checkout of the mate summer institute rov controller hardware & software setup scott fraser long...

Checkout of the MATE Summer Institute ROV Controller

Hardware & Software Setup

Scott FraserLong Beach City College

Checkout of the ROV ControllerRequired Hardware Components

1. Assembled ROV Control Board

2. USB to Serial converter

3. Power Supply; 0 to 12 Volts or 0 to 48 Volts

4. Laptop Computer

5. USB Joystick – Logitech Rumblepad

6. Parallax PropScope – USB Oscilloscope or any other oscilloscope

Checkout of the ROV ControllerRequired Software Components

1. Parallax BasicStamp Editor & Development System

2. StampPlot version 3.8.5 or greater

3. Parallax PropScope Software

4. Optional: EagleCad for viewing board layouts

5. Optional: PDF viewer for pdf's of board layouts


POWER SUPPLY


Checkout of the ROV ControllerSection 1 – Power Supply

1-1. Supply Voltage – PropScope set to 10V/div; 100uS/divInput varied between 0 V and 40V

Measured at Supply input - J141-2. REGOUT signal – PropScope set to 10v/div; 100uS/div

Input varied between 0 V and 40VMeasured at top of D7

1-3. Voltage Reference – PropScope same settingInput set to 35 VoltsMeasured at left side of R44

1-4. 12V Regulator Output – PropScope same setting.Measured at right side of R43

Checkout of the ROV ControllerSection 1 – Power Supply (cont.)

1-5. +5V Regulator Output – PropScope same settingMeasured at bottom of C20

1-6. LED 15 – Vin Status

1-7. LED 16 – +12V Status

1-8. LED 17 – +5V Status


COMMUNICATION


Checkout of the ROV ControllerSection 2 – Communication

2-1. Using BASIC Stamp - Select RUN – Identify (ctrl+I)Verify that the Basic Stamp 2sx is found

2-2. Serial communication – Select the file ROV10-Full.bs2 Select RUN – Run (ctrl+R)Verify that the program loads without errors

2-3. Message ScreenScreen should display a number of commands that will be sent to StampPlot

2-4. Close the Message Screen

Checkout of the ROV ControllerSection 2 – Communication (cont.)

2-5. Using StampPlotClick on the “Connect to Stamp on COM Port” icon

Verify that displays are created.

2-6. Operate the joystick left control. Verify that the display changes

2-7. Operate buttons 6 & 8 on the joystick controlText display should change between OFF – UP – OFF - DOWN

2-8. LED 2, 5 & 6 should be blinking at approx 2.5x/sec

2-9. LED 3 & 4 should be slightly flickering

Checkout of the ROV ControllerSection 2 – Communication (cont.)

2-10. Serial Communication Signal - RXPropScope set to 2V/div; 500uS/div; Trig=2VMeasured at SV1

2-11. Serial Communication Signal - TXPropScope set to 2V/div; 500uS/div; Trig=2VMeasured at SV2

2-12. Serial Com. between BasicStamp and ROVPICPropScope set to 2V/div; 500uS/div; Trig=2VMeasured at via left of XC2 and below ANALOG IN text. Above LED 6


LEDS & H-BRIDGE


Checkout of the ROV ControllerSection 3 – LED Description

3-1. LED 1 & 2 – Driven by BasicStamp as programmed

3-2. LED 3 & 4 – BasicStamp Serial RX & TX lines

3-3. LED 6 & 7 – Driven by ROVPIC as communication with the BasicStamp takes place

3-4. H-Bridge LEDs. The sets of LEDs indicate motorOutput and direction. Brightness for output andColor for direction.

LED 7 & 8 – Motor 1 LED 9 & 10 Motor 2LED 11 & 12 Motor 3 LED 13 & 14 Motor 4

Checkout of the ROV ControllerSection 4 – H-Bridge Signals

4-1. H-Bridge PWM input – Operate Left Joystick PropScope 2V/div, 100uS/div, Trig = 2VProbe HB2-5

4-2. H-Bridge Direction input – Operate Left JoystickPropScope 2V/div, 100uS/div, Trig = 0ffProbe HB2-3

4-3. H-Bridge Output – Operate Left JoystickPropScope 20V/div, 100uS/div, Trig = 5VProbe J11-1 & J11-2

checkout of the mate summer institute rov controller hardware & software setup scott fraser long...

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