n.utFloatin
5 !F28A+'2 A+' in.ut 1or w-ite line enor 2(n.utFloatin
6 !F,8A+', A+' in.ut 1or w-ite line enor (n.ut
Floatin
@ !F08A+'0 A+' in.ut 1or batter* "oltae )onitorin(n.ut
Floatin
I AREF A+' re1erence "oltae .in 5V e:ternal OOOOOO GN+ Ground
,00 AV'' 5V
a%#e 6.1, AMEA2530 microcontro##er $in connections
O Not ued .in are b* de1ault initialied to in.ut and 4e.t 1loatin# T-ee .in are a"ailable on
t-e e:.anion lot o1 t-e ATMEGA2560 )icrocontroller ada.ter board# %o)e .in are e.eciall*reer"ed 1or er"o )otor inter1acin 1or t-e Fire Bird V He:a.od robot#
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Fire Bird V ATMEGA2560 Hardware Manual
OO MC%(& M(%C& %' and %% .in o1 ATMEGA2560 are aociated to t-e (%! (n %*te)
.rora))in .ort a well a t-e %!( inter1ace to ATMEGAI# 3= need to be diconnected
be1ore doin (%!# To co))unicate wit- ATMEGAI u).er 3= need to be in .lace# For )oredetail re1er to ection #,#6#
OOO !CRTB .in5& 6& @ are C',A& C',B& C',' o1 t-e Ti)er,# T-ee .in are connected to t-eer"o )otor oc4et %,& %2& % on t-e )icrocontroller ada.ter board#
OOOO E:ternal 'r*tal o1 2 H i connected to t-e .in !G and !G= to enerate cloc4 1orRT' Real Ti)e 'loc4#
OOOOO For uin Analo (R .ro:i)it* ,& 2& and = enor -ort t-e u).er 32# To ue 3TAG
or inter1ace e:ternal analo enor "ia e:.anion lot o1 t-e )icrocontroller oc4et re)o"et-ee u).er#
OOOOOO AREF can be obtained 1ro) t-e 5V )icrocontroller or 5V analo re1erence enerator ('
REF5050 o.tional# For )ore detail re1er to ection #,##
OOOOOOO %enor? witc-in can be controlled onl* i i1 corre.ondin u).er are o.en# For)ore detail re1er to ection #,, and #,2#
OOOOOOOO E:ternal interru.t 1ro) t-e .oition encoder ', i diabled b* re)o"in -ort on .ad!, near '+=0,06 %c-)itt trier in"erter bu11er to a"oid it wire AN+in wit- t-e interru.t
witc-# Re1er ection # and #,# 1or detail#
OOOOOOOOO Re1er t-e errata ection 1or )ore detail& w-ere )odi1ication re7uired 1or uin !H= .ort .in o1 )icrocontroller#
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Fire Bird V ATMEGA2560 Hardware Manual
6.2 AMEA4 "s#a)e' microcontro##er $in con*iguration
in No. in name U8ED /;R
, (NT,8!+ Not >ed
2 X'8TC%',8!B6 Not >ed
GN+ Ground
= V'' 5V
5 GN+ Ground
6 V'' 5V
@ XTA$,8TC%',8!B6 Not >ed
I XTA$28TC%',8!B@ Not >ed
T, !+5 Not >ed
,0 A(N0 !+6 Not >ed
,, A(N, !+@ Not >ed
,2 ('! !B0 Not >ed
, C',A !B, Not >ed
,= %%8C',B !B2(%! (n %*te) !rora))in and %!( 'o))unication
wit- ATMEGA2560# O
,5 MC%(8C'2 !B
,6 M(%C !B=
,@ !B5 %'
,I AV'' 5V
, A+'6 A+' in.ut 1or (R .ro:i)it* analo enor @
20 AREF 5V
2, GN+ Ground
22 A+'@ A+' in.ut 1or (R .ro:i)it* analo enor I
2 !'0 A+'0 A+' in.ut 1or w-ite line enor =
2= !', A+', A+' in.ut 1or w-ite line enor 58%er"o .od
25 !'2 A+'2 A+' in.ut 1or w-ite line enor 626 !' A+' A+' in.ut 1or w-ite line enor @8%er"o .od
2@ !'= A+'=8%+A A+' in.ut 1or 'urrent %enin (' A'%@,2
2I !'5 A+'58%'$ A+' in.ut 1or (R .ro:i)it* analo enor 6
2 !'6 RE%ET Microcontroller reet
0 !+0 RX+ Not >ed
, !+, TX+ Not >ed
2 !+2 (NT0 Not >ed
a%#e 6.2, AMEA4 microcontro##er $in connections
> MC%(& M(%C& %' and %% .in o1 ATMEGA2560 are aociated to t-e (%! (n %*te) .rora))in .ort a well a t-e %!( inter1ace to ATMEGAI# 3= need to be diconnected
be1ore doin (%!# To co))unicate wit- ATMEGAI u).er 3= need to be in .lace# For )ore
detail re1er to ection #,#6 3=#
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Fire Bird V ATMEGA2560 Hardware Manual
6. AMEA2530 Microcontro##er oar! E$ansion 8oc=et
ATMEGA2560 i a 1eature ric- )icrocontroller wit- lot o1 a"ailable (8C .ort# Man* o1 t-e .ort are a"ailable on t-e u' E:.anion %oc4et# Table =# lit t-e connection detail o1 all t-e
.in o1 t-e oc4et#
/igure 6.1, E$ansion Hea!er on Microcontro##er oar!
in No. /unction
, >ART2 TX+ .in o1 ATMEGA2560 "ia 3u).er , u' .in ,
2 >ART2 RX+ .in o1 ATMEGA2560 "ia 3u).er , u' .in ,2
ATMEGA2560 interru.t @ .in 8 '$C 8 ('! u' .in
= C'=B 8 !H= 8 G!(C u' .in ,6& Alo connected to RX .in o1 ,t ultraonic enor
trierin#
5 C'=' 8 !H5 8 G!(C u' .in ,@
6 C'2B 8 !H6 8 G!(C u' .in ,I
@ T+C 3TAGO 8 A+'6O 8 (R .ro:i)it* enor u' .in ,
I T+( 3TAGO 8 A+'@O 8 (R !ro:i)it* enor = u' .in 0
TM% 3TAG O8 A+'5O 8 (R !ro:i)it* enor 2 u' .in 2
,0 T' 3TAGO 8 A+'=O 8 (R !ro:i)it* enor , u' .in ,, ATMEGA2560 %la"e %elect %% .in !B0 u' .in , OO
,2 No 'onnection till t-e "erion 200;,2;0I# 'onnected to V Batt u..l* in "erion 20,0;
,,;25 onward#
, MC%( 8 !B2 u' .in 2,OO
,= %' 8 !B, u' .in 20OO
,5 RE%ET u' .in 0
,6 M(%C 8 !B u' .in 22OO
,@ !$@ 8 G!(C u' .in =2
,I !$6 8 G!(C u' .in =,
, %+A 8 !+, 8 (NT, 8 G!(C u' .in ==
20 %'$ 8 !+0 8 (NT0 8 G!(C u' .in =
2, 5V %*te) Voltae# 'an be ued 1or .owerin u. an* diital de"ice# 'urrent $i)it<
=00)A#
22 5V %*te) Voltae# 'an be ued 1or .owerin u. an* diital de"ice# 'urrent $i)it<
=00)A#
2 Ground
2= Ground
25 ('!, 8 !+= 8 G!(C u' .in =@
26 T= 8 !H@ 8 G!(C u' .in 2@
2@ ('!5 8 !$, 8 G!(C u' .in 6
2I ('!= 8 !$0 8 G!(C u' .in 5& Alo connected to R%%( .in o1 XBee )odule
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2 X', 8 !+5 8 G!(C u' .in =I
0 T5 8 !$2 8 G!(C u' .in @
, !G, 8 G!(C u' .in 52
2 !G0 u' .in 5,
T, 8 !+6 8 G!(C u' .in =
= T0 8 !+@ u' .in 50
5 No 'onnection6
@ TX+, 8 (NT 8 !+< 'onnected to t-e MAX 202 1or R%22 co))unication# +o not ue
1or ot-er .ur.oe unle connection wit- MAX 202 i re)o"ed# u' .in =6
I RX+, 8 (NT2 8 !+2< 'onnected to t-e MAX 202 1or R%22 co))unication# +o not ue
1or ot-er .ur.oe unle connection wit- MAX 202 i re)o"ed# u' .in =5
!36 8 G!(C u' .in 6OOO
=0 !3@ 8 G!(C u' .in @ OOO
=, !3= 8 G!(C u' .in 6@ OOO
=2 !35 8 G!(C u' .in 6I OOO
= !32 8 G!(C u' .in 65 OOO
== !3 8 G!(C u' .in 66 OOO
=5 RX+ 8 !30 8 G!(C u' .in 6OOOO
=6 TX+ 8 !3, 8 G!(C u' .in 6=OOOO=@
No 'onnection
=I
=
50
5,
52
5
5=
55
56
a%#e 6., AMEA2530 microcontro##er %oar! e$ansion hea!er ta%#e
Note,
O (n order to ue t-ee .in a 3TAG or a A+' 1or e:ternal enor inter1acin& re)o"e all =connector 1or t-e u).er 2 o1 t-e )icrocontroller board# -en u).er are re)o"ed (R
!ro:i)it* enor , to = will be diconnected 1ro) t-e robot#
OO !in can be ued a %!( bu# T-ee .in are alread* connected to la"e ATMEGAI
)icrocontroller "ia 3= o1 t-e )icrocontroller board# Be1ore uin it a a %!( bu 1or e:ternal
de"ice inter1acin& re)o"e 3= to diconnect ATMEGAI la"e )icrocontroller or ue di11erent .in o1 t-e )icrocontroller a %% la"e elect#
OOO All t-e .in o1 t-e !CRT3 are connected to t-e barra.- $E+ di.la*# -ile uin t-ee .in a G!(C to turno11 t-i barra.- $E+ di.la*& re)o"e u).er 3 o1 t-e )icrocontroller board#
OOOO !30 and !3, can be ued a G!(C a well a TX+ and RX+ 1or >ART # T-ee .in arealo connected to barra.- $E+ di.la*# -ile uin t-ee .in a >ART & u).er 3 )ut be
re)o"ed to diable barra.- $E+ di.la* in order to a"oid loadin on t-e TX+ and RX+ line
o1 t-e de"ice w-ic- i connected wit- t-e ATMEGA2560 )icrocontroller#
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6.6 Microcontro##er a!a$ter %oar! soc=et connections on the main %oar!
/igure 6.2, Microcontro##er a!a$ter %oar! soc=et connections on the main %oar!
in No. in Name u oar! onnection /unction
, '%O ATMEGAI A+'= 'urrent ene analo "alue
2 (R !ro:i)it* enor I ATMEGAI A+'@ (R !ro:i)it* enor I analo "alue
Ground Ground Ground
= >%B +ata !in ,5 o1 FT22 >%B to
erial con"erter oin to
>ART 2 o1 ATMEGA2560
"ia u).er 3,
>%B connection oin to t-e ATMEGA2560
)icrocontroller "ia FT22 >%B to erial
con"erter#
To enable >%B co))unication& et 3u).er ,a -own in t-e 1iure 6#25 >%B +ata; !in ,6 o1 FT22 >%B to
erial con"erter oin to>ART 2 o1 ATMEGA2560
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"ia u).er 3,
6 V>%B FT22 .in20 and .in= 5V to
t-e FT22 >%B to erial
con"erter
@ 5V %*te) Not connected 5V %*te) Voltae# 'an be ued 1or .owerinu. an* diital de"ice wit- current li)it o1
=00)A#I 5V %enor Not connected 5V %enor "oltae# 'an be ued 1or additional
enor inter1acin wit-
current li)it< 00)A
5V %enor Not connected 5V %enor "oltae# 'an be ued 1or additionalenor inter1acin wit-
current li)it< 00)A
,0 5V %*te) Not connected 5V %*te) "oltae# 'an be ued 1or .owerin
u. an* diital de"ice wit-
'urrent $i)it< =00)A
,, %HAR! (R Rane %enor , ATMEGA2560 A+' Analo out.ut o1 %-ar. (R rane %enor ,
,2 (R !ro:i)it* %enor , ATMEGA2560 A+'= Analo out.ut o1 (R !ro:i)it* enor ,
, XBee RX+ >ART0 o1 ATMEGA2560 XBee wirele )odule %erial data in
,= XBee TX+ >ART0 o1 ATMEGA2560 XBee wirele )odule %erial data out,5 %HAR! (R Rane %enor 2 ATMEGA2560 A+',0 Analo out.ut o1 %-ar. (R rane enor 2
,6 (R !ro:i)it* %enor 2 ATMEGA2560 A+'5 Analo out.ut o1 (R !ro:i)it* enor 2
,@A R%%( ATMEGA2560 (NT@ To ca.ture t-e R%%( inal
,@B >ltraonic Trier ATMEGA2560 !H=OO To i"e t-e Trier 1or ,t >ltraonic %enor
,I MC%( ATMEGA2560 !in 2, %!( 'o))unication line 1or co))unication
wit- ATMEGAI "ia 3u).er = and 1or
.rora))in ATMEGA2560 in (%! )ode, M(%C ATMEGA2560 !in 22
20 %' ATMEGA2560 !in 20
2, %%( ATMEGA2560 !in ,
22 R% ATMEGA2560 !'0 $'+ Reiter %elect .in 'o))and
2 R ATMEGA2560 !', $'+ Read rite .in 'o))and
2= EN ATMEGA2560 !'2 $'+ Enable .in 'o))and
25 +B5 ATMEGA2560 !'5 $'+ data bit 5
26 +B= ATMEGA2560 !'= $'+ data bit =2@ +B6 ATMEGA2560 !'6 $'+ data bit 6
2I +B@ ATMEGA2560 !'@ $'+ data bit @
2 V Batter* %*te) ATMEGA2560 A+'0 V Batter* %*te) V to ,,#=V de.endin on
batter* tatu# >nreulated %u..l* 1or
additional )odule inter1acin# Ma:i)u)
current ca.acit*< ,A).
2 -ite $ine %enor , ATMEGA2560 A+' Analo out.ut o1 w-ite line enor ,
, -ite $ine %enor 2 ATMEGA2560 A+'2 Analo out.ut o1 w-ite line enor 2
2 -ite $ine %enor ATMEGA2560 A+', Analo out.ut o1 w-ite line enor
%-ar. (R %enor ,and 5+iable
ATMEGA2560 !H TT$8'MC% in.ut# +iable %-ar. (R raneenor& w-en V2 i a..lied# -en VW0#65
%-ar. (R rane enor are turned on#
= (R !ro:i)it* %enor+iable
ATMEGA2560 !H2 TT$8'MC% in.ut# +iable (R .ro:i)it*enor , and I w-en V2 i a..lied# -enVW0#65 (R .ro:i)it* enor are turned on#
5 5V %*te) Not connected 5V *te) Voltae# 'an be ued 1or .owerinu. an* diital de"ice# 'urrent $i)it< =00)A#
6 -ite $ine = ATMEGAI A+'0 Analo out.ut o1 w-ite line enor =
@ -ite $ine 5 ATMEGAI A+', Analo out.ut o1 w-ite line enor 5
I -ite $ine 6 ATMEGAI A+'2 Analo out.ut o1 w-ite line enor 6
-ite $ine @ ATMEGAI A+' Analo out.ut o1 w-ite line enor @
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=0 -ite $ine %enor
+iable
ATMEGA2560 !G2 TT$8'MC% in.ut# +iable -ite line enor
w-en V2 i a..lied# -en VW0#65 w-ite line
enor are turned on#
=, %-ar. (R Rane Finder ATMEGA2560 A+',, Analo out.ut o1 %-ar. (R rane enor
=2 (R !ro:i)it* %enor ATMEGA2560 A+'6 Analo out.ut o1 (R !ro:i)it* enor
= (R !ro:i)it* %enor = ATMEGA2560 A+'@ Analo out.ut o1 (R !ro:i)it* enor =
== %-ar. (R Rane Finder = ATMEGA2560 A+',2 Analo out.ut o1 %-ar. (R Rane enor ==5 %-ar. (R Rane Finder 5 ATMEGA2560 A+', Analo out.ut o1 %-ar. (R Rane enor 5
=6 (R !ro:i)it* %enor 5 ATMEGA2560 A+'I Analo out.ut o1 (R !ro:i)it* enor 5
=@ ', , ATMEGA2560 !A= $oic in.ut , 1or ', )otor dri"e
=I ', !M ATMEGA2560 C'5' !M in.ut 1or ', )otor dri"e
= ', 2 ATMEGA2560 !A=5 $oic in.ut 2 1or ', )otor dri"e
50 !M $ ATMEGA2560 C'5A !M in.ut 1or $e1t )otor dri"e
5, $, ATMEGA2560 !A0 $oic in.ut , 1or $e1t )otor dri"e
52 $2 ATMEGA2560 !A, $oic in.ut 2 1or $e1t )otor dri"e
5 R, ATMEGA2560 !A2 $oic in.ut , 1or Ri-t )otor dri"e
5= !M R ATMEGA2560 C'5B !M in.ut 1or Ri-t )otor dri"e
55 R2 ATMEGA2560 !A $oic in.ut 2 1or Ri-t )otor dri"e
56 Not connected Not >ed
5@ Not connected Not >ed5I Not connected Not >ed
5 Not connected Not >ed
60 Not connected Not >ed
6, Not connected Not >ed
62 !oition Encoder $e1t ATMEGA2560 !E=(NT= Cut.ut o1 $e1t .oition encoder 0;5V
6 !oition Encoder Ri-t ATMEGA2560 !E5(NT5 Cut.ut o1 Ri-t .oition encoder 0;5V
6= !oition Encoder '2 ATMEGA2560 !E6(NT6 Cut.ut o1 '2 .oition encoder 0;5V
65 !oition Encoder ', ATMEGA2560 !E@(NT@ Cut.ut o1 ', .oition encoder 0;5V
66 '2 2 ATMEGA2560 !A@ $oic in.ut 2 1or '2 )otor dri"e
6@ '2 , ATMEGA2560 !A6 $oic in.ut , 1or '2 )otor dri"e
6I '2 !M ATMEGA2560 C'A !M in.ut 1or '2 )otor dri"e
6 (R !ro:i)it* %enor 6 ATMEGAI A+'5 Analo out.ut o1 (R !ro:i)it* enor 6
@0 (R !ro:i)it* %enor @ ATMEGAI A+'6 Analo out.ut o1 (R !ro:i)it* enor @
@, B>JJER ATMEGA2560 !' (n.ut& V0#65V turn on t-e Buer
@2 +A' C>T Not connected Not connected
@ R%22 TX+ >ART,RX+ o1
ATMEGA2560 "iaMAX202& TT$ to R%22
'on"erter
R%22 Tran)it& connected to +B erial
connector on )ain board#
@= R%22 RX+ >ART,TX+ o1
ATMEGA2560 "iaMAX202& TT$ to R%22
'on"erter
R%22 Recei"e& connected to +B erial
connector on )ain board#
a%#e 6.6, AMEA2530 Microcontro##er a!a$ter %oar! soc=et connections +ith the main
%oar!
Note,
O '% will i"e out.ut onl* i1 A'%@,2 -all e11ect current enor i oldered on t-e )ain board
OO re1er errata ection o1 t-i )anual
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5.1 -nsta##ing Iee +ire#ess mo!u#e
/igure 5.2, Mounting the Iee +ire#ess mo!u#e
• Mount t-e JiBee wirele )odule in t-e .ro.er orientation#
• /ou )i-t -a"e to con1iure JiBee wirele )odule to t-e a..ro.riate ettin uin
XBee >%B wirele )odule and X;'T> o1tware# For )ore detail re1er to A..licationnote#
5.2 8etting correct um$er settings on the main %oar!
/igure 5., 8et um$ers as $er the reJuirements "*or more !etai#s re*er to cha$ter '
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A I
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5. LD mounting
/igure 5.6, LD mounting
• Be care1ul w-ile inertin $'+ connector .in into t-e oc4et on t-e )ain board# %crew in
t-e $'+ 1ir)l* on t-e tud#
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5.6 Microcontro##er a!a$ter %oar! mounting
/igure 5.5, AMEA2530 "AVR'< 49V51RD2 "4051' an! L2164 ARM7
microcontro##er a!a$ter %oar!s *or /ire ir! V
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/igure 5.3, Microcontro##er a!a$ter %oar! mounting• +o not a..l* unnecear* .reure onto t-e !'B w-ile inertin into t-e connector on
t-e )ain board# '-ec4 1or an* bent .in be1ore inertin t-e !'B# Mount crew on t-e)icrocontroller board#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A 2
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5.5 8har$ -R Range sensor mounting
8te$ 1, 'ut t-e 1ront ection o1 w-ite connector o1 t-e %-ar. (R rane enor
/igure 5.7, Remo)e *ront co)er o* the +hite connector o* the 8har$ -R range sensor
/igure 5.4, 8har$ -R range sensor mounting =it
8te$ 2, Mount t-e 20)) tud on t-e )ain board& w-ere -ar. enor i to be 1itted# (n 1iure
5#& area -i-li-ted wit- t-e red border -ow t-e )ounted tud 1ro) t-e %-ar. (R raneenor )ountin 4it#
/igure 5.9, Mount 20mm stu!s *rom the 8har$ sensor mounting =it
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8te$ , Fi: t-e %-ar. (R rane enor on it -older#
Holder 1or t-e %-ar. (R rane enor i -i-li-ted in t-e 1iure 5#,0 b* blue border#
/igure 5.10, Mounting o* the 8har$ -R range sensor
8te$ 6, Re)o"e t-e *ellow colored .a.er tri.e 1ro) t-e ad-ei"e ta.e 1ro) t-e )etal .latew-ic- i -own in 1iure 5#I#
Fi: t-e )etal .late on to. o1 t-e %-ar. enor and 1it t-e crew#
/igure 5.11, /itting meta# $#ate on to$ o* the 8har$ -R range sensor
• +o not a..l* e:tre)e .reure w-ile .rein down t-e -ar. enor to 1it into t-e
oc4et#
• Ma4e ure t-at *ou re)o"e *ellow .a.er be1ore )ountin t-e )etal .late on t-e %-ar. (R
rane enor#
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5.3 Mount to$ Acr&#ic $#ate on the ro%ot
/igure 5.12, -nsta## to$ acr&#ic $#ate
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A 5
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3. ase! ontro# Using 8eria# ommunication
(n t-i c-a.ter& i).le robot control o"er wired >%B 8 erial or wirele )ediu) XBee
wirele )odule i co"ered# >er can e:.and t-i .rotocol 1urt-er to write -i own a..lication#
>in ood .ac4et baed .rotocol& uer can dein a..lication in"ol"in co).le: )ulti robot
co))unication c-e)e wit- robot to robot and robot to !' i)ultaneou co))unication# A)ore bit ad"anced co))unication .rotocol 1or t-e robot control and enor data ac7uiition i
co"ered in t-e c-a.ter @#
3.1, ommunication $rotoco# *or sim$#e ro%ot contro#
haracter A8-- )a#ue Action
4 04 /or+ar!
2 02 ac=+ar!
6 06 Le*t
3 03 Right
5 05 8to$
7 07 u@@er ;n
9 09 u@@er ;**
a%#e 3.1, ontro# comman!s *or the sim$#e ro%ot contro# $rotoco#
Table 6#, -ow t-e i).le robot control .rotocol# >in t-i& robot can be )o"ed in 1orward&
bac4ward& le1t or ri-t direction and it buer can be turned on or o11# /ou can ue an* erial
.ort control o1tware uc- a -*.er ter)inal or ter)inal#e:e etc# For uer 1riendline 4e* o1 t-enu)erical .ad o1 tandard ,0= 4e* L7uert* 4e*board are ued# -en a .articular nu)ber 4e*
i .reed& it A%'(( c-aracter "alue i tran)itted o"er erial 8 >%B .ort# Robot recei"e t-i
A%'(( "alue and baed on it "alue it actuate it )otor& buer etc# e* are )a..ed in t-eintuiti"e wa* on t-e Nu)erical .ad o1 t-e 4e*board#
T-i co))unication .rotocol i co"ered in t-e 1ollowin e:.eri)ent w-ic- are located in t-eLE:.eri)ent 1older in t-e docu)entation '+# All t-ee e:.eri)ent are e:actl* a)e onl*
>ART .ort nu)ber i di11erent#
,# ,AS%erialS'o))unication< %erial co))unication "ia R%22 erial .ort#2# ,BS%erialS'o))unicationS>%B;R%22< %erial co))unication "ia onboard FT22
>%B to %erial 'on"erter
# ,'S%erialS'o))unicationSJiBeeSwirele< %erial co))unication "ia XBee wirele)odule i1 intalled#
%ection 6#2 and 6# co"er robot control uin !'? >%B .ort and XBee wirele )odule#
-m$ortant,
-ile uin LNu)erical !ad o1 t-e 4e* board& )a4e ure t-at LNu) $oc4 i on#
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3.2 Ro%ot contro# using R822 seria# $ort
/igure 3.1, onnecting R822 seria# $ort +ith the
>ART, o1 t-e ATMEGA2560 )icrocontroller i connected to t-e erial .ort "ia MAX202
>ART to R%22 con"erter# For robot control o"er R%22 erial .ort a..lication e:a).le we
need to load L,AS%erialS'o))unication#-e: on t-e robot w-ic- i located in t-e
LE:.eri)ent 1older in t-e docu)entation '+#
For robot control o"er erial .ort we ue Ter)inal o1tware 1ro) NEX Robotic# (t i located in
t-e L%o1tware 1older in t-e docu)entation '+# (ntallation and t-e ue o1 t-e ter)inal o1tware1ro) NEX Robotic i co"ered in t-e ection 6#@#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A @
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Fire Bird V ATMEGA2560 Hardware Manual
3. Ro%ot contro# using U8 $ort
Fire Bird V ATMEGA2560 -a onboard >%B .ort 1or direct inter1ace wit- !'# >%B inter1acini baed on FT22 >%B to erial con"erter# For robot control o"er >%B .ort a..lication& we need
to load L,BS%erialS'o))unicationS>%B;R%22#-e: on t-e robot w-ic- i located in t-e
LE:.eri)ent 1older in t-e docu)entation '+#
FT22 >%B to erial con"erter can be connected wit- >ART 2 o1 t-e ATMEGA2560
)icrocontroller "ia 3u).er 3,# Fiure 6#2 -ow t-e correct u).er ettin 1or connectin FT22wit- t-e )icrocontroller#
/igure 3.2, um$er setting to ena%#e U8 communication
Be1ore uin >%B .ort we need to intall t-e dri"er o1tware 1or FT22 >%B to erial con"erter#
T-e o1tware i located in t-e L%o1tware and +ri"er '+M 2#06#00 HY$ 'erti1ied 1older#
For dri"er intallation .roce re1er to ection 6#5#
For robot control o"er erial .ort we ue Ter)inal o1tware 1ro) NEX Robotic# (t i located in
t-e L%o1tware 1older in t-e docu)entation '+# (ntallation and t-e ue o1 t-e ter)inal o1tware
1ro) NEX Robotic i co"ered in t-e ection 6#@#
-m$ortant,
• -en uin >%B .ort 1or t-e co))unication& 1or .ro.er o.eration 1irt turn on t-e robott-en inert t-e >%B cable in t-e robot# e -a"e to 1ollow t-i e7uence becaue >%B to
erial con"erter c-i. i .owered b* >%B# (1 an* 1ault occur t-en turn o11 t-e robot and
re)o"e t-e >%B cable and re.eat t-e a)e .rocedure#
• Ma4e ure t-at u).er i con1iured to enable >%B co))unication# 3u).er -ould bein t-e .oition a -own in t-e Fiure 6#2#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A I
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3.6 Ro%ot contro# using Iee +ire#ess communication mo!u#e
/igure 3., Iee Wire#ess U8 Mo!u#e *rom NEI Ro%otics
Fire Bird V ATMEGA2560 -a onboard oc4et 1or XBee and XBee !ro )odule 1ro) +ii
(nternational# For robot to !' co))unication we need to intall XBee wirele )odule on t-e
robot and XBee >%B wirele )odule 1or connection wit- t-e !'# XBee wirele )odule i
connected to t-e >ART 0 o1 t-e ATMEGA2560 )icrocontroller# For Robot control o"erwirele lin4 we need to load L,'S%erialS'o))unicationSJiBeeSwirele#-e: on t-e robot
w-ic- i located in t-e LE:.eri)ent 1older in t-e docu)entation '+# For XBee wirele
)odule intallation on t-e robot& re1er to c-a.ter 5#
XBee >%B wirele )odule -a onboard FT22 >%B to erial con"erter# /ou need to intall
dri"er 1or FT22 >%B to erial con"erter be1ore tartin co))unication# o1tware i located in
t-e L%o1tware and +ri"er '+M 2#06#00 HY$ 'erti1ied 1older# For dri"er intallation .roce re1er to ection 6#5#
For robot control o"er erial .ort we ue Ter)inal o1tware 1ro) NEX Robotic# (t i located in
t-e L%o1tware 1older in t-e docu)entation '+# (ntallation and t-e ue o1 t-e ter)inal o1tware
1ro) NEX Robotic i co"ered in t-e ection 6#@#
-m$ortant,
• XBee wirele )odule are 1actor* et at t-e 600 b.# -ile -i..in wit- t-e robot
t-e* are et at ,,5200 b. b* NEX Robotic uin X'T> o1tware# A..lication e:a).leL,'S%erialS'o))unicationSJiBeeSwirele#-e: re7uire 600 b.# For t-i
a..lication *ou need to et baud rate at 600 b.# How to c-ane t-e baud rate o1 t-eXBee wirele )odule uin X'T> o1tware i co"ered in t-e a..lication note w-ic- ilocated in t-e LManual and A..lication note 1older in t-e docu)entation '+#
• ait 1or at leat I econd to tart t-e wirele co))unication a1ter turnin on t-e robot
and t-e >%B wirele )odule#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A
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3.5 -nsta##ing !ri)ers o* /22 U8 to 8eria# on)erter
FT22 >%B to erial con"erter i .reent on t-e ATMEGA2560 )icrocontroller ada.tor boardand XBee >%B wirele )odule# Be1ore uin t-ee de"ice *ou need to intall dri"er 1or t-e
FT22 >%B to erial con"erter#
8te$s to insta## the !ri)ers *or /22 U8 to seria# con)erter,
8te$ 1,
'o.* t-e dri"er intallation 1older on *our !' 1ro) L%o1tware and +ri"er '+M 2#06#00HY$ 'erti1ied Folder w-ic- i located in t-e docu)entation '+#
8te$ 2,
'onnect t-e >%B to erial con"erter cable between robot and t-e !'
8te$ ,
Cn connectin t-e de"ice LFound New Hardware )eae will a..ear in t-e ta4 bar tra* andt-e 1ollowin window o.en#
/igure 3.6
8te$ 6,
'-ec4 on t-e radio button LNo& not t-i ti)e and t-en clic4 on t-e ne:t button#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,00
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/igure 3.5
T-e 1ollowin window will a..ear#
/igure 3.3
%elect t-e econd o.tion )anuall* to intall t-e dri"er and clic4 on ne:t button#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,0,
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8te$ 5,
Now c-ec4 t-e econd o.tion and et t-e location o1 1older containin dri"er
E##'<'+M 2#06#00 HY$ 'erti1ied#
/igure 3.7
8te$ 3,
Cn clic4in ne:t dri"er intallation will bein#
/igure 3.4
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,02
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8te$ 7,
Cn ucce1ull* intallin t-e dri"er 1ollowin window will a..ear# 'lic4 Fini- to co).lete t-e
intallation#
/igure 3.9
A1ter intallation o1 FT22 >%B >ART o1tware& !' )a* a4 1or >%B erial .ort o1tware# Tointall t-i o1tware 1ollow te. , to @ o1 >%B erial con"erter o1tware intallation#
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3.3 -!enti*&ing an! changing ;M ort num%er o* the U8 to seria#
con)erter or Iee U8 +ire#ess mo!u#e
(n o)e o1tware *ou )a* need to tell t-e 'CM .ort nu)ber be1ore etabli-in
co))unication# Follow t-ee te. to identi1* or c-ane t-e 'CM .ort nu)ber# +on?t c-ane
t-e 'CM .ort nu)ber unle it i abolutel* necear*# (t )a* reult in )a4in o)e o1 *ouro1tware untable#
8te$ 1,
Ri-t 'lic4 M* 'o).uter and clic4 on .ro.ertie# %*te) .ro.ertie window will a..ear#
/igure 3.10
8te$ 2, 'lic4 on t-e +e"ice )anaer in t-e Hardware tab#
/igure 3.11
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,0=
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8te$ ,
E:.and !ort 'o) D $!T tree# 'CM !ort nu)ber i )entioned in t-e .arent-ei ne:t to >%B
%erial !ort#
/igure 3.12
8te$ 6, /ou can c-ane t-e .ort nu)ber b* ri-t clic4in on L>%B erial !ort and elect .ro.ertie#
/igure 3.1
(n t-e !ort ettin tab clic4 on t-e Ad"anced button& t-e 1ollowin window will a..ear#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,05
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/igure 3.15
/igure 3.13
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3.7.2 Using ermina# 8o*t+are
8te$ 1,
'onnect an* de"ice w-ic- i to be ued to >%B 8 erial .ort# (ntall it dri"er#
Go to %tart )enu and clic4 on t-e %erial Ter)inal#
/igure 3.17
Ter)inal o1tware will o.en#
/igure 3.14
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8te$ 2,
%elect t-e 'CM .ort# (1 re7uired& identi1* t-e 'CM .ort re1er to ection 6#6
%et t-e baud rate at 600b.& +ata Mode a te:t and .re connect#
/igure 3.19
8te$ ,
Ma4e t-e Nu) loc4 on 1or t-e 4e*board#
$oad .ro.er 1ir)ware #-e: 1ile on t-e robot a .er t-e )ode o1 co))unication re1er to ection
6#2& 6# and 6#=#Turn on t-e robot# 'onnect t-e %erial 8 >%B wire or XBee wirele lin4 between robot and !'
>e nu)ber 4e* o1 t-e 4e* .ad to control t-e robot#
For control co))and re1er to table 6#,#
/igure 3.20
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,0
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Re1er to 1iure 6#20# %erial Ter)inal o1tware -a window# (n t-e )iddle window *ou can
t*.e data to be ent# /ou can alo end a inle nu)ber o1 t-e trin o1 nu)ber
To end t-e A%'(( "alue o1 t-e c-aracter t*.ed elect +ata Mode a te:t# (t *ou want to end
HEX data t-en elect -e: button in t-e +ata Mode 1ra)e#
%ent data i di.la*ed in t-e botto) window#
Recei"ed data i di.la*ed in t-e to. window#
(n all t-ree a..lication e:a).le )entioned in ection 6#2& 6# and 6#= robot end bac4 ec-o o1
t-e recei"ed data a.art 1ro) e:ecutin t-e )otion co))and#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,0
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7. Ro%ot ontro# using :U-( *or /ire ir! V
AMEA2530
Fire Bird V ATMEGA2560 robot can be controlled b* G>( "ia erial 8 >%B cable or in wirele
)ode uin XBee wirele )odule# To control t-e robot uin G>( "ia a..ro.riate )ode o1co))unication& load a..ro.riate -e: 1ile on t-e robot# G>( wor4 on at t-e ,,5200 baud rate#
7.1 Loa!ing *irm+are on the ro%ot
8te$ 1,
Followin 1ir)ware #-e: 1ile need to be loaded on t-e robot de.endin on t-e )ode o1co))unication ued#
R%22 erial co))unication< LG>(S controlSerial#-e:
>%B co))unication< LG>( control >%B#-e:JiBee wirele )odule baed co))unication< LG>(ScontrolSwirele#-e:
All t-ee -e: 1ile are located in t-e LG>( and Related Fir)ware 1older#
For in1or)ation on -ow to load -e: 1ile& re1er to o1tware )anual#
8te$ 2, 'onnect erial 8 >%B to erial con"erter cable between robot and !' or intall JiBee
wirele )odule on t-e robot and connect wirele JiBee >%B )odule to t-e !'# Forconnection re1er to ection 6#2 to 6#6#
8te$ , (ntall G>( o1tware
7.2 -nsta##ing U-
8te$1, 'o.* LF(RE B(R+ V ATMEGA2560 etu. 1older w-ic- i located inide t-e 1olderLG>( and Related Fir)ware 1ro) t-e docu)entation '+ on t-e !'#
'lic4 on Letu.#e:e w-ic- i located in t-e LF(RE B(R+ V ATMEGA2560 etu. 1older#
8te$ 2, 'lic4 Ne:t Button to continue#
8te$ , Browe t-e location w-ere et u. will intall or et t-e de1ault location and clic4 Ne:tButton to tart t-e intallation#
8te$ 6, -en intallation i ucce1ull* co).leted& 'lic4 'loe to e:it#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,,
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/igure 7.1
7. Using U-8te$ 1, A1ter ucce1ul intallation o to %tart ; All !rora) ; F(RE B(R+ V A)ea2560; F(RE B(R+ V A)ea2560 or clic4 on Fire Bird V A)ea2560 on *our de4to. location&G>( will o.en#
/igure 7.2, 8e#ecting correct com $ort
8te$ 2, 'onnect Robot wit- t-e !' uin erial cable 8 NEX Robotic >%B to erial con"erter orwit- t-e XBee wirele )odule# For connection re1er to ection 6#2 to 6#6#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,2
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Fire Bird V ATMEGA2560 Hardware Manual
8te$ , (1 erial .ort i ued t-en elect 'CM !ort a ,# (1 >%B to erial con"erter )odule 1ro)
NEX Robotic or >%B JiBee wirele )odule i ued t-en G>( auto)aticall* identi1ie t-e
'CM .ort nu)ber# To )anuall* identi1* t-e 'CM .ort& re1er to ection 6#6# %elect t-e correct'CM .ort nu)ber and clic4 on connect#
Now robot can be controlled uin G>(
/igure 7., U- sho+ing ro%ot(s !ata
Warning,
-ile uin >%B co))unication& enure t-at t-e a..ro.riate u).er are in .lace# For )ore
detail re1er ection 6# >%B baed co))unication#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,
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Fire Bird V ATMEGA2560 Hardware Manual
8te$ 6,
(1 *ou -a"e irele ca)era .od 1ro) NEX Robotic and >%B TV Tuner card t-en *ou can alo
ee t-e "ideo on t-e G>(#For )ore in1or)ation on t-e intallation and uae .roce& re1er to docu)entation o1 t-e
wirele ca)era .od#
Follow t-ee te. 1or "ideo ac7uiition<
,# 'onnect >%B TV Tuner card wit- !' and wait 1or 5 econd#
2# %tart t-e Fire Bird V robot? G>(# (n t-e "ideo window& elect de"ice a >%B TV +e"ice# T-i o.tion will be "iible onl*
i1 >%B TV Tuner card i intalled and connected#
=# !re tart button to ac7uire t-e "ideo#
/igure 7.6 , Vi!eo !is$#a& on the /ire ir! V ro%ot(s U-
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,=
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7.6 Ro%ot contro# using igee +ire#ess mo!u#eTo control robot uin JiBee wirele )odule re1er to ection 6#=# All t-e .roce re)ain t-e
a)e a )entioned in t-e ection @#,& @#2 and @## Cnl* di11erence i t-at intead o1 >%B to erialcon"erter& NEX Robotic wirele XBee >%B )odule need to be connected to t-e !' and XBee
wirele )odule need to be intalled on t-e robot# Ma4e ure t-at XBee )odule on t-e robot and
XBee )odule on t-e XBee >%B )odule are con1iured at ,,5200b.#
-m$ortant, • (1 *ou want to ee data on t-e (R .ro:i)it* enor 6& @& I t-en connect u).er 3= on t-e
ATMEGA2560 )icrocontroller ada.tor board# For )ore detail re1er to ection #,#6#
• -en uin >%B .ort 1or t-e co))unication& 1or .ro.er o.eration 1irt turn on t-e robott-en inert t-e >%B cable in t-e robot# e -a"e to 1ollow t-i e7uence becaue >%B to
erial con"erter c-i. i .owered b* >%B# (1 an* 1ault occur t-en turn o11 t-e robot and
re)o"e t-e >%B cable and re.eat t-e a)e .rocedure#
• (n cae o1 XBee wirele )odule wait 1or at leat I econd to etabli- t-eco))unication a1ter turnin on t-e robot and connectin XBee >%B wirele )odulewit- t-e !'#
7.5 8eria# communication $rotoco# use! in ro%ot contro# U-All t-e 1ir)ware ued 1or Fire Bird V ATMEGA2560 robot control o"er wired >%B 8 R%22
lin4 or XBee wirele )odule are e:actl* t-e a)e# Cnl* di11erence i t-at t-e* ue di11erent
>ART o1 t-e ATMEGA2560 )icrocontroller# All t-e 1ir)ware ue ,,5200b. baud rate# (t? a
i).le b*te baed .rotocol in w-ic- u..er nibble i co))and and lower nibble can be data orco))and# /ou can ue t-ee 1ir)ware 1or controllin *our robot uin an* o1tware uc- a
Matlab& %cilab or $ab View etc#
To control robot in wired or wirele )ode load t-e re.ecti"e 1ir)ware on t-e robot w-ic- are
located in t-e LG>( and Related Fir)ware 1older inide t-e docu)entation '+#
G>( control >%B#-e:< 'ontrol robot o"er >%B .ort#
G>(S controlSerial#-e:< 'ontrol robot o"er R%22 .ort
G>(ScontrolSwirele#-e:< 'ontrol robot o"er wirele lin4 uin XBee wirele )odule#
Read c-a.ter 6 care1ull* 1or con1iurin t-e .ort& ettin correct u).er& intallin de"ice and
t-eir de"ice dri"er#
T-i i a i).le b*te baed .rotocol# Fire Bird V ATMEGA2560 robot ue )ore co).le: .ac4et baed .rotocol w-ic- can alo be ued 1or e11icient robot control#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,5
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7.5.1 omman!s to set )e#ocit& o* the #e*t an! right motor,
Motor? "elocit* can be "aried b* writin t-e .ro.er b*te into t-e .articular reiter w-ic-enerate a .ule widt- )odulation !M inal wit- I bit reolution# T-e "alue o1 t-e "elocit*
control reiter can be et between 00 to FF -e:& w-ere a "alue 0 indicate t-at t-e )otor i
to..ed and 0:FF indicate )otor i runnin at 1ull .eed#
omman!
"HEI'
/unction
, $oad t-e lower nibble o1 t-e le1t )otor "elocit* control b*te into
t-e robot#
2 $oad t-e u..er nibble o1 t-e le1t )otor "elocit* control b*te into
t-e robot and e:ecute t-e co))and#
$oad t-e lower nibble o1 t-e ri-t )otor "elocit* control b*te
into t-e robot#
= $oad t-e u..er nibble o1 t-e ri-t )otor "elocit* control b*te
into t-e robot and e:ecute t-e co))and#
a%#e 7.1
Eam$#e, 8et #e*t motor(s s$ee! contro# %&te to 0A
To et t-e .eed o1 t-e le1t )otor to 0:AB& 1ollow t-e e7uence o1 co))and below# Attac-
lower nibble LB wit- co))and , and u..er nibble A wit- co))and 2#
%te.,< Send 0x1B Load the lower nibble of the left motor speed in the robot.
%te.2< ela! of at least " milliseconds
%te.< Send 0x#$ Load the %pper nibble of the left motor speed in the robot and exec%te thecommand
%te.=< ela! of at least " milliseconds before loading next command
Note, (t i "er* i).ortant t-at *ou end t-e b*te containin co))and , 1irt and t-en end t-e
b*te containin co))and 2 1or .ro.er o.eration# T-e a)e rule i a..licable 1or co))and
and =#
© NEX Robotic !"t# $td# and ERT% $ab& '%E& ((T Bo)ba*& (N+(A ,,6
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7.5.2 omman!s to set !irection o* the ro%ot,
omman!
" HEI ' D-RE-;N
LE/
WD
"L'
A0
LE/
/WD"L/'
A1
R-H
/WD"R/'
A2
R-H
WD"R'
A
5, FCRAR+ 0 , , 0
52 REVER%E , 0 0 ,
5
R(GHT (Left wheel
forward, Rightwheel backward)
0 , 0 ,
5=
$EFT(Left wheel
backward, Rightwheel forward,)
, 0 , 0
55%CFT R(GHT(Left
wheel forward,,
Right wheel stop)0 , 0 0
56
%CFT $EFT(Left
wheel stop, Right
wheel forward,)0 0 , 0
5@
%CFT R(GHT 2
(Left wheel stop,
Right wheelbackward)
0 0 0 ,
5I%CFT $EFT 2 (Left
wheel backward,
Right wheel stop) , 0 0 0
5 HAR+ %TC! 0 0 0 0
a%#e 7.2
Eam$#e, o set #e*t motor )e#ocit& to 046< right motor )e#ocit& to 035< an! mo)e
%ac=+ar!.
%te.,< 0x1& Load the lower nibble '& of the left motor speed into the robot
%te.2< ela! of at least " milliseconds
%te.< 0x# Load the %pper nibble ' of the left motor speed into the robot and exec%te thecommand
%te.=< ela! of at least " milliseconds%te.5< 0x"* Load the lower nibble '* of the right motor speed into the robot %te.6< ela! of at least " milliseconds
%te.@< 0x&+ Load the %pper nibble '+ of the right motor speed into the robot and exec%te the
command %te.I< ela! of at least " milliseconds
%te.< 0x*# moe backward
%te.,0< ela! of at least " milliseconds before loading next command
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7.5. omman!s to access the Ana#og sensor !ata,
omman!
"HEI'
Data
60 atter& )o#tageRobot end bac4 I bit batter* "oltae "alue# To con"ert t-i
"alue in to "olt ue t-e 1ollowin con"erion 1or)ula 1or I bitA+' reolution< Batter* Voltae Q A+' data : 0#06
62 /ront 8har$ -R range sensor !ata "/ront !istance'
T-e Robot will return I bit "alue w-ic- indicate ditance
between t-e obtacle and 1ront %-ar. enor#
6 8har$ -R range sensor 2 !ata
T-e Robot will return I bit "alue w-ic- indicate ditance
between t-e obtacle and %-ar. enor#
6= White #ine sensor 1 "Le*t'
T-e Robot will return an I bit analo "alue o1 t-e le1t w-ite lineenor
65 White #ine sensor 2 "enter'
T-e Robot will return an I bit analo "alue o1 t-e center w-iteline enor
66 White #ine sensor "Right'
T-e Robot will return an I bit analo "alue o1 t-e ri-t w-iteline enor
6@ 8har$ -R range sensor 6 !ata
T-e Robot will return I bit "alue w-ic- indicate ditance
between t-e obtacle and %-ar. enor#
', -R roimit& sensor 1T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*
enor ,
'2 -R roimit& sensor 2
T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*
enor 2
' -R roimit& sensor
T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*enor
'= -R roimit& sensor 6
T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*
enor =
'5 -R roimit& sensor 5
T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*
enor 5
'6 -R roimit& sensor 3
T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*
enor 6
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'@ -R roimit& sensor 7
T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*enor @
'I -R roimit& sensor 4
T-e Robot will return an I bit analo "alue o1 t-e (R !ro:i)it*
enor I' 8har$ -R range sensor 1 !ata
T-e Robot will return I bit "alue w-ic- indicate ditance
between t-e obtacle and %-ar. enor#
'A 8har$ -R range sensor 5 !ata
T-e Robot will return I bit "alue w-ic- indicate ditance
between t-e obtacle and %-ar. enor#
a%#e 7.
7.5.6 omman!s to turn on o** the %u@@er,
6 Turn on t-e buer#
6A Turn o11 t-e buer#a%#e 7.6
7.5.5 Ro%ot Version 8ignature
6B (1 6B i ent to t-e robot will end bac4 it (+
a%#e 7.5
7.5.3 osition enco!er !ata,
!oition encoder .ule count 1or t-e .oition trac4in<
@2 T-e robot will return lower b*te o1 t-e .ule count 1or t-e le1t)otor .
@ T-e robot will return u..er b*te o1 t-e .ule count 1or le1t )otor#
@ T-e robot will return lower b*te o1 t-e .ule count 1or t-e ri-t
)otor .
@ A T-e robot will return u..er b*te o1 t-e .ule count 1or ri-t
)otor#
a%#e 7.3
Note, To et an actual .ule count& co)bine t-e lower b*te and u..er b*te to et a ,6 bit "alue#For )ore in1or)ation on t-e .oition encoder reolution re1er to t-e ection ##
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7.5.7 omman!s *or ser)o motor contro#,
ATMEGA2560 )icrocontroller ada.tor board can dri"e t-ree er"o )otor# Cut o1 w-ic- %, and%2 er"o )otor can be controlled wit- erial control .rotocol# T-ee )otor are ued to )o"e
t-e ca)era or enor .od in .an and tilt direction#
I +ata $oad er"o anle lower nibble +ata $oad er"o anle u..er nibble and )o"e t-e er"o )otor#
A +ata $oad er"o anle lower nibble
B +ata $oad er"o anle u..er nibble and )o"e t-e er"o )otor#
a%#e 7.7
T-e er"o )otor will )o"e between 0Z to,I0Z i"en an I bit "alue between 0:,5 and 0:65 in
-e:
T-e %er"o )otion reolution i Q ,I0 8 0:65 P 0:,5 Q 2#25 deree 8 te.#
Eam$#e, Mo"e er"o )otor, b* 0 deree#
Nu)ber o1 te. re7uired Q 0Z82#25 Q =0te. Q 0:2I -e:B*te to end Q 0:,5 0:2I Q 0:+
$ower nibble Q + -e:
>..er nibble Q -e:
'o)binin t-ee nibble wit- t-e co))and<
%te.,< send 0x thro%gh the serial port
%te.2< dela! b! " milliseconds%te.< send 0x-" thro%gh the serial port
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