KARELController Design

Mihai Agape, Project CoordinatorPalatul Copiilor Drobeta Turnu Severin

KAREL, Comenius Project MeetingRybnik, 06-13.04.2014

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 Explain Karelino - first

controller prototype of Karel robot

Don’t forget!

All partners have to be able to produce the final controller Romanian team will produce 1 prototype for

each partner Turkish, Greek, Polish, and Romanian teams

will produce 4 controller pieces for their own robots

Why Karelino?

Karel problems2 s LiPo battery managementMotor voltage regulator

SolutionSmall complexity prototype

KarelinoRequirement & GodmotherKarelino additional requirement

12 analogic inputsCristina-Maria Agape

Karel & Arduino -> Karelino

Karelino pins alocation Drive the transistor which control the current through

emitters (1): PE6 Phototransistor reading (12): PF7–PF4 (A0–A3), PF

–PF0 (A4–-A5), PD4 (A6), PD6 (A7), PD7 (A8), and PB4–PB6 (A9–A11)

Motors Drivers Control (4): Motor 1 (pin 12 – OC0A = AIN2, pin 18 – OC0B = AIN1) Motor 2 (pin 31 – OC3A = BIN2, pin 32 – OC4A = BIN1)

Pushbuttons (3): PB1 – PB3 (SPI pins) LEDs (3): PB0, PD1, and PD5 Bluetooth Communication (2): RX and TX

Schema electrică

Power Supply

Power Supply 2s Lithium Polymer battery

Capacity >= 600mAh Battery voltage = 6–8,4V

+5V Regulator LM2940CS (800mA)

+3,3V Regulator LM1117IMP-3.3 Bluetooth module

Microcontroller Voltages VCC–GND & AVCC–AGND

Communication Interfaces Bluetooth (Rayson

UART—RX & TX—serial adaptor BTM112) – wireless communication with the computer

USB – programming the microcontroller

SPI – programming microcontroller fuses

Motors Driver = DRV8833PWP Dual driver 1,2 A / channel 2 PWM signals

Motor 1 (pin 12 – OC0A = AIN2, pin 18 – OC0B = AIN1) Motor 2 (pin 31 – OC3A = BIN2, pin 32 – OC4A = BIN1)

Pushbuttons & LEDs

LEDs PB0, PD1 și PD5 Active on 0 logic

Pushbuttons PB1–PB3 (SCK, MOSI &

MISO) Separation with 1kΩ resistor Active on 0 logic

PCB Design

Single Side PCB laminate Components

SMD THD

Software Target3001!

Copper Bottom Layer

Top Silkscreen

Bottom Silkscreen

3D Top View

3D Bottom View

Useful Links

Drawings for manufacturing the controller http://1drv.ms/1jet3ci

Bill of materials for all designshttp://1drv.ms/1oAF8hr

Other Designs

Charger with MCP73833 Single Motor Driver with DRV8833 12 Line Sensors Load Switch & Protection Motor Voltage Regulator with TPS63060

Further Improvements Integrate some of the designs from previous

slide 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

… The list is open to your proposals

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 (cont.)

*** ATmega32U4, 7766G–AVR–02/2014. Atmel. http://www.atmel.com/Images/Atmel-7766-8-bit-AVR-ATmega16U4-32U4_%20Datasheet.pdf

*** DRV8833, SLVSAR1C. Texas Instruments. http://www.ti.com/lit/gpn/drv8833.

*** LM2940, SNVS769I. Texas Instruments. http://www.ti.com/lit/gpn/lm2940-n.

*** LM1117, SNOS412M. Texas Instruments. http://www.ti.com/lit/gpn/lm1117-n

*** Bluetooth Module BTM-112. Rayson.

Questions?