Pololu Corporation LV-168, User Manual

Page 1: ...otes 7 5 Getting Started 11 5 a Using the Demo Program 11 5 b Programming Your Orangutan 13 6 AVR Pin Assignment Table Sorted by Function 14 7 AVR Pin Assignment Table Sorted by Pin 15 8 Motor Driver Truth Table 16 9 Related Resources 18 Pololu Orangutan SV xx8 and LV xx8 User s Guide 2001 2013 Pololu Corporation http www pololu com docs 0J27 all Page 1 of 18 ...

Page 2: ...8 Because the user has direct access to the microcontroller any development software for Atmel s AVR microcontrollers including Atmel s free AVR Studio http www atmel com microsite atmel_studio6 and the WinAVR http winavr sourceforge net GCC C C compiler is compatible with the Orangutan An in circuit programmer such as our USB AVR programmer http www pololu com catalog product 1300 is required for...

Page 3: ...m A temperature sensor optionally connected to ADC6 gives limited feedback about board temperature Features Specific to the Orangutan SV 168 and SV 328 An integrated 5V switching regulator can provide up to 3 A from an input voltage of 6 13 5 V allowing you to power servos and other high power peripherals for which the battery voltage would be too high The TB6612FNG dual motor driver can supply a ...

Page 4: ...e and an assortment of sample code in the Pololu AVR Library http www pololu com docs 0J20 We would be delighted to hear from you about any of your projects and about your experience with the Orangutan Robot controllers You can contact us http www pololu com contact directly or post on our forum http forum pololu com Tell us what we did well what we could improve what you would like to see in the ...

Page 5: ...matic diagram Download a PDF version http www pololu com file download orangutan sv 328 robot controller schematic diagram PDF file_id 0J639 413k PDF Pololu Orangutan SV xx8 and LV xx8 User s Guide 2001 2013 Pololu Corporation 3 Schematic Diagrams Page 5 of 18 ...

Page 6: ... diagram Download a PDF version http www pololu com file download OrangutanLV168_schematic pdf file_id 0J164 39k pdf Pololu Orangutan SV xx8 and LV xx8 User s Guide 2001 2013 Pololu Corporation 3 Schematic Diagrams Page 6 of 18 ...

Page 7: ...the buzzer Orangutan SV 328 bottom view Orangutan LV 168 PCB bottom view Orangutan SV xx8 Power Motor Connections The power and motor connections are on the right side of the unit The Orangutan SV xx8 s input voltage should be 6 13 5 V from which the on board regulator generates the 5 V that is used to power the logic In its factory configuration analog input ADC6 is connected through a jumper to ...

Page 8: ...to two banks of four pins and each bank can either connect directly to the battery voltage or to the 5 V generated on the board this connection is determined by the bank s associated power selection jumper On the Orangutan LV 168 the total current available to the 5 V line is approximately 150 mA but the exact amount depends on your input voltage On the Orangutan SV xx8 the total current available...

Page 9: ... to bottom are on pins PB5 PB4 and PB1 Pressing one of these user pushbuttons pulls the associated I O pin to ground through a 1kΩ resistor so to use the buttons you should configure them as inputs with their internal pull up resistors enabled Note that pushbuttons physically bounce when pressed so make sure you take this phenomenon into account when writing your button handling code Additionally ...

Page 10: ...in system programmer from Atmel or a compatible programmer such as the Pololu Orangutan USB programmer http www pololu com catalog product 740 Pin 1 is the pin most toward the inside of the board Pololu Orangutan SV xx8 and LV xx8 User s Guide 2001 2013 Pololu Corporation 4 Module Pinouts Component Identification and Usage Notes Page 10 of 18 ...

Page 11: ...the main menu Press C the top button marked PB5 or A the bottom button marked PB1 to scroll forward or backward through the menu and press B to make a selection or to exit one of the demos There are seven demos accessible from the menu 1 Battery SV xx8 only This demo displays the battery voltage in millivolts Desoldering the SMT jumper marked ADC6 VBAT 3 will separate the battery voltage measureme...

Page 12: ...is lit and while motor 2 is active the red LED is off While the currently active motor is moving forward the green LED is lit and while the currently active motor is moving in reverse the green LED is off The LCD gives you feed back about which motor is moving in which direction F forward R reverse and inactive B Button User I O Demo Pushing the middle user pushbutton labeled PB4 on the back of th...

Page 13: ...l AVR ISP programmer such as the Pololu USB AVR Programmer http www pololu com catalog product 1300 Please see the Pololu AVR Programming Quick Start Guide http www pololu com docs 0J51 for tutorials on how to get started programming the Orangutan in Windows Linux and Mac OS X That guide also covers the Pololu AVR C C Library http www pololu com docs 0J20 and the Pololu USB AVR Programmer Pololu O...

Page 14: ...trol RS R W E PD2 PB0 and PD4 LCD data 4 bit DB4 DB7 PB1 PB4 PB5 and PD7 user trimmer potentiometer ADC7 through shorting block temperature sensor LV 168 only battery voltage monitor SV xx8 only ADC6 through SMT jumper ICSP programming lines x3 PB3 PB4 PB5 reset pushbutton PC6 UART RX and TX PD0 and PD1 I2C TWI SDA and SCL PC4 and PC5 SPI inaccessable to user Pololu Orangutan SV xx8 and LV xx8 Use...

Page 15: ...nel 3 ADC3 PC4 analog input and digital I O ADC input channel 4 ADC4 I2C TWI input output data line SDA PC5 analog input and digital I O ADC input channel 5 ADC5 I2C TWI clock line SCL C PC6 RESET pin reset button pressing resets MCU digital I O disabled by default PD0 digital I O USART input pin RXD PD1 digital I O connected to red user LED high turns LED on USART output pin TXD PD2 LCD control l...

Page 16: ...the AVR timer hardware If you choose to write your own motor control code instead of using the Pololu AVR library http www pololu com docs 0J20 the suggested procedure for using hardware PWM outputs to control the motors is as follows 1 Make the four motor control pins outputs and drive them high this drives all four motor outputs low 2 Configure Timer0 and Timer2 to use a prescaler of 8 which res...

Page 17: ...ng less than 255 decreases the percentage of time PD5 is low causing M1B to alternate between VIN and GND and hence causing motor 1 to alternate between drive and brake Similarly OCR2B 255 is equivalent to holding PD3 low while OCR2A 0 is equivalent to holding PB3 high In this state M2B connects to your battery s positive terminal and M2A connects to ground Pololu Orangutan SV xx8 and LV xx8 User ...

Page 18: ...ms Programming Orangutans from the Arduino Environment http www pololu com docs 0J17 a guide to programming the Orangutan using the Arduino IDE in place of Atmel Studio Atmel Studio 6 http www atmel com microsite atmel_studio6 free integrated development environment IDE from Atmel that uses WinAVR as its compiler AVR Libc Home Page http www nongnu org avr libc Tutorial AVR Programming on the Mac h...