KAREL Upper Board Testing - Workshop

Mihai Agape, Project CoordinatorPalatul Copiilor Drobeta Turnu Severin

KAREL, Comenius Project MeetingRybnik, 22 – 29.03.2015

This project has been funded with support from the European Commission.

This communication reflects the views only of the authors, and the Commission cannot be held responsible for any use which may be made of the information contained therein.

The Purpose of the Presentation Describe the evolution of

controller board designTest controller board

CONTROLLER BOARD DESIGN

PROTOTYPE #1

First prototype - Karelino3D Top View

First prototype - Karelino3D Bottom View

First Karel prototype(first Rybnik meeting)

Proposed Improvements(Rybnik meeting) Integrate new blocks (e.g. Motor voltage

regulator, UART connector, Battery management system)

Make changes to the initial design (e.g. replace USB micro B connector with an USB mini B connector)

Redesign the PCB (components places and traces) according to the chassis shape

Add LEDs to show the state of Bluetooth module

PROTOTYPE #2

KarelSecond Prototype 2 boards

Lower board Battery management system Motors

Upper board Controller Regulators I/O devices Motor regulators

PCB Design

Double Side PCB laminate Components

SMD THD

Software Target3001! - version limited at 400 pins /

pads

Upper board3D bottom view

Upper board3D top view

Upper board

What is missing from the upper board? Electronic switch

Why?

PROTOTYPE #3

Karel Upper BoardThird prototype

Karel Upper BoardThird prototype

KAREL UPPER BOARD TEST

Power Switch TestUnder supervision of a qualified teacher!

Connect 7.4 V power supply across J23 (VB, GND)

Measure output voltage across J28 (VBAT, GND) for both positions of S6 switch (On, Off)

Motor Voltage RegulatorTheoretical problem Calculate the output voltage for the

components in the next schematic

Motor Voltage Regulator TestUnder supervision of a qualified teacher!

Power the voltage regulator connecting a 7.4V voltage source across J19 (VRIN, GND)

Measure output voltage across J22 (VROUT, GND) which has to be around 7V, according to the value calculated

Measure output voltage for different output currents (use load resistors with right resistance and power rate)

Motor Drivers TestUnder supervision of a qualified teacher!

Connect motors to J6, and J7 connectors Test rotation of each motor each sense, by

connecting, at a time, each of inputs AIN1-4 to VMM trough a resistor-LED series circuit

Overcharge one output and observe D4 LED

+5V Voltage Regulator TestUnder supervision of a qualified teacher!

Connect power supply to J4 (VBAT, GND) D3 LED switch on Measure the output voltage, VCC – GND

+3.3V Voltage Regulator TestUnder supervision of a qualified teacher!

Connect power supply to upper board Measure the output voltage across J11 (+3V,

GND)

ControllerSchematic

Controller TestUnder supervision of a qualified teacher!

Power the board Use four jumpers to connect LED’s to outputs Program uC to toggle the LED’s (via SPI) Disable next fuses (via SPI):

Divide by 8 JTAG

Program bootloader (via SPI) Program uC to control the motors (via USB)

Bluetooth Test

Program uC (via USB) to communicate with laptop via Bluetooth

Test the communication program

Bibliography

Agape, Mihai. Agape, Maria-Genoveva. “KAREL Specifications”, agreed in Karel Project Meeting, held at Beypazari on 10–16.11.2013. http://sdrv.ms/170NTak

Agape, Mihai. “Karelino—One Step in Karel Robotic Platform Developing”, presentation given at National Symposium IPO-TECH, Tirgu-Neamt, 29.03.2014

Bibliography

Agape, Mihai. “KARELController Design”, presentation delivered at Karel project meeting, held at Rybnik, 06-13.04.2014

Agape, Mihai. “KAREL2nd Platform Design”, presentation delivered at Karel project meeting, held at Katerini, 12-19.10.2014

Questions?