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Page 12 · SumoBot – Mini Sumo Robotics
Figure 2.1: Milliseconds and Microseconds Details
A voltage level is measured in volts, which is abbreviated with an upper case V. The
SumoBot PCB has sockets labeled Vss, Vdd, and Vin. Vss is called the system ground or
reference voltage. When the battery pack is plugged in, Vss is connected to its negative
terminal. Vin is unregulated 6 volts (from four AA batteries) and it is connected to the
positive terminal of the battery pack. Vdd is regulated to 5 volts by the SumoBot PCB's
onboard voltage regulator, and it will be used with Vss to supply power to circuits built
on the SumoBot PCB's breadboard.
Figure 2.2: SumoBot PCB Voltage Labels
Only use the Vdd sockets above the SumoBot PCB's breadboard for the
activities in this workbook. Do not use the Vdd on the 20-pin App-Mod
header.
The control signal the BASIC Stamp sends to the servo's control line is called a "pulse
train," and an example of one is shown in Figure 2.3. The BASIC Stamp can be
1
=
=
1
ms
s
1
1000
1
µ
=
1
s
s
1,000,000
Vss = 0V (ground)
Vdd = 5V (regulated)
Vin = 6V (unregulated)
×
3 -
10
s
=
×
6 -
1
10
s
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