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NEX ROBOTICS Fire Bird V ATMEGA2560 HEXAPOD User Manual

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Fire Bird V ATMEGA2560 Hexapod Robot User Guide
© NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA
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Summary of Contents for NEX ROBOTICS Fire Bird V ATMEGA2560 HEXAPOD

  • Page 1 Fire Bird V ATMEGA2560 Hexapod Robot User Guide © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 2 Fire Bird V ATMEGA2560 Hexapod Robot User Guide FIRE BIRD V HEXAPOD ROBOT USER GUIDE © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 3 Version 2.00 December 3, 2010 Documentation author Sachitanand Malewar, NEX Robotics Pvt. Ltd. Anant Malewar, NEX Robotics Pvt. Ltd. and M. Tech, IIT Bombay Credits (Alphabetically) Aditya Sharma, NEX Robotics Amey Apte, NEX Robotics Anant Malewar, EE, M.Tech, IIT Bombay Ashish Gudhe, CSE, M.Tech, IIT Bombay...
  • Page 4 Almost all of the robot parts are recyclable. Please send the robot parts to the recycling plant after its operational life. By recycling we can contribute to cleaner and healthier environment for the future generations. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 5 3. Crystal of the ATMEGA2560 microcontroller is upgraded to 14.7456MHz from 11.0592Mhz in all the Fire Bird V ATMEGA2560 robots delivered on or after 1 December 2010. This documentation is made considering crystal frequency as 14.7456MHz. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 6 Fire Bird V ATMEGA2560 Hexapod Robot User Guide Index Introduction Fire Bird V ATMEGA2560 Hexapod Robot Using Fire Bird V ATMEGA2560 Hexapod Robot Hardware description Microcontroller Pin Functionality Application Example Codes © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 7: Safety Precautions

    • All other forms of inappropriate operation. • Using robot in areas prone to static electricity. • Read carefully paragraphs marked with caution symbol. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 8 If robot is used even when battery low indicator buzzer is on, it will cause the battery to deep discharge. In this case, the battery charger will not charge batteries for safety reasons © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 9 (ARM7) microcontroller adaptor boards. This modularity in changing the microcontroller adaptor boards makes Fire Bird V robots very versatile. User can also add his own custom designed microcontroller adaptor board. Figure 2.1: Fire Bird V Hexapod Robot © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 10 PC as Master and Robot as Slave in wired or wireless mode Communication: Wireless ZigBee Communication (2.4GHZ) (if ZigBee wireless module is installed) USB Communication Wired RS232 (serial) communication Simplex infrared communication (From infrared remote to robot) © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 11 BLIC-03 Battery Life: 20 minutes while motors are operational at 75% of time Locomotion: Eighteen high torque, metal gear Servo motors (NRS-995) driving six legs (3 motors / leg) © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 12 3. Using Fire Bird V ATMEGA2560 Hexapod Robot 3.1 Powering up the robot Fire Bird V ATMEGA2560 Hexapod has onboard rechargeable 7.4V, 1800mAh Lithium Polymer battery (NR-BLiPo-2-1800), it can power robot for approximately 20 minutes. The Robot has power board for managing the power requirement for the robot. The power switch shown in figure 3.1 on the main board controls, power to the Firebird V’s main board and...

  • Page 13: Battery Charging

    Figure 3.2: supply connection on the Hexapod 3.2 Battery Charging Fire Bird V ATMEGA2560 Hexapod robot requires higher current than standard configuration robot. In order to fulfill this additional current requirement while keeping weight low, 7.4V, 1800mAh lithium polymer battery (Product code: NR-BLiPo-2-1800) is used. It can supply discharge current up to 36 Amps.
  • Page 14 Fire Bird V ATMEGA2560 Hexapod robot comes with its own NR-BLIC-03 balance charger form the NEX Robotics. To charge the battery, remove it from the robot and charge it in the open space. Figure 3.4. shows the battery charging process. NR-BLIC-03 balance charger monitors individual cell voltages of the battery pack and it adjusts the rate of charge to the individual battery to do balance charging.
  • Page 15 Robotics.pdf” which is located in the “Manuals and Application notes” folder in the documentation CD. Two cell and three cell battery packs from the NEX Robotics has different types of connectors. These batteries will go only in the correct type of connector of the Battery Charger.

  • Page 16: Using Remote Control

    NiMH batteries. If battery voltage falls below critical value it will start giving beeping sound. To control the robot using remote control, first load “Hexapod_remote_control.hex” on the robot. It is located in the “Experiments / Fire Bird V ATMEGA2560 Hexapod folder in the documentation CD.
  • Page 17 1. Hexapod_locomotion This demo code runs robot in Forward, Back, Left and Right direction. 2. Hexapod_remote_control Use this demo code to control robot and its camera pod (if installed). © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 18: Hardware Description

    Fire Bird V ATMEGA2560 Hexapod Robot User Guide 4. Hardware Description This chapter contains the hardware description of the Fire Bird V ATMEGA2560 hexapod robot. Fire Bird V hexapod robot platform has 4 boards: 1. Power board 2. Main board for the Fire Bird V 3.

  • Page 19: Current Sensor

    IR Proximity sensor 2 from the ADC5. This can be done by removing 2 jumper from the left of the J2 on the microcontroller adaptor board. For location of the J2 refer to figure 3.58 in the Hardware Manual. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 20 Connect tilt servo to the S1 socket and pan servo to the S2 socket. Servo connections are shown in the figure 4.3. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 21 Figure 4.4: ZigBee wireless module and LED indicators Connection to XBee Wireless Description module Pin no. On/Sleep Module Status Associate LED Reserved RX Signal Strength Indicator Table 4.1: ZigBee LED Description © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 22 Ground XTAL2 Crystal 14.7456 MHz XTAL1 GPIO (Available on expansion slot of the microcontroller ICP4/PL0 (unused) socket) ICP5/PL1 Left side spare servo TS/PL2 Servo 1B Output OC5A/PL3 OC5B/PL4 OC5C/PL5 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 23 PA6 C2-1 PA5 C1-2 PA4 C1-1 Right side spare servo Ground PK7/ADC15/PCINT23 ADC Input For Servo Pod 2 Input (unused) PK6/ADC14/PCINT22 ADC Input For Servo Pod 1 Input (unused) © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 24 ******** External interrupt from the position encoder C1 is disabled by removing pin 2 of the CD40106 Schmitt trigger inverter buffer to avoid its wire ANDing with the interrupt switch. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 25 SPI interface to ATMEGA8. J4 needs to be disconnected before doing ISP. To communicate with ATMEGA8 jumper J4 needs to be in place. Refer to section 4.6 for more details in the ATMEGA2560 Hardware manual. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 26: Servo Control

    24 servos at the same time. Only disadvantage is that this algorithm generates about 1600 interrupts per second. In the Fire Bird V clock is running at 14.7456MHz. ATMEGA2560 process almost all the instruction in single clock cycle. This © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 27 Once all the legs are moved, robot pushes itself in the desired direction by calling the function “walk_stroke()”. Same motion can be achieved as shown in the video “Hexapod 1” in the video folder which is located in the documentation CD. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 28: Remote Control

    80 to 4 in the, if statement “if (serial_communication_interval > 80)”. The remote replies the current joysticks, accelerometer, and switch position data in the packet form. data packet received UART0 function “SIGNAL © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 29 (AP). You need to charge the battery before first use. Refer to section 3.2 for battery charging. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

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