Main.Material History
Hide minor edits - Show changes to output
Changed lines 1-70 from:
to:
!!Material
\\
* Car/Robot: Ford F-150 (1:19) from NIKKO
* [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | BTnode rev3]] from ETH Zurich
* Quadruple Half-H Driver: [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]], alternatively [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]]
* 2xNPN transistors [[http://www.datasheetcatalog.org/datasheet/fairchild/BC547.pdf | BC547]]
* 4x10k resistors
\\
!! Disassembling the vehicle
\\
The car has two motors. One is used for driving forward/backward using the rear wheels. The other motor is used for steering the front wheels left or right. We took the car apart and found a PCB with a lot of discrete components (transistors, resistors, ...) and a single IC, the PT8A978.
\\
\\
After some random guesses, we figured out that the IC is related to its "brother", the PT8A977 for which data sheets are available on the net. In short, the following pins are connected to to the amplification circuit:
* Pin 6: right
* Pin 7: left
* Pin 10: backward
* Pin 11: forward
We first removed the PT8A978 in order to control the motors but then decided to make our own driver.
!! Interface between motors and the BTnode3
\\
We opted for building our own interface, so we replaced the original PCB with home-brew one based on the popular L293. The schema is shown in Figure 1.
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
\\
%center%'''Figure 1. Motor driver'''
The L293 contains two motor drivers. Each consists of four mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide output currents up to 1A per channel, at voltages from 4.5V to 36V.
\\
\\
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, the enable line of the first driver, '''CHIP INHIBIT 1''', controls outputs 1 and 2. Correspondingly, '''CHIP INHIBIT 2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
\\
\\
We use the first driver to control the driving motor (forward/backward), and the second to control the steering motor (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of '''OUTPUT 1''' using an NPN transistor. The same was done with '''OUTPUT 3''' and '''OUTPUT 4'''. In this setup, we cannot actively brake, but only two control lines per motor are needed, see [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | circuit schema]].
\\
\\
Figure 2 depicts the BTnode connector pins. Tables 1 and 2 describe the mappings between BTnode pins and corresponding motor control.
\\
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center%'''Figure 2. BTnode connector'''
|| border=1 align=center width=50%
||! ||! neutral ||! forward ||! backward ||
||PE3 (inhibition) || L || H || H ||
||PE6 (control input) || X || H || L ||
%center%'''Table 1. Mapping between BTnode pins and driving motor control lines'''
|| border=1 align=center width=50%
||! ||! straight ||! left ||! right ||
||PE4 (inhibition) || L || H || H ||
||PD0 = SCL (control input) || X || H || L ||
%center%'''Table 2. Mapping between BTnode pins and steering motor control lines'''
\\
* Car/Robot: Ford F-150 (1:19) from NIKKO
* [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | BTnode rev3]] from ETH Zurich
* Quadruple Half-H Driver: [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]], alternatively [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]]
* 2xNPN transistors [[http://www.datasheetcatalog.org/datasheet/fairchild/BC547.pdf | BC547]]
* 4x10k resistors
\\
!! Disassembling the vehicle
\\
The car has two motors. One is used for driving forward/backward using the rear wheels. The other motor is used for steering the front wheels left or right. We took the car apart and found a PCB with a lot of discrete components (transistors, resistors, ...) and a single IC, the PT8A978.
\\
\\
After some random guesses, we figured out that the IC is related to its "brother", the PT8A977 for which data sheets are available on the net. In short, the following pins are connected to to the amplification circuit:
* Pin 6: right
* Pin 7: left
* Pin 10: backward
* Pin 11: forward
We first removed the PT8A978 in order to control the motors but then decided to make our own driver.
!! Interface between motors and the BTnode3
\\
We opted for building our own interface, so we replaced the original PCB with home-brew one based on the popular L293. The schema is shown in Figure 1.
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
\\
%center%'''Figure 1. Motor driver'''
The L293 contains two motor drivers. Each consists of four mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide output currents up to 1A per channel, at voltages from 4.5V to 36V.
\\
\\
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, the enable line of the first driver, '''CHIP INHIBIT 1''', controls outputs 1 and 2. Correspondingly, '''CHIP INHIBIT 2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
\\
\\
We use the first driver to control the driving motor (forward/backward), and the second to control the steering motor (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of '''OUTPUT 1''' using an NPN transistor. The same was done with '''OUTPUT 3''' and '''OUTPUT 4'''. In this setup, we cannot actively brake, but only two control lines per motor are needed, see [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | circuit schema]].
\\
\\
Figure 2 depicts the BTnode connector pins. Tables 1 and 2 describe the mappings between BTnode pins and corresponding motor control.
\\
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center%'''Figure 2. BTnode connector'''
|| border=1 align=center width=50%
||! ||! neutral ||! forward ||! backward ||
||PE3 (inhibition) || L || H || H ||
||PE6 (control input) || X || H || L ||
%center%'''Table 1. Mapping between BTnode pins and driving motor control lines'''
|| border=1 align=center width=50%
||! ||! straight ||! left ||! right ||
||PE4 (inhibition) || L || H || H ||
||PD0 = SCL (control input) || X || H || L ||
%center%'''Table 2. Mapping between BTnode pins and steering motor control lines'''
March 08, 2010, at 03:49 PM
by - 0.222222222222222
Changed lines 1-70 from:
\\
* Car/Robot: Ford F-150 (1:19) from NIKKO
* [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | BTnode rev3]] from ETH Zurich
* Quadruple Half-H Driver: [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]], alternatively [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]]
* 2xNPN transistors [[http://www.datasheetcatalog.org/datasheet/fairchild/BC547.pdf | BC547]]
* 4x10k resistors
\\
!! Disassembling the vehicle
\\
The car has two motors. One is used for driving forward/backward using the rear wheels. The other motor is used for steering the front wheels left or right. We took the car apart and found a PCB with a lot of discrete components (transistors, resistors, ...) and a single IC, the PT8A978.
\\
\\
After some random guesses, we figured out that the IC is related to its "brother", the PT8A977 for which data sheets are available on the net. In short, the following pins are connected to to the amplification circuit:
* Pin 6: right
* Pin 7: left
* Pin 10: backward
* Pin 11: forward
We first removed the PT8A978 in order to control the motors but then decided to make our own driver.
!! Interface between motors and the BTnode3
\\
We opted for building our own interface, so we replaced the original PCB with home-brew one based on the popular L293. The schema is shown in Figure 1.
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
\\
%center%'''Figure 1. Motor driver'''
The L293 contains two motor drivers. Each consists of four mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide output currents up to 1A per channel, at voltages from 4.5V to 36V.
\\
\\
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, the enable line of the first driver, '''CHIP INHIBIT 1''', controls outputs 1 and 2. Correspondingly, '''CHIP INHIBIT 2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
\\
\\
We use the first driver to control the driving motor (forward/backward), and the second to control the steering motor (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of '''OUTPUT 1''' using an NPN transistor. The same was done with '''OUTPUT 3''' and '''OUTPUT 4'''. In this setup, we cannot actively brake, but only two control lines per motor are needed, see [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | circuit schema]].
\\
\\
Figure 2 depicts the BTnode connector pins. Tables 1 and 2 describe the mappings between BTnode pins and corresponding motor control.
\\
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center%'''Figure 2. BTnode connector'''
|| border=1 align=center width=50%
||! ||! neutral ||! forward ||! backward ||
||PE3 (inhibition) || L || H || H ||
||PE6 (control input) || X || H || L ||
%center%'''Table 1. Mapping between BTnode pins and driving motor control lines'''
|| border=1 align=center width=50%
||! ||! straight ||! left ||! right ||
||PE4 (inhibition) || L || H || H ||
||PD0 = SCL (control input) || X || H || L ||
%center%'''Table 2. Mapping between BTnode pins and steering motor control lines'''
to:
oV3cWL <a href="http://fzdwtwuslbcm.com/">fzdwtwuslbcm</a>, [url=http://icmktypinqid.com/]icmktypinqid[/url], [link=http://tfydegkclzef.com/]tfydegkclzef[/link], http://mqyjiuivfwtu.com/
Changed lines 1-70 from:
to:
!!Material
\\
* Car/Robot: Ford F-150 (1:19) from NIKKO
* [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | BTnode rev3]] from ETH Zurich
* Quadruple Half-H Driver: [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]], alternatively [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]]
* 2xNPN transistors [[http://www.datasheetcatalog.org/datasheet/fairchild/BC547.pdf | BC547]]
* 4x10k resistors
\\
!! Disassembling the vehicle
\\
The car has two motors. One is used for driving forward/backward using the rear wheels. The other motor is used for steering the front wheels left or right. We took the car apart and found a PCB with a lot of discrete components (transistors, resistors, ...) and a single IC, the PT8A978.
\\
\\
After some random guesses, we figured out that the IC is related to its "brother", the PT8A977 for which data sheets are available on the net. In short, the following pins are connected to to the amplification circuit:
* Pin 6: right
* Pin 7: left
* Pin 10: backward
* Pin 11: forward
We first removed the PT8A978 in order to control the motors but then decided to make our own driver.
!! Interface between motors and the BTnode3
\\
We opted for building our own interface, so we replaced the original PCB with home-brew one based on the popular L293. The schema is shown in Figure 1.
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
\\
%center%'''Figure 1. Motor driver'''
The L293 contains two motor drivers. Each consists of four mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide output currents up to 1A per channel, at voltages from 4.5V to 36V.
\\
\\
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, the enable line of the first driver, '''CHIP INHIBIT 1''', controls outputs 1 and 2. Correspondingly, '''CHIP INHIBIT 2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
\\
\\
We use the first driver to control the driving motor (forward/backward), and the second to control the steering motor (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of '''OUTPUT 1''' using an NPN transistor. The same was done with '''OUTPUT 3''' and '''OUTPUT 4'''. In this setup, we cannot actively brake, but only two control lines per motor are needed, see [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | circuit schema]].
\\
\\
Figure 2 depicts the BTnode connector pins. Tables 1 and 2 describe the mappings between BTnode pins and corresponding motor control.
\\
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center%'''Figure 2. BTnode connector'''
|| border=1 align=center width=50%
||! ||! neutral ||! forward ||! backward ||
||PE3 (inhibition) || L || H || H ||
||PE6 (control input) || X || H || L ||
%center%'''Table 1. Mapping between BTnode pins and driving motor control lines'''
|| border=1 align=center width=50%
||! ||! straight ||! left ||! right ||
||PE4 (inhibition) || L || H || H ||
||PD0 = SCL (control input) || X || H || L ||
%center%'''Table 2. Mapping between BTnode pins and steering motor control lines'''
\\
* Car/Robot: Ford F-150 (1:19) from NIKKO
* [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | BTnode rev3]] from ETH Zurich
* Quadruple Half-H Driver: [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]], alternatively [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]]
* 2xNPN transistors [[http://www.datasheetcatalog.org/datasheet/fairchild/BC547.pdf | BC547]]
* 4x10k resistors
\\
!! Disassembling the vehicle
\\
The car has two motors. One is used for driving forward/backward using the rear wheels. The other motor is used for steering the front wheels left or right. We took the car apart and found a PCB with a lot of discrete components (transistors, resistors, ...) and a single IC, the PT8A978.
\\
\\
After some random guesses, we figured out that the IC is related to its "brother", the PT8A977 for which data sheets are available on the net. In short, the following pins are connected to to the amplification circuit:
* Pin 6: right
* Pin 7: left
* Pin 10: backward
* Pin 11: forward
We first removed the PT8A978 in order to control the motors but then decided to make our own driver.
!! Interface between motors and the BTnode3
\\
We opted for building our own interface, so we replaced the original PCB with home-brew one based on the popular L293. The schema is shown in Figure 1.
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
\\
%center%'''Figure 1. Motor driver'''
The L293 contains two motor drivers. Each consists of four mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide output currents up to 1A per channel, at voltages from 4.5V to 36V.
\\
\\
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, the enable line of the first driver, '''CHIP INHIBIT 1''', controls outputs 1 and 2. Correspondingly, '''CHIP INHIBIT 2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
\\
\\
We use the first driver to control the driving motor (forward/backward), and the second to control the steering motor (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of '''OUTPUT 1''' using an NPN transistor. The same was done with '''OUTPUT 3''' and '''OUTPUT 4'''. In this setup, we cannot actively brake, but only two control lines per motor are needed, see [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | circuit schema]].
\\
\\
Figure 2 depicts the BTnode connector pins. Tables 1 and 2 describe the mappings between BTnode pins and corresponding motor control.
\\
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center%'''Figure 2. BTnode connector'''
|| border=1 align=center width=50%
||! ||! neutral ||! forward ||! backward ||
||PE3 (inhibition) || L || H || H ||
||PE6 (control input) || X || H || L ||
%center%'''Table 1. Mapping between BTnode pins and driving motor control lines'''
|| border=1 align=center width=50%
||! ||! straight ||! left ||! right ||
||PE4 (inhibition) || L || H || H ||
||PD0 = SCL (control input) || X || H || L ||
%center%'''Table 2. Mapping between BTnode pins and steering motor control lines'''
January 15, 2010, at 11:41 AM
by - 0.222222222222222
Changed line 1 from:
to:
iMxL3e <a href="http://fknpzglcceyt.com/">fknpzglcceyt</a>, [url=http://zfocpvefookm.com/]zfocpvefookm[/url], [link=http://ujkhaeqrokeb.com/]ujkhaeqrokeb[/link], http://qyddzfoytdql.com/
January 15, 2010, at 11:28 AM
by - 0.222222222222222
Changed line 1 from:
to:
gMyxlT <a href="http://pmzuiocywmiy.com/">pmzuiocywmiy</a>, [url=http://nzjaxhbtkfhg.com/]nzjaxhbtkfhg[/url], [link=http://tintpgktzxxq.com/]tintpgktzxxq[/link], http://eescpjgzyzgb.com/
January 15, 2010, at 11:23 AM
by - 0.222222222222222
Changed line 1 from:
to:
oQFdXN <a href="http://zhssxwyadyrh.com/">zhssxwyadyrh</a>, [url=http://rplbovntqatf.com/]rplbovntqatf[/url], [link=http://zvnfmbxjzrvn.com/]zvnfmbxjzrvn[/link], http://wycnpqnrjzwe.com/
January 15, 2010, at 11:21 AM
by - 0.222222222222222
Changed line 1 from:
to:
M0wtuA <a href="http://sgxgsxhdcrnk.com/">sgxgsxhdcrnk</a>, [url=http://epglpywxyaum.com/]epglpywxyaum[/url], [link=http://tztdzqjfeidz.com/]tztdzqjfeidz[/link], http://wypbsgeharmg.com/
January 15, 2010, at 11:13 AM
by - 0.222222222222222
Changed lines 1-70 from:
\\
* Car/Robot: Ford F-150 (1:19) from NIKKO
* [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | BTnode rev3]] from ETH Zurich
* Quadruple Half-H Driver: [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]], alternatively [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]]
* 2xNPN transistors [[http://www.datasheetcatalog.org/datasheet/fairchild/BC547.pdf | BC547]]
* 4x10k resistors
\\
!! Disassembling the vehicle
\\
The car has two motors. One is used for driving forward/backward using the rear wheels. The other motor is used for steering the front wheels left or right. We took the car apart and found a PCB with a lot of discrete components (transistors, resistors, ...) and a single IC, the PT8A978.
\\
\\
After some random guesses, we figured out that the IC is related to its "brother", the PT8A977 for which data sheets are available on the net. In short, the following pins are connected to to the amplification circuit:
* Pin 6: right
* Pin 7: left
* Pin 10: backward
* Pin 11: forward
We first removed the PT8A978 in order to control the motors but then decided to make our own driver.
!! Interface between motors and the BTnode3
\\
We opted for building our own interface, so we replaced the original PCB with home-brew one based on the popular L293. The schema is shown in Figure 1.
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
\\
%center%'''Figure 1. Motor driver'''
The L293 contains two motor drivers. Each consists of four mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide output currents up to 1A per channel, at voltages from 4.5V to 36V.
\\
\\
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, the enable line of the first driver, '''CHIP INHIBIT 1''', controls outputs 1 and 2. Correspondingly, '''CHIP INHIBIT 2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
\\
\\
We use the first driver to control the driving motor (forward/backward), and the second to control the steering motor (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of '''OUTPUT 1''' using an NPN transistor. The same was done with '''OUTPUT 3''' and '''OUTPUT 4'''. In this setup, we cannot actively brake, but only two control lines per motor are needed, see [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | circuit schema]].
\\
\\
Figure 2 depicts the BTnode connector pins. Tables 1 and 2 describe the mappings between BTnode pins and corresponding motor control.
\\
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center%'''Figure 2. BTnode connector'''
|| border=1 align=center width=50%
||! ||! neutral ||! forward ||! backward ||
||PE3 (inhibition) || L || H || H ||
||PE6 (control input) || X || H || L ||
%center%'''Table 1. Mapping between BTnode pins and driving motor control lines'''
|| border=1 align=center width=50%
||! ||! straight ||! left ||! right ||
||PE4 (inhibition) || L || H || H ||
||PD0 = SCL (control input) || X || H || L ||
%center%'''Table 2. Mapping between BTnode pins and steering motor control lines'''
to:
5GJ7Hn <a href="http://cmnsiavherss.com/">cmnsiavherss</a>, [url=http://phyomtpoharx.com/]phyomtpoharx[/url], [link=http://jlxyudetltdb.com/]jlxyudetltdb[/link], http://yjdblhkhfsih.com/
Changed lines 54-57 from:
||! ||! forward ||! backward ||! neutral ||
||PE3 (inhibition) ||H || H || L ||
||PE6 (control input) ||H || L || X ||
||PE3 (inhibition) ||
||PE6 (control input) ||
to:
||! ||! neutral ||! forward ||! backward ||
||PE3 (inhibition) || L || H || H ||
||PE6 (control input) || X || H || L ||
||PE3 (inhibition) || L || H || H ||
||PE6 (control input) || X || H || L ||
Changed lines 62-65 from:
||! ||! left ! straight ||
||H || H || L ||
||PD0 = SCL (control input) ||H || L || X ||
||
||PD0 = SCL (control input) ||
to:
||! ||! straight ||! left ||! right ||
||PE4 (inhibition) || L || H || H ||
||PD0 = SCL (control input) || X || H || L ||
||PE4 (inhibition) || L || H || H ||
||PD0 = SCL (control input) || X || H || L ||
Changed lines 54-57 from:
||! ||! forward ||! backward ||
||PE6 (control input) || H || L ||
to:
||! ||! forward ||! backward ||! neutral ||
||PE3 (inhibition) || H || H || L ||
||PE6 (control input) || H || L || X ||
||PE3 (inhibition) || H || H || L ||
||PE6 (control input) || H || L || X ||
Changed lines 62-65 from:
||! ||! left ||! right ||
||PD0 = SCL (control input) || H || L ||
to:
||! ||! left ||! right ||! straight ||
||PE4 (inhibition) || H || H || L ||
||PD0 = SCL (control input) || H || L || X ||
||PE4 (inhibition) || H || H || L ||
||PD0 = SCL (control input) || H || L || X ||
Changed lines 28-29 from:
We opted for building our own interface, so we replaced the original PCB with home-brew one based on the popular L293. The schema is shown in Picture below.
to:
We opted for building our own interface, so we replaced the original PCB with home-brew one based on the popular L293. The schema is shown in Figure 1.
Changed lines 32-33 from:
%center%'''Motor driver'''
to:
%center%'''Figure 1. Motor driver'''
Changed line 45 from:
Figure 2. outlines BTnode connector pins. Tables 1. and 2. outline mappings between BTnode pins, corresponding driver control inputs, and pin
to:
Figure 2 depicts the BTnode connector pins. Tables 1 and 2 describe the mappings between BTnode pins and corresponding motor control.
Deleted line 46:
Changed lines 48-50 from:
%center%'''BTnode connector'''
to:
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center%'''Figure 2. BTnode connector'''
Changed lines 45-48 from:
%center%'''Table 1
to:
Figure 2. outlines BTnode connector pins. Tables 1. and 2. outline mappings between BTnode pins, corresponding driver control inputs, and pin
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center%'''BTnode connector'''
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center%'''BTnode connector'''
Changed lines 57-59 from:
to:
%center%'''Table 1. Mapping between BTnode pins and driving motor control lines'''
Changed lines 65-70 from:
\\
%center%'''BTnode connector
to:
%center%'''Table 2. Mapping between BTnode pins and steering motor control lines'''
Changed lines 45-46 from:
%center%'''Mapping between BTnode pins and driving motor control lines'''
to:
%center%'''Table 1. Mapping between BTnode pins and driving motor control lines'''
Changed lines 55-56 from:
%center%'''Mapping between BTnode pins and steering motor control lines'''
to:
%center%'''Table 2. Mapping between BTnode pins and steering motor control lines'''
Added line 63:
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
Deleted lines 64-66:
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
Added lines 45-46:
%center%'''Mapping between BTnode pins and driving motor control lines'''
Changed lines 53-54 from:
%center%'''Mapping between BTnode pins and steering driver'''
to:
%center%'''Mapping between BTnode pins and steering motor control lines'''
Changed lines 50-52 from:
to:
%center%'''Mapping between BTnode pins and steering driver'''
Changed line 50 from:
to:
|| [++Events Calendar++] ||||||
Changed lines 54-55 from:
||PD0 (SCL, control input) || H || L ||
to:
||PD0 = SCL (control input) || H || L ||
Changed lines 47-50 from:
||inhibition: PE3 || H || H ||
||input: PE6 || H || L ||
||
to:
||PE3 (inhibition) || H || H ||
||PE6 (control input) || H || L ||
||PE6 (control input) || H || L ||
Changed lines 53-55 from:
||inhibition: PE4 || H || H ||
||input: PD0 (SCL) || H || L ||
||
to:
||PE4 (inhibition) || H || H ||
||PD0 (SCL, control input) || H || L ||
||PD0 (SCL, control input) || H || L ||
Changed lines 47-50 from:
||inhibition PE3 || H || H ||
||ctrl. input PE6 || H || L ||
||
to:
||inhibition: PE3 || H || H ||
||input: PE6 || H || L ||
||input: PE6 || H || L ||
Changed lines 53-55 from:
||inhibition PE4 || H || H ||
||ctrl. input PD0 (SCL) || H || L ||
||
to:
||inhibition: PE4 || H || H ||
||input: PD0 (SCL) || H || L ||
||input: PD0 (SCL) || H || L ||
Changed line 46 from:
||! ||! forward ||! backward ||
to:
||! ||! forward ||! backward ||
Changed line 52 from:
||! ||! left ||! right ||
to:
||! ||! left ||! right ||
Changed lines 45-49 from:
| border=1 align=center width=50%
|! ||! forward ||! backward ||
|inhibition PE3 || H || H ||
|ctrl. input PE6 || H || L ||
|! ||! forward ||! backward ||
|inhibition PE3 || H || H ||
|ctrl. input PE6 || H || L ||
to:
|| border=1 align=center width=50%
||! ||! forward ||! backward ||
||inhibition PE3 || H || H ||
||ctrl. input PE6 || H || L ||
|| border=1 align=center width=50%
||! ||! left ||! right ||
||inhibition PE4 || H || H ||
||ctrl. input PD0 (SCL) || H || L ||
||! ||! forward ||! backward ||
||inhibition PE3 || H || H ||
||ctrl. input PE6 || H || L ||
|| border=1 align=center width=50%
||! ||! left ||! right ||
||inhibition PE4 || H || H ||
||ctrl. input PD0 (SCL) || H || L ||
Changed lines 45-49 from:
|| border=1 align=center width=50%
||! ||! forward ||! backward ||
||inhibition PE3 || H || H ||
||ctrl. input PE6 || H || L ||
|
|
to:
| border=1 align=center width=50%
|! ||! forward ||! backward ||
|inhibition PE3 || H || H ||
|ctrl. input PE6 || H || L ||
|! ||! forward ||! backward ||
|inhibition PE3 || H || H ||
|ctrl. input PE6 || H || L ||
Changed lines 46-49 from:
||||! forward ||! backward ||
||ctrl. input PE6 || H || L||
||ctrl. input PE6 || H || L||
to:
||! ||! forward ||! backward ||
||inhibition PE3 || H || H ||
||ctrl. input PE6 || H || L ||
||inhibition PE3 || H || H ||
||ctrl. input PE6 || H || L ||
Changed lines 44-45 from:
|| border=1 align=center
|| ||! forward ||! backward ||
to:
|| border=1 align=center width=50%
||||! forward ||! backward ||
Changed lines 44-45 from:
to:
|| border=1 align=center
|| ||! forward ||! backward ||
||inhibition PE3 || H || H||
||ctrl. input PE6 || H || L||
|| ||! forward ||! backward ||
||inhibition PE3 || H || H||
||ctrl. input PE6 || H || L||
Added lines 50-52:
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
Changed lines 40-41 from:
We use the first driver to control the driving motor (forward/backward), and the second to control the steering motor (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of '''OUTPUT 1''' using an NPN transistor. The same was done with '''OUTPUT 3''' and '''OUTPUT 4'''. In this setup, we cannot actively brake, but only two control lines per motor are needed.
to:
We use the first driver to control the driving motor (forward/backward), and the second to control the steering motor (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of '''OUTPUT 1''' using an NPN transistor. The same was done with '''OUTPUT 3''' and '''OUTPUT 4'''. In this setup, we cannot actively brake, but only two control lines per motor are needed, see [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | circuit schema]].
Changed line 34 from:
The L293 contains 2 x 4 mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide output currents up to 1A per channel, at voltages from 4.5V to 36V.
to:
The L293 contains two motor drivers. Each consists of four mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide output currents up to 1A per channel, at voltages from 4.5V to 36V.
Changed line 37 from:
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, enable line of the first driver, '''INHIBIT 1''', controls outputs 1 and 2. Correspondingly, '''INHIBIT 2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
to:
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, the enable line of the first driver, '''CHIP INHIBIT 1''', controls outputs 1 and 2. Correspondingly, '''CHIP INHIBIT 2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
Changed lines 40-42 from:
We use one driver to control the drive (forward/backward), and another to control steer (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of the '''OUTPUT 1''' using a NPN transistor. The same we did with '''OUTPUT 3''' and '''OUTPUT 4'''. With this setup, we cannot actively brake, but need only 2 control lines per motor.
to:
We use the first driver to control the driving motor (forward/backward), and the second to control the steering motor (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of '''OUTPUT 1''' using an NPN transistor. The same was done with '''OUTPUT 3''' and '''OUTPUT 4'''. In this setup, we cannot actively brake, but only two control lines per motor are needed.
Changed lines 7-8 from:
* 2xPNP transistors, 4x10k resistors
to:
* 2xNPN transistors [[http://www.datasheetcatalog.org/datasheet/fairchild/BC547.pdf | BC547]]
* 4x10k resistors
* 4x10k resistors
Changed lines 40-42 from:
We use one driver to control the drive (forward/backward), and another to control steer (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of the '''OUTPUT 1''' using a PNP transistor. The same we did with '''OUTPUT 3''' and '''OUTPUT 4'''. With this setup, we cannot actively brake, but need only 2 control lines per motor.
to:
We use one driver to control the drive (forward/backward), and another to control steer (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of the '''OUTPUT 1''' using a NPN transistor. The same we did with '''OUTPUT 3''' and '''OUTPUT 4'''. With this setup, we cannot actively brake, but need only 2 control lines per motor.
Changed lines 7-8 from:
*
to:
* 2xPNP transistors, 4x10k resistors
Changed line 35 from:
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, enable line of the first driver, '''Inh1''', controls outputs 1 and 2. Correspondingly, '''Inh2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
to:
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, enable line of the first driver, '''INHIBIT 1''', controls outputs 1 and 2. Correspondingly, '''INHIBIT 2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
Added line 7:
*
Added line 34:
\\
Deleted lines 36-38:
Added lines 38-40:
We use one driver to control the drive (forward/backward), and another to control steer (left/right). To save on microcontroller lines, we connected the '''OUTPUT 2''' control line with the inverted output of the '''OUTPUT 1''' using a PNP transistor. The same we did with '''OUTPUT 3''' and '''OUTPUT 4'''. With this setup, we cannot actively brake, but need only 2 control lines per motor.
Deleted lines 41-42:
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
Added lines 43-45:
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
Changed line 33 from:
Per driver, three control lines are needed. One control line (V_inh) turns the output of the driver on/off. When turned on, the two output lines can be set to GND or VCC individually.
to:
Per driver, three control lines are needed: enable input and two input controls. The enable input turns the outputs of the driver on/off. For example, enable line of the first driver, '''Inh1''', controls outputs 1 and 2. Correspondingly, '''Inh2''' of the second driver controls outputs 3 and 4. When a driver is enabled, its outputs become active and in phase with its input controls. The output lines can be set to GND or VCC individually.
Changed lines 35-37 from:
To save on microcontroller lines, we connected the second output control line with the inverted output of the first one using a PNP transistor. With this setup, we cannot actively brake, but need only 2 control lines per motor.
to:
We use the two input controls to control the drive and the steering motors respectively. To save on microcontroller lines, we connected the second output control line with the inverted output of the first one using a PNP transistor. With this setup, we cannot actively brake, but need only 2 control lines per motor.
Changed line 31 from:
The L293 contains 2 x 4 mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide up to X Volts at Y mA (.. get real values.. :)
to:
The L293 contains 2 x 4 mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide output currents up to 1A per channel, at voltages from 4.5V to 36V.
Changed line 33 from:
Per driver, 3 control lines are needed. One output enable line turns the output drivers on/off. When turned on, the two output lines can be set to GND or VCC individually.
to:
Per driver, three control lines are needed. One control line (V_inh) turns the output of the driver on/off. When turned on, the two output lines can be set to GND or VCC individually.
Changed lines 25-26 from:
We opted for building our own interface, so we replaced the original PCB with home-brew one. The schema is shown in Picture below.
to:
We opted for building our own interface, so we replaced the original PCB with home-brew one based on the popular L293. The schema is shown in Picture below.
Added line 31:
The L293 contains 2 x 4 mosfets in an [[http://en.wikipedia.org/wiki/H_bridge | H-Bridge]] configuration. The control inputs are CMOS/TTL compatible, the output can provide up to X Volts at Y mA (.. get real values.. :)
Added line 33:
Per driver, 3 control lines are needed. One output enable line turns the output drivers on/off. When turned on, the two output lines can be set to GND or VCC individually.
Changed lines 35-36 from:
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira
to:
To save on microcontroller lines, we connected the second output control line with the inverted output of the first one using a PNP transistor. With this setup, we cannot actively brake, but need only 2 control lines per motor.
Added lines 39-42:
\\
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
Changed line 4 from:
* robot: Ford F-150 (1:19) from NIKKO
to:
* Car/Robot: Ford F-150 (1:19) from NIKKO
Changed line 11 from:
to:
The car has two motors. One is used for driving forward/backward using the rear wheels. The other motor is used for steering the front wheels left or right. We took the car apart and found a PCB with a lot of discrete components (transistors, resistors, ...) and a single IC, the PT8A978.
Changed lines 14-22 from:
After a while and random guessing we figured out that the IC could be related to its "brother", the PT8A977 for which the data-sheets are available. In short, the following pins are input to the amplification circuit:
* pin 6: right
* pin 7: left
* pin 10: backward
* pin 11: forward
One could use these lines from the IC and directly connect them to the amplification circuit to a microcontroller.
* pin 6: right
* pin 7
* pin 10
One could use these lines from the IC and directly connect them
to:
After some random guesses, we figured out that the IC is related to its "brother", the PT8A977 for which data sheets are available on the net. In short, the following pins are connected to to the amplification circuit:
* Pin 6: right
* Pin 7: left
* Pin 10: backward
* Pin 11: forward
We first removed the PT8A978 in order to control the motors but then decided to make our own driver.
!! Interface between motors and the BTnode3
* Pin 6: right
* Pin 7: left
* Pin 10: backward
* Pin 11: forward
We first removed the PT8A978 in order to control the motors but then decided to make our own driver.
!! Interface between motors and the BTnode3
Changed lines 25-26 from:
!! Interface between motors and the BTnode3
to:
We opted for building our own interface, so we replaced the original PCB with home-brew one. The schema is shown in Picture below.
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
Deleted lines 28-31:
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
\\
Deleted lines 32-33:
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
Added lines 34-37:
\\
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
Added lines 32-38:
%center% [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | http://bagira.ringwald.ch/picts/btnode_rev3.22_debug_j2.jpg]]
\\
%center%'''BTnode connector'''
Deleted lines 2-3:
!!! Hardware
Changed line 9 from:
to:
\\
Changed line 24 from:
to:
\\
Deleted lines 22-24:
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
Added lines 24-30:
!! Interface between motors and the BTnode3
We opted for building our own interface, so we replaced the original PCB with home-brewed one. The scheme is shown in Picture bellow.
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
\\
Deleted lines 9-15:
* AVR toolchain
* BTnut (and Ethernut a.k.a. Nut/OS)
* lightblue (on Mac it requires XCode with support for the 10.4u.SDK: in project preferences you need to select gcc4.0)
\\
Changed line 32 from:
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema.png]]
to:
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema_thumb.png]]
Changed line 30 from:
%center% [[http://http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema.png]]
to:
%center% [[http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema.png]]
Changed lines 30-32 from:
[[http://http://bagira.ringwald.ch/picts/bagira_schema.pdf
%center% http://bagira.ringwald.ch/picts/bagira_schema.png
| link text]]
to:
%center% [[http://http://bagira.ringwald.ch/picts/bagira_schema.pdf | http://bagira.ringwald.ch/picts/bagira_schema.png]]
Changed line 30 from:
to:
[[http://http://bagira.ringwald.ch/picts/bagira_schema.pdf
Added line 32:
| link text]]
Changed lines 30-33 from:
to:
%center% http://bagira.ringwald.ch/picts/bagira_schema.png
\\
%center%'''Motor driver'''
\\
%center%'''Motor driver'''
Changed lines 7-8 from:
* Quadruple Half-H Driver: [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]], alternatively [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]] Quadruple Half-H Driver
to:
* Quadruple Half-H Driver: [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]], alternatively [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]]
Changed lines 7-8 from:
* [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]] Quadruple Half-H Drivers, alternatively: [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]] Quadruple Half-H Driver
to:
* Quadruple Half-H Driver: [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]], alternatively [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]] Quadruple Half-H Driver
Changed line 2 from:
to:
\\
Changed lines 6-8 from:
* [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]] Quadruple Half-H Drivers
* alternatively: [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]] Quadruple Half-H Driver
to:
* [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]] Quadruple Half-H Drivers, alternatively: [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]] Quadruple Half-H Driver
Changed line 11 from:
* btnut
to:
* BTnut (and Ethernut a.k.a. Nut/OS)
Changed line 10 from:
* avr tools
to:
* AVR toolchain
Changed lines 12-14 from:
* lightblue (on Mac it recquires xcode with support for SDK4: in project preferences you need to set gcc4.0)
to:
* lightblue (on Mac it requires XCode with support for the 10.4u.SDK: in project preferences you need to select gcc4.0)
Changed lines 6-7 from:
* [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]] Quadruple Half-H Driver
to:
* [[ http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml | L293D]] Quadruple Half-H Drivers
* alternatively: [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]] Quadruple Half-H Driver
* alternatively: [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]] Quadruple Half-H Driver
Added lines 1-3:
!!Material
!!! Hardware
!!! Hardware
Deleted line 5:
Changed lines 8-32 from:
to:
!!! Software
* avr tools
* btnut
* lightblue (on Mac it recquires xcode with support for SDK4: in project preferences you need to set gcc4.0)
!! Disassembling the vehicle
Robot has two motors. One motor is used for forward/backward moving using the rear wheels. The other motor is used for stearing of the front wheels to left or right. We took robot apart and found a PCB with a lot of discrete components (transistors, resistors, ...) and a single IC, the PT8A978.
After a while and random guessing we figured out that the IC could be related to its "brother", the PT8A977 for which the data-sheets are available. In short, the following pins are input to the amplification circuit:
* pin 6: right
* pin 7: left
* pin 10: backward
* pin 11: forward
One could use these lines from the IC and directly connect them to the amplification circuit to a microcontroller.
We opted for building our own interface, so we replaced the PCB with home-brewed one. The scheme is shown in Picture bellow.
* avr tools
* btnut
* lightblue (on Mac it recquires xcode with support for SDK4: in project preferences you need to set gcc4.0)
!! Disassembling the vehicle
Robot has two motors. One motor is used for forward/backward moving using the rear wheels. The other motor is used for stearing of the front wheels to left or right. We took robot apart and found a PCB with a lot of discrete components (transistors, resistors, ...) and a single IC, the PT8A978.
After a while and random guessing we figured out that the IC could be related to its "brother", the PT8A977 for which the data-sheets are available. In short, the following pins are input to the amplification circuit:
* pin 6: right
* pin 7: left
* pin 10: backward
* pin 11: forward
One could use these lines from the IC and directly connect them to the amplification circuit to a microcontroller.
We opted for building our own interface, so we replaced the PCB with home-brewed one. The scheme is shown in Picture bellow.
Changed lines 1-2 from:
* robot: Ford F-150 (1:19) from NIKKO, 30.00 Euro
* BTnode rev2 from ETH Zurich
*
to:
* robot: Ford F-150 (1:19) from NIKKO
* [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | BTnode rev3]] from ETH Zurich
* [[http://www.btnode.ethz.ch/Documentation/BTnodeRev3HardwareReference | BTnode rev3]] from ETH Zurich
Changed lines 4-6 from:
After getting a toy we wanted to figure out how to connect its control board to a BTnode.
to:
* [[ http://www.datasheetcatalog.com/datasheets_pdf/S/N/7/5/SN754410.shtml | SN754410]] Quadruple Half-H Driver
Robot has two motors. One motor is used for forward/backward moving using the rear wheels. The other motor is used for stearing of the front wheels to left or right.
Robot has two motors. One motor is used for forward/backward moving using the rear wheels. The other motor is used for stearing of the front wheels to left or right.
Added lines 1-6:
* robot: Ford F-150 (1:19) from NIKKO, 30.00 Euro
* BTnode rev2 from ETH Zurich
* Atmel development tools
After getting a toy we wanted to figure out how to connect its control board to a BTnode. Robot has two motors. One motor is used for forward/backward moving using the rear wheels. The other motor is used for stearing of the front wheels to left or right.
* BTnode rev2 from ETH Zurich
* Atmel development tools
After getting a toy we wanted to figure out how to connect its control board to a BTnode. Robot has two motors. One motor is used for forward/backward moving using the rear wheels. The other motor is used for stearing of the front wheels to left or right.