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NEX ROBOTICS FIRE BIRD V LPC2148 ARM7 Hardware Manual

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Fire Bird V LPC2148 Hardware Manual
© NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA
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Summary of Contents for NEX ROBOTICS FIRE BIRD V LPC2148 ARM7

  • Page 1 Fire Bird V LPC2148 Hardware Manual © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 2 Fire Bird V LPC2148 Hardware Manual FIRE BIRD V HARDWARE MANUAL © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 3 Prakhar Goyal, CSE, M.Tech, IIT Bombay Raviraj Bhatane, RA, CSE, IIT Bombay Rajanikant Sawant, NEX Robotics Saurabh Bengali, RA, CSE, IIT Bombay Vaibhav Daghe, RA, CSE, IIT Bombay Vibhooti Verma, CSE, M.Tech, IIT Bombay © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • 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 5. Pin Functionality 6. PC Based Control Using Serial Communication 7. Robot Control using ‘GUI’ for Fire Bird V ARM7 LPC2148 8. Hardware Description 9. Assembling the Robot and its Accessories © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 6: 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 7 LPC2148 (ARM7) and P89V51RD2 (8051) microcontroller adaptor boards. This feature makes Fire Bird V robots very versatile. User can also add his own custom designed microcontroller adaptor board. Figure 2.1: Fire Bird V Robots © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 8 Fire Bird V LPC2148 Hardware Manual Figure 2.2: ATMEGA2560 (AVR), LPC2148 (ARM7) and P89V51RD2 (8051) microcontroller adaptor board © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 9 Fire Bird V LPC2148 Hardware Manual Figure 2.3 Fire Bird V ARM7 LPC2148 2.1 Fire Bird V Block Diagram: Figure 2.4: Fire Bird V ARM7 LPC2148 robot block diagram © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 10 Two DC geared motors in differential drive configuration and caster wheel at front as support • Top Speed: 24 cm / second • Wheel Diameter: 51mm • Position encoder: 30 pulses per revolution • Position encoder resolution: 5.44 mm © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 11 Refer to section 3.3 for battery charging. For running the robot on battery power or auxiliary power, refer to the section 3.4 and 3.5. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 12 1. Battery voltage monitoring 2. Battery current sensing* 3. Battery low warning in case battery voltage is below critical level 4. Regulated supply for onboard payload. *Current sensing is an optional accessory. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 13: Battery Charging

    4.5 hours. Battery has built-in thermistor for monitoring battery temperature during battery charging. Figure 3.5: Smart NiMH battery charger for Fire Bird V © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 14 Press “Start push button” to start charging Fault Charge termination due to over current Fault Charge termination due to timeout Alternate blinking Fully charged Battery is fully charged Table 3.1 Battery charging indicator LED status © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 15 Battery Power mode (“BP” or forward direction) or in auxiliary power mode (“AP” or backward direction). Robot will not turn off. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 16: Motion Control

    2 DC motors. *Fire Bird V has onboard two L293D ICs to drive four DC motors. Each channel of the motor driver IC can provide current up to 600mA to drive motor. *Refer Comparison chart for LPC2148 compatibility. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 17 90% of time period. This wave has more average value. Hence more power is delivered to the motor. In case (B), the motor will run slower as the ON time is just 10% of time period. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 18 SOFT LEFT 2 (Left As per velocity wheel backward, Right requirement wheel stop) As per velocity HARD STOP requirement SOFT STOP (Free running stop) Table 3.3: Logic table for motor direction control © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 19: Position Encoders

    When encoder disc rotates it cuts IR illumination alternately because of which photo transistor gives square pulse train as output. Output from the position encoder is cleaned using Schmitt trigger based inverter (not gate) IC CD40106. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 20 (encoder resolution is in degrees) Distance between Wheels = 15cm Radius of Circle formed in 360 rotation of Robot = Distance between Wheels / 2 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 21 = Number of slots on the encoder disc / Number of wheel rotations of in 360 rotation of robot = 30 x 5.882 = 176.46 (approximately 176) Position Encoder Resolution in Degrees = 360 /176 = 2.045 degrees per count © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 22 0 to some distance depending on the type of sensor. It is known as blind spot distance. In this range sensor gives incorrect readings. Table 3.4 gives information about sensing range and the blind spot distance for each sensor. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 23 Fire Bird V LPC2148 Hardware Manual Figure 3.14: Sharp Sensors mounted on Fire Bird V Figure 3.15: Infrared Range finder sensor and its inside view Figure 3.16: Distance measurement based on angel of reflection © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 24 To prevent this interference from occurring Fire Bird V can switch all of its active sensors on and off. This means that many Fire Bird series robots can work in same field without causing © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 25 Sharp IR Range sensors have blind spot. IR proximity sensors working together with Sharp IR range sensors covers range from 0 to maximum range of the Sharp IR sensor without having any blind spot. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 26 LED for illumination. Due to the directional nature of the phototransistor it does not get affected with ambient light unless it is very bright. Figure 3.21: White line sensor Figure 3.22: White Line sensor © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 27 You can also turn on and turn off IR LEDs and take sensor readings at the same place and nullify the effect of the ambient light. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 28 Figure 3.24: Potentiometers for white line sensor calibration 3.11 LCD Interfacing Figure 3.25: LCD socket and other settings Figure 3.26: LCD socket pin connection Figure 3.27 LCD interfacing with the microcontroller © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 29 1, the LCD is in internal operation mode, and the next instruction will not be accepted. When RS = 0 and R/W = 1, the Busy flag is output on DB7. The next instruction must be written after ensuring that the busy flag is 0. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 30 Robot has 3 KHz piezo buzzer. It can be used for debugging purpose or as attention seeker for a particular event. The buzzer is connected to P0.25 pin. Figure 3.29: Buzzer © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 31 Please read the instructions on the welcome window and click Next>> to start the installation. Figure 4.1 Please read the license agreement carefully. If it is acceptable click the check box and click Next>> to continue. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 32 Select the destination folder where setup will install files. It is always recommended to select the default location. To create backup of old installation select the backup option and click Next>> to continue. Figure 4.3 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 33 In the next window enter your information and click Next>> to continue. Figure 4.4 On clicking next the file copying process will begin. Wait till setup is complete. Figure 4.5 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 34 To install Flash Magic, Go to “Software” folder in the documentation CD and locate “FlashMagic.exe” file. Click on “FlashMagic.exe” to start the installation process. Once the installation process is started Flash Magic welcome screen will appear. Figure 4.7 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 35 Please read the license agreement carefully. If it is acceptable click the radio button and click Next>> to continue. Figure 4.8 Select the destination folder and click Next> to continue. Figure 4.9 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 36 Fire Bird V LPC2148 Hardware Manual In the next window choose the appropriate folder and click Next> to continue. Figure 4.10 Select the desired option and click Next> to continue. Figure 4.11 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 37 Fire Bird V LPC2148 Hardware Manual Setup is now ready to begin installing flash magic. Click Install to continue. Figure 4.12 Wait till setup installs Flash Magic on your computer. Figure 4.13 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 38 Fire Bird V LPC2148 Hardware Manual Click Finish to complete the installation process Figure 4.14 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 39 Editor - It is the area where .c and .h files of the project are edited. Project Explorer- It shows the project tree. Output Window- This window shows the messages related to compiling, project building and debugging. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 40 1. To create a new project, Select Project>New uVision Project from the main menu. Figure 4.16 2. Create a new directory and name it as First_Project. Click open to enter in to this directory. Figure 4.17 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 41 3. Inside this directory create a new project and name it as First_Project and click Save to continue. Figure 4.18 4. In the next window locate NXP (founded by Philips) tree and expand it. Figure 4.19 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 42 6. Click Yes to copy Startup.s file to project folder. This file configures stack, PLL and maps memory as per the configurations in the wizard. It is discussed in the later sections. Figure4.21 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 43 Fire Bird V LPC2148 Hardware Manual 7. Observe the project explorer area in the main window. Figure 4.22 8. Now click Project>Manage>Components, Environments, Books from the main menu to ensure compiler settings. Figure 4.23 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 44 If you have installed keil software at a different location then change Tool Base Folder location. Click OK to continue. Figure 4.24 10. Now click File>New to create a new file. Figure 4.25 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 45 12. Now add “main.c” to the source group by right clicking on the Source Group 1 from the project explorer and select the highlighted option as shown in the Figure below. Figure 4.27 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 46 13. Select “main.c” file to be added and click ADD to continue. Figure 4.28 14. Observe that “main.c” file is added to the source group in the project explorer window. Figure 4.29 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 47 15. Right click Target1 in the project explorer window and select the highlighted option as shown in the Figure below. Figure 4.30 16. In the appearing window select Target tab and set Xtal. frequency as 12MHz. Figure 4.31 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 48 17. In the Output tab ensure that Create HEX File option is selected. Figure 4.32 18. In the Linker tab ensure that the highlighted option is selected and click OK to continue. Figure 4.33 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 49 ************************************************************/ void Buzzer_Delay(void) unsigned int i,j; for(j=0;j<20;j++) for(i=0; i<60000; i++); /************************************************************ Function : Init_Buzzer_Pin Return type : None Parameters : None Description : Initialises Buzzer pin ************************************************************/ © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 50 We are now going to compile this code to generate the hex file which we will load on the Robot’s microcontroller. To build the project click on Rebuild button on the main toolbar. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 51 Fire Bird V LPC2148 Hardware Manual Figure 4.34 You can alternatively build project by clicking on Project>Build Target from the main menu. Figure 4.35 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 52: Code Walkthrough

    Init_Peripherals() convention. In the above code buzzer is turned on by calling macro BUZZER_ON() introduces delay of approximately 1 second. Buzzer_Delay(1000) Buzzer is turned off by calling macro BUZZER_OFF() © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 53 1. Right click Target 1 and select the highlighted option as shown in the figure below. Figure 4.37 2. In the debug tab make sure that the highlighted settings are done. Click OK to continue. Figure 4.38 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 54 Alternatively you can press Ctrl+F5 to toggle between starting and stopping of debug session. Figure 4.39 4. Click OK to continue. Figure 4.40 5. Go to Peripherals>System Control Block>Phase Locked Loop 0 to observe the PLL settings on the microcontroller. Figure 4.41 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 55 It also ensures that PLL settings that we had done in the configuration wizard of the startup code are properly working. Figure 4.42 7. Now click Peripherals>Pin Connect Block to include pin connect block, Figure 4.43 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 56 Fire Bird V LPC2148 Hardware Manual 8. Similarly select Port 1 window. Figure 4.44 9. Arrange the windows as shown in figure below. Figure 4.45 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 57 11. When you encounter the delay function you can simply use Step Out function. It will execute the delay function and take execution to the next line immediately after the delay function. Figure 4.47 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 58 Figure 4.48 13. Observe that CCLK is also reset and now it is equal to XTAL frequency. Similarly the GPIO and pin connect block vales are also reset. Figure 4.49 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 59 14. Now let us setup a break point at line no. 146 i.e. at the beginning of the main function. It will halt the execution when the debugger encounters this line. Figure 4.50 15. Now click Run to start the execution. Figure 4.51 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 60 The microcontroller can be entered into the boot loader mode by pressing the Boot switch and then pressing Reset switch. This process is explained in detail in later sections. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 61 1. Click Start>Programs>Flash Magic>Flash Magic to start Flash Magic utility. 2. Click Select Device to select LPC2148 microcontroller. Figure 4.53 3. Expand the ARM7 tree and select LPC2148 from the displayed list of microcontrollers. Figure 4.54 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 62 Figure 4.55 5. To select the hex file click Browse and point to the folder that was created earlier and select the hex file. Figure 4.56 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 63 7. Press the Boot switch and while keeping it pressed, press Reset switch once. This will make LPC2148 enter into the boot loader mode Figure 4.57 8. After ensuring the hardware setup in step 7 click start to begin programming the hex file. Figure 4.58 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 64 To open this window goto Projects-> Options for Target ‘Target1’ from the menu bar. Figure 4.60 1. In the Project explorer double click on “startup.s” file. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 65 Fire Bird V LPC2148 Hardware Manual Figure 4.61 2. The startup.s file will open up as assembly file. To open the wizard click Configuration Wizard as shown in figure below. Figure 4.62 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 66 To change any setting just click on it and make use of the up/down arrows. Figure 4.64 4. Now expand VPBDIV Setup tree and observe its settings. It is used to prescale the peripheral clock (PCLK). © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 67 ¼ of CPU clock or ½ of CPU clock or equal to CPU clock. For other settings please refer LPC2148 microcontroller user manual. After you have done using configuration wizard rebuild the project. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 68: Pin Functionality

    ADC input for Sharp IR range sensor 4 or IR proximity ***** sensor 4 via 0E jumper P0.6/MOSI0/CAP0.2/AD1.0 ADC input for Sharp IR range sensor 3 P0.7/SSEL0/PWM2/EINT2 PWM for left motor. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 69 GPIO/JTAG Pin(Available on expansion slot of the microcontroller socket) XTAL2 Crystal 12.0 MHz XTAL1 VREF ADC Reference Voltage(3.3V) P1.27/TDO GPIO/JTAG Pin(Available on expansion slot of the microcontroller socket) Table 5.1: LPC2148 microcontroller pin connections © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 70 8.7.11 to know more about IR Proximity Sensors. ****** In application mode switch connected to this pin can be used to interrupt microcontroller. Otherwise it is used as entry mechanism for boot loader. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 71: Communication Protocol

    You can also use NEX Robotics USB to Serial converter to control robot over USB or use NEX Robotics ZigBee wireless communication modules to control robot over wireless data link. GUI based robot control is covered in Chapter 7.
  • Page 72 Right wheel requirement backward) SOFT LEFT 2 (Left As per velocity wheel backward, Right requirement wheel stop) As per velocity HARD STOP requirement SOFT STOP (Free running stop) Table 6.2 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 73 The Robot will return 8 bit value which indicates distance between the obstacle and Sharp sensor. IR Proximity sensor 2 The Robot will return an 8 bit analog value of the IR Proximity sensor 2 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 74 In all cases 9600 bps baud rate is used. Robot control covered in the section 6.2, 6.3 and 6.5 uses communication protocol mentioned in this section. Keys are mapped in the intuitive way on the Numerical pad of the keyboard. Serial port: Serial_Comm.hex XBee wireless module: Serial_Comm_Xbee.hex © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 75 “Serial_Comm.hex” file which is located in the “Experiments” folder in the documentation CD on the robot. For loading hex file onto the robot refer to chapter 4. Figure 6.1 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 76 If you are using serial port then select COM1. If you are using NEX Robotics USB to serial converter or Wireless ZigBee module then refer to section 6.3 and 6.4 for how to identify COM port. Set the baud rate at 9600 bps Figure 6.3...
  • Page 77 For controlling robot motion and buzzer use “Numerical Pad” Use commands from the table 6.7 to control the robot. Make sure that “Num lock” is on for the numeric keypad. Figure 6.5 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 78 The software is located in the “Software and Drivers \ CDM 2.06.00 WHQL Certified” folder provided in the Fire Bird V CD or can also be downloaded from the NEX Robotics’ website. After installation is complete follow the step 1 to 4 of the section 6.2 to control the robot using keyboard by using the “Terminal”...
  • Page 79 Figure 6.7 Step 4: Check on the radio button “No, not this time” and then click on the next button. Figure 6.8 The following window will appear. Figure 6.9 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 80 Now check the second option and set the location of folder containing drivers E.g.(C:\CDM 2.06.00 WHQL Certified). Figure 6.10 Step 6: On clicking next driver installation will begin. Figure 6.11 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 81 USB to serial converter or wireless device is connected. Follow these steps to identify your COM Port number. Step 1: Right Click My Computer and click on properties. System properties window will appear. Figure 6.13 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 82 Click on the Device manager in the Hardware tab. Figure 6.14 Step 3: Expand Ports (Com & LPT) tree. COM Port number is mentioned in the parenthesis next to USB Serial Port. Figure 6.15 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 83 “USB serial Port” and select properties. Figure 6.16 In the Port settings tab click on the Advanced… button, the following window will appear. Figure 6.17 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 84 To control robot via wireless communication, load “GUI_Control_Xbee.hex” on the robot which is located in the “GUI and Related Firmware” folder. USB Wireless Module from the NEX Robotics enables wireless transmission of serial data through PC’s USB port. It uses Xbee module for wireless communication. The Xbee module can be configured via PC’s USB port easily using X-CTU utility to change frequency, baud rate etc.
  • Page 85 Note: Wait for at least 5 seconds to start the wireless communication after turning on the robot and the USB wireless module. Figure 6.19: ZigBee module on the main board © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 86 Step 2: Connect serial / USB to serial converter cable between robot and PC or install ZigBee wireless module on the robot and connect wireless ZigBee USB module to the PC. Step 3: Install GUI software © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 87 Step 2: Click Accept to install .net framework. Figure 7.1 Step 3: The .net framework files will be copied to your system. Please wait until it is complete. Figure 7.2 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 88 LPC2148 setup welcome screen will appear. Click Next to start installation. Figure 7.3 Step 5: Select the folder where GUI software will be installed and click Next to continue. Figure 7.4 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 89 Fire Bird V LPC2148 Hardware Manual Step 6: Click Next to confirm the installation. Figure 7.5 Step 7: Wait until installation is complete. Figure 7.6 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 90 Fire Bird V LPC2148 Hardware Manual Step 8: Click Close to finish the installation. Figure 7.7 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 91 GUI. Figure 7.8 Step 2: Connect Robot with the PC using serial cable / NEX Robotics USB to serial converter or with the ZigBee wireless module. Step 3: Select the appropriate COM port. If USB to serial converter module from NEX Robotics or USB ZigBee wireless module is used then identify COM port as mentioned in the section 6.4.
  • Page 92 7.1, 7.2 and 7.3. Only difference is that instead of USB to serial converter, NEX Robotics wireless ZigBee USB module needs to be connected to the PC. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 93: Hardware Description

    Fire Bird V platform consists of 6 modules: 1. Power management 2. Sensing 3. Actuation (locomotion) 4. Other peripherals 5. Communication 6. Intelligence (microcontroller) Figure 8.1: Fire Bird V ARM7 LPC2148 robot top view © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 94 Fire Bird V LPC2148 Hardware Manual Figure 8.2: Fire Bird V ARM7 LPC2148 bottom view 8.1 Connections Figure 8.3: ARM7 LPC2148 microcontroller adaptor board for the Fire Bird V robot © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 95 Fire Bird V LPC2148 Hardware Manual Figure 8.4: Main board © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 96 Figure 8.5: Bottom view of the main board 8.1.1 Socket connections for the microcontroller adaptor board on the main board Figure 8.6: Microcontroller adaptor board socket connections on the main board © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 97 Although Fire Bird V can be powered by NiMH battery but in order to do experiments for longer duration without worrying about the battery getting low, robot can be powered by external power source which is also called as auxiliary power source. Auxiliary power source © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 98 “5V System” is used to power various modules of the robots which does not require high current and where voltage stability is very important. It is used to power logic © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 99 When no current is flowing through the sensor, it gives 2.5V output. This output value reduces by 185mV / ampere of current flow if 5 Ampere type sensor is installed. If 20 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 100 45.45 (100K / 2.2K) in the module IC7D. Output coming from the module IC7D is buffered with IC7C unity gain opamp and given to the transistor Q5 which drives the battery low warning buzzer. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 101 Fire Bird V main board. However, LPC2148 robot currently supports only three such sensors. For more details refer comparison chart. Fire Bird V supports three types of IR range sensors from Sharp Microelectronics. GP2D120 GP2D12 GP2Y0A02YK © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 102 Sharp IR range sensor is an active sensor i.e. it emits signal (IR beam) and measures angle of reflection for distance from the obstacle. In order to prevent interference with other robot’s sensors all the sharp sensors can be turned on or off by the microcontroller. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 103 • In LPC2148 robot IR proximity sensors cannot be enabled/disabled under software control. LPC2148 robot supports only IR proximity sensor 2 and 4. To use this sensor insert jumper J4 permanently. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 104 IR LED is on and off. By comparing these two values effect of ambient light can © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 105 Sharp IR range sensors covers range from 0 to maximum range of the Sharp IR sensor without having any blind spot. Figure 8.19: IR Proximity sensors Figure 8.20: IR Proximity sensor positions © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 106 White line sensor consists of a highly directional phototransistor for line sensing and red LED for illumination. Due to the directional nature of the phototransistor it does not get affected with ambient light unless it is very bright. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 107 5V system supply for better stability. Resistors R48, R23 and R28 determine the sensitivity of the phototransistor. By repeated experimentations we found 100K ohms as the optimal value for best performance in all the conditions. Figure 8.24: Potentiometers for white line sensor calibration © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 108 Expansion slot for White line sensor 5 Expansion slot for White line sensor 4 Expansion slot for White line sensor 6 Expansion slot for White line sensor 7 Table 8.5: White line sensor pin connections © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 109 47 to 55 can be seen on the bar graph LED display on the main board. Figure 8.32 shows the connections of pins from the main board socket in general. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 110 In such case we can use drive high power motor drivers such as Hercules 30 Amp. Mini Motor Driver (NR-MDR-02) from NEX Robotics for driving these motors. Figure 8.30 shows the location of the external motor interface port. All the logic signals coming from the pin 47 to 55 and ground pin is connected to this port.
  • Page 111 Logic signals of pins 47 to 55 of the main board socket for interfacing external high Interface Port current motor drivers Table 8.6: Use of connectors of the motion control module © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 112 Figure 8.31: L293D motor driver ICs on the main board Figure 8.32: Motion status LED indication Figure 8.33: Motion status LED indication for ARM7 LPC2148 microcontroller adaptor board for Fire Bird V © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

  • Page 113: Other Peripherals

    LCD contrast control potentiometer. In order to save power LCD backlight can be turned off by removing LCD backlight jumper. LCD’s contrast can be adjusted by LCD contrast control potentiometer. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 114 SPI expansion port will be used in future to add robotic arm, color sensing sensors etc. It has SPI communication pins and important types supply for powering these devices. Port can be seen in figure 8.5. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 115 Data Set Ready (DSR) Not Used Request to Send (RTS) Not Used Clear to Send (CTS) Not Used Ring Indicator (RI) Not Used Table 8.9: Serial port pin out © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 116 W2, W3 and W4 are used for status indication of the wireless module. Read the wireless module’s datasheet for more details. Figure 8.43: ZigBee wireless module schematics Figure 8.44: ZigBee wireless module and LED indicators © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 117 ARM7 LPC2148 microcontroller adapter board has two low drop voltage regulators: 1. “3V regulator” supplies power to the microcontroller and its peripherals. 2. “5V regulator” supplies power to the servo motor. Figure 8.46 Power Supply Circuit © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 118 TV remote equivalent and interface it with the PC. Such type of setup can be used in the preliminary form of robo-soccer. Figure 8.48 TSOP1738 © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 119 Not Connected TSOP 1738 Output pin via J3 LPC2148 pin no. 29 Pins 45-60 Reserved for future use (P0.5/MISO0/MAT0.1/AD0.7) LPC2148 pin no. 19 (P0.0/TXD0/PWM1) LPC2148 pin no. 21 (P0.1/RXD0/PWM3/EINT0) © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 120 *2. These pins can be used as SPI bus for interfacing external devices. *3. These pins can be used for interfacing external I2C devices Figure 8.50 LPC2148 Expansion Socket Schematic © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 121 Reserved for future use Not Connected Reserved for future use Ground Ground V SYS + 5V (VCC) V BATT Battery Voltage(9V – 11V) Table 8.12: Servo Pod socket pin description © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 122 The microcontroller board has single Servo connector as shown in figure 8.45. It can be used for driving servo motor of camera pod or any other attachment. Power for the servo connector is provided by the “5V servo supply” regulator. © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 123 ADC pins as shown in Figure 8.56 to clip any signal above 3.3 volts thereby compromising with the operating range of the sensors. Figure 8.56 WL 1, 2 & 3 Zener Diodes © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 124 3.3 volts. To protect the ADC pins from being damaged, a resistor divider network is used to scale down analog signal from IR proximity to 3.3V. Figure 8.57 IR Proximity2 & 4 Zener Diodes Figure 8.58 0E Resistors © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 125 8.7.12 ARM7 LPC2148 Microcontroller ARM7 LPC2148 microcontroller is interfaced directly to most of the onboard peripherals. Its schematic is shown in the figure 8.59. Figure 8.59: LPC2148 microcontroller schematic © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 126 Fire Bird V LPC2148 Hardware Manual 9. Upgrading Robot’s Hardware Figure 9.1: Fire Bird V robot and its accessories Figure 9.2: Fire Bird V main board © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 127 X-CTU software. For more details refer to Application notes. 9.2 Setting correct jumper settings on the main board Figure 9.4: Set jumpers as per the requirements (for more details refer to chapter 3) © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 128 Be careful while inserting LCD connector pins into the socket on the main board. Screw in the LCD firmly on the studs. 5.4 Microcontroller adaptor board mounting Figure 9.6: ATMEGA2560 (AVR), P89V51RD2 (8051) and LPC2148 ARM7 microcontroller adaptor boards for Fire Bird V © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 129 Step 1: Cut the front section of white connector of the Sharp IR range sensor Figure 9.8: Remove front cover of the white connector of the Sharp IR range sensor © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 130 In figure 5.10 area highlighted with the red border shows the mounted studs from the Sharp IR range sensor mounting kit. Figure 9.10: Mount 20mm studs from the Sharp sensor mounting kit © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 131 5. 9. Fix the metal plate on top of the Sharp sensor and fit the screws. Figure 9.12: Fitting metal plate on top of the Sharp IR range sensor © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...
  • Page 132 Make sure that you remove yellow paper before mounting the metal plate on the Sharp IR range sensor. 9.6 Mount top Acrylic plate on the robot Figure 9.13: Install top acrylic plate © NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA...

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