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Pololu Baby Orangutan B User's Guide
Pololu Baby Orangutan B User's
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Contacting Pololu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
3. Schematic Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
4. Module Pinout and Component Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
5. Included Header Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
6. Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7. AVR Pin Assignment Table Sorted by Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
8. AVR Pin Assignment Table Sorted by Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
9. Motor Driver Truth Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
http://www.pololu.com/docs/0J14
Guide
© 2001-2012 Pololu Corporation
Page 1 of 11
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Summary of Contents for Pololu Corporation Baby Orangutan B-48
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Page 1: Table Of Contents
Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation Pololu Baby Orangutan B User's Guide 1. Overview ............2 2. -
Page 2: Overview
Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 1. Overview Baby Orangutan B-48 B-168 , and [http://www.pololu.com/catalog/product/1215] [http://www.pololu.com/catalog/product/1216] B-328 robot controllers are complete control solutions for small robots. The small [http://www.pololu.com/catalog/product/1220] module includes a powerful Atmel ATmega48/168/328P microcontroller, two channels of bidirectional motor control, a user potentiometer, 18 user I/O lines (16 of which can be used as general-purpose digital I/Os and 8 of which can be used as analog input channels) that can be used to expand the system. -
Page 3: Contacting Pololu
Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 2. Contacting Pololu You can check the Baby Orangutan B-328 robot controller page for additional [http://www.pololu.com/catalog/product/1220] information, including pictures, example code, and application notes. We would be delighted to hear from you about any of your projects and about your experience with the Baby Orangutan Robot controller. -
Page 4: Schematic Diagram
Orangutan SV-328 schematic. This design means software can be written for one device that will work on the other, provided the Baby Orangutan is given matching hardware connections. Pololu Baby Orangutan B-48/B-168/B-328 schematic diagram. 3. Schematic Diagram... -
Page 5: Module Pinout And Component Identification
Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 4. Module Pinout and Component Identification The Baby Orangutan contains a programmable ATmega48, ATmega168, or ATmega328P AVR microcontroller, a TB6612FNG dual H-bridge for direct control of two DC motors, a 10k user trimmer potentiometer (connected to ADC7), a green power LED, a red user LED (connected to PD1), a 20 MHz resonator, and a reverse-battery-protection MOSFET, all containted in a tiny 1.2"... - Page 6 Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation Warning: Pins PB4 and PB5 are used as ISP programming pins in addition to digital user I/O lines. Be careful not to connect anything to these pins that might interfere with programming (e.g. large capacitance or an external device that could drive those lines during programming).
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Page 7: Included Header Pins
Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 5. Included Header Pins The Baby Orangutan ships with 0.1" header pins as shown in the left picture below: two 12×1 strips and one 3×2 ISP programming header. Both 12×1 strips can be soldered in to allow the module to be used as a DIP component on breadboards or prototyping boards, or a single 12×1 strip can be soldered in to allow the module to be used as a single... -
Page 8: Getting Started
Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 6. Getting Started The Baby Orangutan is powered via the VIN and GND pins, which are located at the top-right corner of the board. The device is protected by a MOSFET against accidental reverse-battery connection. The supply voltage should be 5 – 13.5 V, with an absolute maximum of 15 V, so a 5- to 9-cell NiCd or NiMH battery pack is a good choice. -
Page 9: Avr Pin Assignment Table Sorted By Function
Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 7. AVR Pin Assignment Table Sorted by Function Function PB0, PB1, PB2, PB4, PB5, digital I/Os (x16) PC0, PC1, PC2, PC3, PC4, PC5, PD0, PD1, PD2, PD4, PD7 analog inputs (x8) -
Page 10: Avr Pin Assignment Table Sorted By Pin
Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 8. AVR Pin Assignment Table Sorted by Pin Port Pin Orangutan Function Notes/Alternate Functions Timer1 input capture (ICP1) PB0 digital I/O divided system clock output (CLK0) PB1 digital I/O Timer1 PWM output A (OC1A) -
Page 11: Motor Driver Truth Table
Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 9. Motor Driver Truth Table input output motor effect PD5, PD3 PD6, PB3 M1A, M2A M1B, M2B brake “forward” “reverse” OFF (high-impedance) coast Motor 1 is controlled by pins PD5 and PD6, and motor 2 is controlled by PD3 and PB3. These pins are connected to the ATmega48/168’s four eight-bit hardware PWM outputs, which allows you to achieve variable motor speeds through...
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