1. Manuals
  2. Brands
  3. Pololu Manuals
  4. Controller
  5. Orangutan SVP-324
  6. User manual

Pololu Orangutan SVP-324 User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Pololu Orangutan SVP User's Guide
Pololu Orangutan SVP User's
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Contacting Pololu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3. Schematic Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4. Module Pinout and Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5. Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5.b. Using the Demo Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.c. Programming your Orangutan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.d. Assembling the kit version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6. AVR Pin Assignment Table Sorted by Function . . . . . . . . . . . . . . . . . . . . . . . . . 27
7. AVR Pin Assignment Table Sorted by Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
8. Using the USB Communication Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
10. Motor Driver Truth Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
11. USB Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
13. Related Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
https://www.pololu.com/docs/0J39/all
Guide
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
© 2001-2019 Pololu Corporation
Page 1 of 43

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Orangutan SVP-324 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Pololu Orangutan SVP-324

Summary of Contents for Pololu Orangutan SVP-324

  • Page 1: Table Of Contents

    2. Contacting Pololu ........

  • Page 2: Overview

    Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation 1. Overview Orangutan robot controller is a complete [https://www.pololu.com/product/1325] control solution for small and medium-sized robots running at 6 – 13.5 V. The module is designed around powerful Atmel ATmega324PA AVR microcontroller (32 KB...
  • Page 3 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation Specifications & On-Board Hardware • Overall unit dimensions: 3.70" × 2.20" • Input voltage: 6 – 13.5 V • Programmable 20 MHz Atmel ATmega324PA AVR microcontroller with 32 KB flash, 2 KB SRAM, and 1 KB EEPROM (SVP-324 version) •...

  • Page 4: Supported Operating Systems

    Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation ◦ Ability to read two quadrature encoders Orangutan SVP kit. Orangutan SVP fully assembled. For a Spanish version of this document, please see Orangutan SVP Guia de Usuario (2MB pdf) (provided by [https://www.pololu.com/file/0J328/OrangutanSVPGuiaDeUsuario.pdf]...
  • Page 5 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation Mac OS X compatibility: we have confirmed that the Orangutan SVP’s USB connection works on Mac OS X 10.7 (Lion) and we can assist with advanced technical issues, but most of our tech support staff does not use Macs, so basic support for Mac OS X is limited.

  • Page 6: Contacting Pololu

    Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation 2. Contacting Pololu You can check the Orangutan SVP-324 robot controller page [https://www.pololu.com/product/1325] Orangutan SVP-1284 robot controller page for additional [https://www.pololu.com/product/1327] information, including pictures, example code, and application notes. You can also find libraries for...

  • Page 7: Schematic Diagrams

    Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation 3. Schematic Diagrams Schematic diagrams of the Orangutan SVP are available here: Orangutan SVP schematic diagram (99k pdf) [https://www.pololu.com/file/0J265/org06a02_schematic.pdf] 3. Schematic Diagrams Page 7 of 43...

  • Page 8: Module Pinout And Components

    Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation 4. Module Pinout and Components The Orangutan SVP contains a programmable AVR ATmega324PA or ATmega1284P microcontroller connected to two motor drivers for direct control of two DC motors, a 16×2 character LCD, a buzzer, three user pushbuttons, two user LEDs, and a demultiplexer for servo control.
  • Page 9 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation (82k pdf). Most of the connection points are also indicated on the orangutan_svp_reference_diagram.pdf] silkscreen on the back side of the PCB, as shown below. The overall unit dimensions are 3.7" × 2.2", and four 0.086"...
  • Page 10 You can control the motors using the functions in the OrangutanMotors [https://www.pololu.com/ section of the Pololu AVR C/C++ Library. docs/0J18/7] For each motor, the Orangutan SVP has a current-sensing circuit that produces an output voltage proportional to the current the motors are using (850 mV/A). The respective outputs of these circuits are labeled CS1 and CS2, and they are accessible near the center of the board.
  • Page 11 LED. You can print to the LCD using the functions in the OrangutanLCD section of the Pololu AVR C/C++ Library. [https://www.pololu.com/docs/0J18/5] The LCD’s backlight can be turned off by driving the BACKLIGHT line low. Adjustable dimming of the LCD can be achieved by connecting the line to a free PWM output.
  • Page 12 I/O line. The TX line is the serial transmit line. It transmits TTL-level serial bytes received from the computer on the “Pololu Orangutan SVP TTL Serial Port”. The lines A, B, C, and D/RX can be configured to do different things. They can function as three analog inputs plus a serial receive line, as four analog inputs, or as the inputs for two quadrature encoders.
  • Page 13 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation bank of servos, you can configure which power supply is connected to the power pins, using the provided headers and jumpers. You can power the servos from VCC, VADJ (see below), or a separate power supply.
  • Page 14 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation Orangutan SVP LEDs. The Orangutan SVP comes with 9 LEDs: • A blue power LED is located next to the power button. • There are four motor indicator LEDs located near the motor outputs. A...
  • Page 15 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation green LED is off. When you connect the device to a computer via USB, the green LED will start blinking slowly. The blinking continues until it receives a particular message from the computer indicating that the drivers are installed correctly.

  • Page 16: Getting Started

    (~6MB exe). This includes the drivers for the Orangutan SVP, along avr-development-bundle] with the Pololu AVR C/C++ Library and the drivers for the Pololu USB AVR Programmer. If you are not sure which of these components you need, it is OK to install all of them.
  • Page 17 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation 3. Connect the device to your computer’s USB port. The Orangutan SVP shows up as three devices in one so your XP computer will detect all three of those new devices and display the “Found New Hardware Wizard”...
  • Page 18 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation 6. Windows XP will warn you again that the driver has not been tested by Microsoft and recommend that you stop the installation. Click “Continue Anyway”. 7. When you have finished the “Found New Hardware Wizard”, click “Finish”. After that, another wizard will pop up.
  • Page 19 Service Pack 3, so we recommend Service Pack 3 over the hotfix. After installing the drivers, if you go to your computer’s Device Manager and expand the “Ports (COM & LPT)” list, you should see three COM ports: Pololu Orangutan SVP Programmer (Section 5.c),...
  • Page 20 Windows XP device manager showing the Pololu Orangutan SVP. Windows 8 device manager showing the Pololu Orangutan SVP. The COM ports in the Device Manager might actually be named “USB Serial Device” instead of having a descriptive name as shown in the screenshots above. This can happen if you are using Windows 10 or later and you plugged the Orangutan SVP into your computer before installing our drivers for it.

  • Page 21: Using The Demo Program

    SVP (or bought the assembled version), you will also hear a beep. If you have connected an LCD, you will see the words “Pololu Orangutan SVP”, then “Demo Program” appear, indicating that you are running the demo program. If you see the blinking red LED but do not see any text on the LCD, you may need to adjust the contrast potentiometer in the lower left corner of the board.

  • Page 22: Programming Your Orangutan

    The stopwatch continues to count while you are exploring the other demos. 9. USB: Demonstrates the USB connection between the Orangutan SVP and a computer. Plug the Orangutan SVP in to USB. Any bytes you send on the Pololu Orangutan SVP USB Communications Port...
  • Page 23 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation Hardware included with the Orangutan SVP partial kit. • Six 3×4 male header blocks • Six 3×4 female header blocks [https://www.pololu.com/product/1034] • One 3×7 male header block • One 3×7 female header block •...
  • Page 24 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation Orangutan SVP kit PCB showing possible locations for included buzzer, pushbuttons, headers, and terminal blocks. 1. Power button To turn on your the AVR, you need to connect a power button (or a jumper at location 11). The Orangutan SVP PCB has two parallel sets of holes for the power button.
  • Page 25 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation 5. Backlight and AREF header If you want to be able to turn your LCD’s backlight off or use an external voltage reference source, you may want to solder a 1×2 header on to this location.
  • Page 26 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation 13. Current sense outputs If you want access to the analog voltage output of the current-sensing circuitry for each of the motor drivers, you can solder a 1×2 female header here.

  • Page 27: Avr Pin Assignment Table Sorted By Function

    *: Using PB4/SS as an input will interfere with communication to the auxiliary processor, so we recommend using it as a digital output. See Section 3.j of the Pololu USB AVR C/C++ User’s Guide for more information. **: PD5 is a free digital I/O unless you want to use the built-in servo pulse hardware.

  • Page 28: Avr Pin Assignment Table Sorted By Pin

    Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation 7. AVR Pin Assignment Table Sorted by Pin Port A Pins Orangutan Function Notes/Alternate Functions analog input and digital I/O ADC input channel 0 (ADC0) analog input and digital I/O ADC input channel 1 (ADC1)
  • Page 29 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation Port C Pins Orangutan Function Notes/Alternate Functions digital I/O I2C/TWI clock line (SCL) digital I/O I2C/TWI input/output data line (SDA) LCD data line DB4 user pushbutton (pressing pulls low) LCD data line DB5...
  • Page 30 *: Using PB4/SS as an input will interfere with communication to the auxiliary processor, so we recommend using it as a digital output. See Section 3.j of the Pololu USB AVR C/C++ User’s Guide for more information. 7. AVR Pin Assignment Table Sorted by Pin...

  • Page 31: Using The Usb Communication Port

    On the PC side, the Orangutan SVP’s USB drivers make the USB Communication port look like a standard serial port to the operating system, allowing you to use existing terminal programs and software designed to use serial ports. On the AVR side, the Pololu AVR C/C++ Library provides serial communication functions for using the port.
  • Page 32 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation Windows 8 device manager showing the Pololu Orangutan SVP. To determine the port name in Linux, type . The port name will be one of the devices ls /dev/ttyACM* listed there. If there are only three ports, then the USB Communication Port will be /dev/ttyACM1 (the programmer will be /dev/ttyACM0 and the TTL serial port will be /dev/ttyACM2).
  • Page 33 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation PuTTY is a free Windows terminal program that can send and receive bytes on a serial port. If you need to send and receive non-ASCII bytes, you can use the Pololu Serial Transmitter Utility for Windows [https://www.pololu.com/docs/0J23]...
  • Page 34 Communication on the AVR side Writing programs for the USB Communications port on the AVR side is supported by two different sections of the Pololu AVR C/C++ Library. The SVP-specific functions section of the library provides the rts_enabled() and dtr_enabled() functions which return the states of those control lines.

  • Page 35: Using The Ttl Serial Port

    To determine the port name in Microsoft Windows, open the Device Manager, expand the “Ports (COM & LPT)” list, and look for the Pololu Orangutan SVP TTL Serial Port entry. The port name will be at the end of this line in parentheses (e.g. “COM4”). In Windows, a given device will always be...
  • Page 36 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation Orangutan SVP to see which three ports are created; the third port is the TTL Serial Port. In Linux, the port name depends on how many other devices are using the USB CDC ACM driver to create virtual serial ports at the time the Orangutan SVP is plugged in.
  • Page 37 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation // Choose the port name and baud rate. Port name must be determined from the Device Manager. System.IO.Ports.SerialPort port = System.IO.Ports.SerialPort("COM4", 115200); // Connect to the port. port.Open(); // Transmit two bytes: 0x61, 0x62 port.Write(new...

  • Page 38: Motor Driver Truth Table

    CPU to perform other tasks while motor speed is automatically maintained by the AVR timer hardware. You can control the Orangutan SVP’s motors using the functions in the OrangutanMotors section of the Pololu AVR C/C++ Library, or you can write your own [https://www.pololu.com/docs/0J18/7] code. 10. Motor Driver Truth Table...

  • Page 39: Usb Power

    Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation 11. USB Power When connected to a computer, the USB connection provides a 5 V power supply. If an external power supply is present, the unit will run off of the external supply and not draw any power from USB. If only the USB power is present, then by default the auxiliary processor will be powered from USB, but the AVR and the VCC power pins on the board will not be powered.

  • Page 40: Upgrading Firmware

    1. Connect the Orangutan SVP to your computer via USB. 2. Open up the Device Manager. 3. Double click on the “Pololu Orangutan SVP Programmer” entry in the “Ports (COM & LPT)” list. 4. In the Details tab, select the “Hardware Ids” property in the dropdown box.
  • Page 41 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation Upgrading firmware To upgrade the auxiliary processor’s firmware, follow these steps: 1. Download the latest version of the firmware here: ◦ Firmware version 1.03 for the Orangutan SVP [https://www.pololu.com/file/0J540/ (27k pgm) — released March 14th, 2012.
  • Page 42 Pololu Orangutan SVP User’s Guide © 2001–2019 Pololu Corporation (COM & LPT)” list of your computer’s Device Manager in Windows. 7. Use a terminal program (such as Br@y Terminal ) to [http://sites.google.com/site/terminalbpp/] connect to the bootloader’s virtual serial port. In Windows, you can determine the port name of the bootloader (e.g.

  • Page 43: Related Resources

    • ATmega1284P documentation : ATmega1284P [http://www.atmel.com/devices/atmega1284p.aspx] datasheet and additional documentation • Pololu AVR Programming Quick Start Guide : tutorials on [https://www.pololu.com/docs/0J51] how to get started programming in Windows, Linux, and Mac OS X. • Pololu AVR Library Command Reference : detailed [https://www.pololu.com/docs/0J18]...

This manual is also suitable for:

Orangutan svp-1284

Table of Contents