Main.Robot History

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September 17, 2013, at 12:59 PM by Katia De Coi -
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July 06, 2013, at 02:32 PM by Alberto Cicchi -
July 06, 2013, at 02:32 PM by Alberto Cicchi -
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The Robot can be programmed with the Arduino software (download). Select "Arduino Robot Control Board" or "Arduino Robot Motor Board" from the Tools > Board menu. For details, see the getting started page and tutorials.

to:

The Robot can be programmed with the Arduino software (download). Select "Arduino Robot Control Board" or "Arduino Robot Motor Board" from the Tools > Board menu. For details, see the getting started page and tutorials.

May 17, 2013, at 01:55 PM by Scott Fitzgerald -
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May 17, 2013, at 01:30 PM by Scott Fitzgerald -
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EAGLE files for control and motor boards: arduino-robot-reference-design.zip

to:

EAGLE files for control and motor boards: arduino-robot-reference-design.zip

May 17, 2013, at 11:45 AM by Alberto Cicchi -
Changed lines 20-21 from:

The Arduino Robot is the first official Arduino on wheels. The robot has two processors, one one each of its' two boards. The Motor Board controls the motors, and the Control Board reads sensors and decides how to operate. Each of the boards is a full Arduino board programmable using the Arduino IDE.

to:

The Arduino Robot is the first official Arduino on wheels. The robot has two processors, one on each of its two boards. The Motor Board controls the motors, and the Control Board reads sensors and decides how to operate. Each of the boards is a full Arduino board programmable using the Arduino IDE.

May 17, 2013, at 09:12 AM by Scott Fitzgerald -
Changed lines 81-84 from:
to:

EAGLE files for control and motor boards: arduino-robot-reference-design.zip

May 17, 2013, at 08:11 AM by Scott Fitzgerald -
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May 17, 2013, at 08:11 AM by Scott Fitzgerald -
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May 17, 2013, at 07:23 AM by Scott Fitzgerald -
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May 17, 2013, at 07:18 AM by Scott Fitzgerald -
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May 17, 2013, at 07:17 AM by Scott Fitzgerald -
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May 17, 2013, at 07:10 AM by Scott Fitzgerald -
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May 15, 2013, at 05:26 AM by Scott Fitzgerald -
Changed lines 24-25 from:

Programming the robot is similar to the process with the Arduino Leonardo. Both processors have built-in USB communication, eliminating the need for a secondary processor. This allows the Robot to appear to a connected computer as a virtual (CDC) serial / COM port. It also has other implications for the behavior of the board; these are detailed on the getting started page.

to:

Programming the robot is similar to the process with the Arduino Leonardo. Both processors have built-in USB communication, eliminating the need for a secondary processor. This allows the Robot to appear to a connected computer as a virtual (CDC) serial / COM port.

Changed lines 89-90 from:

The battery holder holds 4 alkaline and rechargeable NiMh AA batteries.

to:

The battery holder holds 4 rechargeable NiMh AA batteries.

NB : Do not use non-rechargeable batteries with the robot

May 13, 2013, at 12:17 AM by Xun Yang -
Changed lines 164-190 from:
D0RXPD2RXRXD1/INT2
D1TXPD3TXTXD1/INT3
D2SDAPD1SDASDA/INT1
D3#SCLPD0PWM8/SCLOC0B/SCL/INT0
D4TK3 A6PD4 ADC8
D5#INA2PC6???OC3A/#OC4A
D6#INA1 A7PD7FastPWM#OC4D/ADC10
D7MUXAPE6 INT6/AIN0
D8MUXB A8PB4 ADC11/PCINT4
D9#INB2 A9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#INB1 A10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXCPB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12TK4 A11PD6 T1/#OC4D/ADC9
D13#MUXIPC7PWM10CLK0/OC4A
A0TK1 D18PF7ADC7
A1TK2 D19PF6 ADC6
A2MUX_IN D20PF5 ADC5
A3TRIM D21PF4 ADC4
A4SENSE_A D22PF1 ADC1
A5SENSE_B D23PF0 ADC0
MISOMISO D14PB3 MISO,PCINT3
SCKSCK D15PB1 SCK,PCINT1
MOSIMOSI D16PB2 MOSI,PCINT2
SSRX_LED D17PB0 RXLED,SS/PCINT0
TXLEDTX_LEDPD5 
HWB PE2 HWB
to:
D0RXPD2RXRXD1/INT2
D1TXPD3TXTXD1/INT3
D2SDAPD1SDASDA/INT1
D3#SCLPD0PWM8/SCLOC0B/SCL/INT0
D4TK3 A6PD4 ADC8
D5#INA2PC6???OC3A/#OC4A
D6#INA1 A7PD7FastPWM#OC4D/ADC10
D7MUXAPE6 INT6/AIN0
D8MUXB A8PB4 ADC11/PCINT4
D9#INB2 A9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#INB1 A10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXCPB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12TK4 A11PD6 T1/#OC4D/ADC9
D13#MUXIPC7PWM10CLK0/OC4A
A0TK1 D18PF7 ADC7
A1TK2 D19PF6 ADC6
A2MUX_IN D20PF5 ADC5
A3TRIM D21PF4 ADC4
A4SENSE_A D22PF1 ADC1
A5SENSE_B D23PF0 ADC0
MISOMISO D14PB3 MISO,PCINT3
SCKSCK D15PB1 SCK,PCINT1
MOSIMOSI D16PB2 MOSI,PCINT2
SSRX_LED D17PB0 RXLED,SS/PCINT0
TXLEDTX_LEDPD5  
HWB PE2 HWB
May 13, 2013, at 12:15 AM by Xun Yang -
Added lines 162-190:

Motor Board Pin Mapping

ARDUINO LEONARDOARDUINO ROBOT CONTROLATMEGA 32U4FUNCTIONREGISTER
D0RXPD2RXRXD1/INT2
D1TXPD3TXTXD1/INT3
D2SDAPD1SDASDA/INT1
D3#SCLPD0PWM8/SCLOC0B/SCL/INT0
D4TK3 A6PD4 ADC8
D5#INA2PC6???OC3A/#OC4A
D6#INA1 A7PD7FastPWM#OC4D/ADC10
D7MUXAPE6 INT6/AIN0
D8MUXB A8PB4 ADC11/PCINT4
D9#INB2 A9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#INB1 A10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXCPB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12TK4 A11PD6 T1/#OC4D/ADC9
D13#MUXIPC7PWM10CLK0/OC4A
A0TK1 D18PF7ADC7
A1TK2 D19PF6 ADC6
A2MUX_IN D20PF5 ADC5
A3TRIM D21PF4 ADC4
A4SENSE_A D22PF1 ADC1
A5SENSE_B D23PF0 ADC0
MISOMISO D14PB3 MISO,PCINT3
SCKSCK D15PB1 SCK,PCINT1
MOSIMOSI D16PB2 MOSI,PCINT2
SSRX_LED D17PB0 RXLED,SS/PCINT0
TXLEDTX_LEDPD5 
HWB PE2 HWB
May 13, 2013, at 12:07 AM by Xun Yang -
Changed line 147 from:
D12MUXC/TKD5 A11PD6 T1/#OC4D/ADC9
to:
D12MUXC/TKD5 A11PD6 T1/#OC4D/ADC9
Changed lines 160-161 from:
HWB PE2 HWB
to:
HWB PE2 HWB
May 13, 2013, at 12:06 AM by Xun Yang -
Changed lines 135-158 from:
D0RXPD2RXRXD1/INT2
D1TXPD3TXTXD1/INT3
D2SDAPD1SDASDA/INT1
D3#SCLPD0PWM8/SCLOC0B/SCL/INT0
D4MUX_IN A6PD4 ADC8
D5#BUZZPC6???OC3A/#OC4A
D6#MUXA/TKD4 A7PD7FastPWM#OC4D/ADC10
D7RST_LCDPE6 INT6/AIN0
D8CARD_CS A8PB4 ADC11/PCINT4
D9#LCD_CS A9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#DC_LCD A10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXBPB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12MUXC/TKD5 A11PD6 T1/#OC4D/ADC9
D13#MUXDPC7PWM10CLK0/OC4A
A0KEY D18PF7 ADC7
A1TKD0 D19PF6 ADC6
A2TKD1 D20PF5 ADC5
A3TKD2 D21PF4 ADC4
A4TKD3 D22PF1 ADC1
A5POT D23PF0 ADC0
MISOMISO D14PB3 MISO,PCINT3
SCKSCK D15PB1 SCK,PCINT1
MOSIMOSI D16PB2 MOSI,PCINT2
SSRX_LED D17PB0 RXLED,SS/PCINT0
to:
D0RXPD2RXRXD1/INT2
D1TXPD3TXTXD1/INT3
D2SDAPD1SDASDA/INT1
D3#SCLPD0PWM8/SCLOC0B/SCL/INT0
D4MUX_IN A6PD4 ADC8
D5#BUZZPC6???OC3A/#OC4A
D6#MUXA/TKD4 A7PD7FastPWM#OC4D/ADC10
D7RST_LCDPE6 INT6/AIN0
D8CARD_CS A8PB4 ADC11/PCINT4
D9#LCD_CS A9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#DC_LCD A10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXBPB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12MUXC/TKD5 A11PD6 T1/#OC4D/ADC9
D13#MUXDPC7PWM10CLK0/OC4A
A0KEY D18PF7 ADC7
A1TKD0 D19PF6 ADC6
A2TKD1 D20PF5 ADC5
A3TKD2 D21PF4 ADC4
A4TKD3 D22PF1 ADC1
A5POT D23PF0 ADC0
MISOMISO D14PB3 MISO,PCINT3
SCKSCK D15PB1 SCK,PCINT1
MOSIMOSI D16PB2 MOSI,PCINT2
SSRX_LED D17PB0 RXLED,SS/PCINT0
May 13, 2013, at 12:04 AM by Xun Yang -
Changed lines 134-161 from:
ARDUINO LEONARDOARDUINO ROBOT CONTROLATMEGA 32U4FUNCTIONREGISTER
D0RXPD2RXRXD1/INT2
D1TXPD3TXTXD1/INT3
D2SDAPD1SDASDA/INT1
D3#SCLPD0PWM8/SCLOC0B/SCL/INT0
D4MUX_IN A6PD4 ADC8
D5#BUZZPC6???OC3A/#OC4A
D6#MUXA/TKD4 A7PD7FastPWM#OC4D/ADC10
D7RST_LCDPE6 INT6/AIN0
D8CARD_CS A8PB4 ADC11/PCINT4
D9#LCD_CS A9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#DC_LCD A10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXBPB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12MUXC/TKD5 A11PD6 T1/#OC4D/ADC9
D13#MUXDPC7PWM10CLK0/OC4A
A0KEY D18PF7 ADC7
A1TKD0 D19PF6 ADC6
A2TKD1 D20PF5 ADC5
A3TKD2 D21PF4 ADC4
A4TKD3 D22PF1 ADC1
A5POT D23PF0 ADC0
MISOMISO D14PB3 MISO,PCINT3
SCKSCK D15PB1 SCK,PCINT1
MOSIMOSI D16PB2 MOSI,PCINT2
SSRX_LED D17PB0 RXLED,SS/PCINT0
TXLEDTX_LEDPD5  
HWB PE2 HWB
to:
ARDUINO LEONARDOARDUINO ROBOT CONTROLATMEGA 32U4FUNCTIONREGISTER
D0RXPD2RXRXD1/INT2
D1TXPD3TXTXD1/INT3
D2SDAPD1SDASDA/INT1
D3#SCLPD0PWM8/SCLOC0B/SCL/INT0
D4MUX_IN A6PD4 ADC8
D5#BUZZPC6???OC3A/#OC4A
D6#MUXA/TKD4 A7PD7FastPWM#OC4D/ADC10
D7RST_LCDPE6 INT6/AIN0
D8CARD_CS A8PB4 ADC11/PCINT4
D9#LCD_CS A9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#DC_LCD A10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXBPB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12MUXC/TKD5 A11PD6 T1/#OC4D/ADC9
D13#MUXDPC7PWM10CLK0/OC4A
A0KEY D18PF7 ADC7
A1TKD0 D19PF6 ADC6
A2TKD1 D20PF5 ADC5
A3TKD2 D21PF4 ADC4
A4TKD3 D22PF1 ADC1
A5POT D23PF0 ADC0
MISOMISO D14PB3 MISO,PCINT3
SCKSCK D15PB1 SCK,PCINT1
MOSIMOSI D16PB2 MOSI,PCINT2
SSRX_LED D17PB0 RXLED,SS/PCINT0
TXLEDTX_LEDPD5  
HWB PE2 HWB
May 13, 2013, at 12:00 AM by Xun Yang -
Changed lines 135-161 from:
D0RXPD2RXRXD1/INT2
D1TXPD3TXTXD1/INT3
D2SDAPD1SDASDA/INT1
D3#SCLPD0PWM8/SCLOC0B/SCL/INT0
D4MUX_IN A6PD4 ADC8
D5#BUZZPC6???OC3A/#OC4A
D6#MUXA/TKD4 A7PD7FastPWM#OC4D/ADC10
D7RST_LCDPE6 INT6/AIN0
D8CARD_CS A8PB4 ADC11/PCINT4
D9#LCD_CS A9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#DC_LCD A10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXBPB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12MUXC/TKD5 A11PD6 T1/#OC4D/ADC9
D13#MUXDPC7PWM10CLK0/OC4A
A0KEY D18PF7 ADC7
A1TKD0 D19PF6 ADC6
A2TKD1 D20PF5 ADC5
A3TKD2 D21PF4 ADC4
A4TKD3 D22PF1 ADC1
A5POT D23PF0 ADC0
MISOMISO D14PB3 MISO,PCINT3
SCKSCK D15PB1 SCK,PCINT1
MOSIMOSI D16PB2 MOSI,PCINT2
SSRX_LED D17PB0 RXLED,SS/PCINT0
TXLEDTX_LEDPD5
HWB PE2 HWB 
to:
D0RXPD2RXRXD1/INT2
D1TXPD3TXTXD1/INT3
D2SDAPD1SDASDA/INT1
D3#SCLPD0PWM8/SCLOC0B/SCL/INT0
D4MUX_IN A6PD4 ADC8
D5#BUZZPC6???OC3A/#OC4A
D6#MUXA/TKD4 A7PD7FastPWM#OC4D/ADC10
D7RST_LCDPE6 INT6/AIN0
D8CARD_CS A8PB4 ADC11/PCINT4
D9#LCD_CS A9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#DC_LCD A10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXBPB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12MUXC/TKD5 A11PD6 T1/#OC4D/ADC9
D13#MUXDPC7PWM10CLK0/OC4A
A0KEY D18PF7 ADC7
A1TKD0 D19PF6 ADC6
A2TKD1 D20PF5 ADC5
A3TKD2 D21PF4 ADC4
A4TKD3 D22PF1 ADC1
A5POT D23PF0 ADC0
MISOMISO D14PB3 MISO,PCINT3
SCKSCK D15PB1 SCK,PCINT1
MOSIMOSI D16PB2 MOSI,PCINT2
SSRX_LED D17PB0 RXLED,SS/PCINT0
TXLEDTX_LEDPD5  
HWB PE2 HWB
May 12, 2013, at 11:58 PM by Xun Yang -
Changed lines 135-165 from:
D0RX PD2RXRXD1/INT2
D1TX PD3TXTXD1/INT3
D2SDA PD1SDASDA/INT1
D3#SCL PD0PWM8/SCLOC0B/SCL/INT0
D4MUX_INA6PD4 ADC8
D5#BUZZPC6???OC3A/#OC4A
D6#MUXA/TKD4A7PD7FastPWM#OC4D/ADC10
D7RST_LCD PE6 INT6/AIN0
D8CARD_CSA8PB4 ADC11/PCINT4
D9#LCD_CSA9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#DC_LCDA10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXB PB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12MUXC/TKD5A11PD6 T1/#OC4D/ADC9
D13#MUXD PC7PWM10CLK0/OC4A
A0KEYD18PF7 ADC7
A1TKD0D19PF6 ADC6
A2TKD1D20PF5 ADC5
A3TKD2D21PF4 ADC4
A4TKD3D22PF1 ADC1
A5POTD23PF0 ADC0
MISOMISOD14PB3 MISO,PCINT3
SCKSCKD15PB1 SCK,PCINT1
MOSIMOSID16PB2 MOSI,PCINT2
SSRX_LEDD17PB0 RXLED,SS/PCINT0
TXLEDTX_LEDPD5
HWB PE2 HWB 
to:
D0RXPD2RXRXD1/INT2
D1TXPD3TXTXD1/INT3
D2SDAPD1SDASDA/INT1
D3#SCLPD0PWM8/SCLOC0B/SCL/INT0
D4MUX_IN A6PD4 ADC8
D5#BUZZPC6???OC3A/#OC4A
D6#MUXA/TKD4 A7PD7FastPWM#OC4D/ADC10
D7RST_LCDPE6 INT6/AIN0
D8CARD_CS A8PB4 ADC11/PCINT4
D9#LCD_CS A9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#DC_LCD A10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXBPB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12MUXC/TKD5 A11PD6 T1/#OC4D/ADC9
D13#MUXDPC7PWM10CLK0/OC4A
A0KEY D18PF7 ADC7
A1TKD0 D19PF6 ADC6
A2TKD1 D20PF5 ADC5
A3TKD2 D21PF4 ADC4
A4TKD3 D22PF1 ADC1
A5POT D23PF0 ADC0
MISOMISO D14PB3 MISO,PCINT3
SCKSCK D15PB1 SCK,PCINT1
MOSIMOSI D16PB2 MOSI,PCINT2
SSRX_LED D17PB0 RXLED,SS/PCINT0
TXLEDTX_LEDPD5
HWB PE2 HWB 
May 12, 2013, at 11:48 PM by Xun Yang -
Added lines 132-165:

Control Board Pin Mapping

ARDUINO LEONARDOARDUINO ROBOT CONTROLATMEGA 32U4FUNCTIONREGISTER
D0RX PD2RXRXD1/INT2
D1TX PD3TXTXD1/INT3
D2SDA PD1SDASDA/INT1
D3#SCL PD0PWM8/SCLOC0B/SCL/INT0
D4MUX_INA6PD4 ADC8
D5#BUZZPC6???OC3A/#OC4A
D6#MUXA/TKD4A7PD7FastPWM#OC4D/ADC10
D7RST_LCD PE6 INT6/AIN0
D8CARD_CSA8PB4 ADC11/PCINT4
D9#LCD_CSA9PB5PWM16OC1A/#OC4B/ADC12/PCINT5
D10#DC_LCDA10PB6PWM16OC1B/0c4B/ADC13/PCINT6
D11#MUXB PB7PWM8/160C0A/OC1C/#RTS/PCINT7
D12MUXC/TKD5A11PD6 T1/#OC4D/ADC9
D13#MUXD PC7PWM10CLK0/OC4A
A0KEYD18PF7 ADC7
A1TKD0D19PF6 ADC6
A2TKD1D20PF5 ADC5
A3TKD2D21PF4 ADC4
A4TKD3D22PF1 ADC1
A5POTD23PF0 ADC0
MISOMISOD14PB3 MISO,PCINT3
SCKSCKD15PB1 SCK,PCINT1
MOSIMOSID16PB2 MOSI,PCINT2
SSRX_LEDD17PB0 RXLED,SS/PCINT0
TXLEDTX_LEDPD5
HWB PE2 HWB 
May 08, 2013, at 08:33 PM by Xun Yang -
Added lines 53-54:
Added lines 76-78:
May 08, 2013, at 08:27 PM by Xun Yang -
Added lines 113-114:
Added lines 117-118:
May 03, 2013, at 03:49 PM by David Cuartielles -
Changed lines 111-112 from:

\\Note: if you have one of the first generation robots, you will see that the TKD* pins are named TDK* on the Robot's silkscreen. TKD* is the proper name for them and is how we address them on the software.

to:

Note: if you have one of the first generation robots, you will see that the TKD* pins are named TDK* on the Robot's silkscreen. TKD* is the proper name for them and is how we address them on the software.

May 03, 2013, at 03:49 PM by David Cuartielles -
Changed lines 110-111 from:
to:
  • Control Board TKD0 to TKD5: these are digital I/O pins directly connected to the processor, addressed using Robot.digitalRead() and Robot.digitalWrite) functions. Pins TKD0 to TKD3 can also be used as analog inputs with Robot.analogRead()
    \\Note: if you have one of the first generation robots, you will see that the TKD* pins are named TDK* on the Robot's silkscreen. TKD* is the proper name for them and is how we address them on the software.
May 03, 2013, at 12:33 PM by Scott Fitzgerald -
Changed lines 20-21 from:

The Arduino Robot is the first official Arduino on wheels. The robot has two processors, one per board, one to run the motors (called the Motor Board) and one to read sensors and make decisions about what to do next (Control Board). Each one of the boards is a full Arduino board programmable using Arduino’s official core.

to:

The Arduino Robot is the first official Arduino on wheels. The robot has two processors, one one each of its' two boards. The Motor Board controls the motors, and the Control Board reads sensors and decides how to operate. Each of the boards is a full Arduino board programmable using the Arduino IDE.

Changed lines 24-25 from:

The programming experience of the robot is very similar to the one for the Arduino Leonardo. Both processors have built-in USB communication, eliminating the need for a secondary processor. This allows the Robot to appear to a connected computer as a virtual (CDC) serial / COM port. It also has other implications for the behavior of the board; these are detailed on the getting started page.

to:

Programming the robot is similar to the process with the Arduino Leonardo. Both processors have built-in USB communication, eliminating the need for a secondary processor. This allows the Robot to appear to a connected computer as a virtual (CDC) serial / COM port. It also has other implications for the behavior of the board; these are detailed on the getting started page.

Changed lines 28-29 from:

Summary (Control Board)

to:

Control Board Summary

Changed lines 53-54 from:

Summary (Motor Board)

to:

Motor Board Summary

Changed line 59 from:
AA battery slot4 alcaline or NiMh rechargeable batteries
to:
AA battery slot4 alkaline or NiMh rechargeable batteries
Changed lines 82-89 from:

The Arduino Robot can be powered via the USB connection or with batteries. The power source is selected automatically.

For safety, the motors will be disabled when the robot is powered from the USB connection.

The Robot has an on-board battery charger that requires 9V external (non-USB) power coming from an AC-to-DC adapter (wall-wart). The adapter can be connected by plugging a 2.1mm center-positive plug into the Motor Board's power jack.

The Control Board is powered by the power supply at the Motor Board through the flat cable communicating both boards.

to:

The Arduino Robot can be powered via the USB connection or with 4 AA batteries. The power source is selected automatically.

The battery holder holds 4 alkaline and rechargeable NiMh AA batteries.

For safety purposes, the motors are disabled when the robot is powered from the USB connection.

The robot has an on-board battery charger that requires 9V external power coming from an AC-to-DC adapter (wall-wart). The adapter can be connected by plugging a 2.1mm center-positive plug into the Motor Board's power jack. The charger will not operate if powered by USB.

The Control Board is powered by the power supply on the Motor Board.

Added lines 98-99:

There is an external SD card reader attached to the GTFT screen that can be accessed by the Control Board's processor for additional storage.

Changed lines 102-119 from:

The Robot comes with a series of pre-soldered connectors, plus a collection of hooks for you to install whatever parts you need in your project.

All the connectors are labelled on the boards and mapped with those names in the software. That allows you access them using standard Arduino functions. They operate at 5 volts. Each pin can provide or receive a maximum of 40 mA. In addition, some pins have specialized functions.

  • Control Board's TK0 to TK7: these pins are multiplexed into a single analog pin to the microprocessor on the Control Board. They are optimal as analog inputs for distance sensors, analog Ultrasound sensors, or mechanical switches to detect collisions.

  • Control Board's TKD0 to TKD5: they are digital I/O pins directly connected to the processor, and therefore can be addressed using the Robot.digitalRead() and Robot.digitalWrite) functions.

  • Furthermore, pins TKD0 to TKD3 can be used as analog inputs and read with Robot.analogRead()

  • Motor Board's TK1 to TK4: these pins are renamed in software to be B_TK1 to B_TK4, they can be both digital and analog pins. Therefore you can use the whole range of Robot.digitalRead(), Robot.digitalWrite) and Robot.analogRead() to work with them.

  • Serial Communication: both boards communicate with each other using the processor's serial port. The 10-pin connector that connects both boards carries the serial communication, power for the top board and other information like the battery's current charge.

  • Control Board's SPI: The SPI communication is used to control the LCD and the SD card. If you want to flash the processor with your own custom software using an external programmer, you should remember un-plugging the screen first.

  • Control Board's LEDs: There are three on board LEDs, one to indicate that the board is powered (PWR) and two to indicate there is communication happening over the USB port (LED1/RX and TX). LED1 is accessible via software.
to:

The Robot comes with a series of pre-soldered connectors. There are a number of additional spots for you to install additional parts if needed.

All the connectors are labelled on the boards and mapped to named ports through the Robot library allowing access to standard Arduino functions. Each pin can provide or receive a maximum of 40mA at 5V.

Some pins have specialized functions :

  • Control Board TK0 to TK7: these pins are multiplexed to a single analog pin on theControl Board's microprocessor. They can be used as analog inputs for sensors like distance sensors, analog ultrasound sensors, or mechanical switches to detect collisions.

  • Control Board TKD0 to TKD5: these are digital I/O pins directly connected to the processor, addressed using Robot.digitalRead() and Robot.digitalWrite) functions. Pins TKD0 to TKD3 can also be used as analog inputs with Robot.analogRead()

  • Motor Board TK1 to TK4: these pins are named in software as B_TK1 to B_TK4, they can be digital or analog input pins, and support Robot.digitalRead(), Robot.digitalWrite) and Robot.analogRead().

  • Serial Communication: The boards communicate with each other using the processors' serial port. A 10-pin connector connects both boards carries the serial communication, as well as power and additional information like the battery's current charge.

  • Control Board SPI: SPI is used to control the GTFT and SD card. If you want to flash the processor using an external programmer, you need to disconnect the screen first.

  • Control Board LEDs: the Control Board has three on-board LEDs. One indicates the board is powered (PWR). The other two indicate communication over the USB port (LED1/RX and TX). LED1 is also accessible via software.
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The Robot can be programmed with the Arduino software (download). Select "Arduino Robot Control Board" or "Arduino Robot Motor Board" from the Tools > Board menu. For details, see the reference and tutorials.

The ATmega32U4 on the Arduino Robot comes preburned with a bootloader that allows you to upload new code to it without the use of an external hardware programmer. It communicates using the AVR109 protocol.

You can also bypass the bootloader and program the microcontroller through the ICSP (In-Circuit Serial Programming) header; see these instructions for details.

to:

The Robot can be programmed with the Arduino software (download). Select "Arduino Robot Control Board" or "Arduino Robot Motor Board" from the Tools > Board menu. For details, see the getting started page and tutorials.

The ATmega32U4 processors on the Arduino Robot come preburned with a bootloader that allows you to upload new code to it without the use of an external hardware programmer. It communicates using the AVR109 protocol.

You can bypass the bootloader and program the microcontroller through the ICSP (In-Circuit Serial Programming) header; see these instructions for details.

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The Robot is a 19cm diameter machine; including wheels, LCD screen and other connectors it gets up to 10cm high.

to:

The Robot is 19cm in diameter. Including wheels, GTFT screen and other connectors it can be up to 10cm tall.

May 03, 2013, at 06:32 AM by David Cuartielles -
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Rather than requiring a physical press of the reset button before an upload, the Robot is designed in a way that allows it to be reset by software running on a connected computer. The reset is triggered when the Leonardo's virtual (CDC) serial / COM port is opened at 1200 baud and then closed. When this happens, the processor will reset, breaking the USB connection to the computer (meaning that the virtual serial / COM port will disappear). After the processor resets, the bootloader starts, remaining active for about 8 seconds. The bootloader can also be initiated by pressing the reset button on the Robot. Note that when the board first powers up, it will jump straight to the user sketch, if present, rather than initiating the bootloader.

Because of the way the Robot handles reset it's best to let the Arduino software try to initiate the reset before uploading, especially if you are in the habit of pressing the reset button before uploading on other boards. If the software can't reset the board you can always start the bootloader by double-pressing the reset button on the board.

to:

Rather than requiring a physical press of the reset button before an upload, the Robot is designed in a way that allows it to be reset by software running on a connected computer. The reset is triggered when the Robot's virtual (CDC) serial / COM port is opened at 1200 baud and then closed. When this happens, the processor will reset, breaking the USB connection to the computer (meaning that the virtual serial / COM port will disappear). After the processor resets, the bootloader starts, remaining active for about 8 seconds. The bootloader can also be initiated by double-pressing the reset button on the Robot. Note that when the board first powers up, it will jump straight to the user sketch, if present, rather than initiating the bootloader.

Because of the way the Robot handles reset it's best to let the Arduino software try to initiate the reset before uploading, especially if you are in the habit of pressing the reset button before uploading on other boards. If the software can't reset the board you can always start the bootloader by double-pressing the reset button on the board. A single press on the reset will restart the user sketch, a double press will initiate the bootloader.

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May 02, 2013, at 11:05 AM by David Cuartielles -
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May 02, 2013, at 11:05 AM by David Cuartielles -
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Lottie Lemon

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Arduino Robot

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Overview

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Both Motor and Control boards are a microcontroller board based on the ATmega32u4 (datasheet). In the same line as the Arduino Esplora, the Robot has many of its pins mapped to on-board sensors and actuators.

to:

Both Motor and Control boards are microcontroller boards based on the ATmega32u4 (datasheet). The Robot has many of its pins mapped to on-board sensors and actuators.

The programming experience of the robot is very similar to the one for the Arduino Leonardo. Both processors have built-in USB communication, eliminating the need for a secondary processor. This allows the Robot to appear to a connected computer as a virtual (CDC) serial / COM port. It also has other implications for the behavior of the board; these are detailed on the getting started page.

As always with Arduino, every element of the platform – hardware, software and documentation – is freely available and open-source. This means you can learn exactly how it's made and use its design as the starting point for your own robots. The Arduino Robot is the result of the collective effort from an international team looking at how science can be made fun to learn. Arduino is now on wheels, come ride with us!

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Digital I/O Pins4
PWM Channels7
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Digital I/O Pins5
PWM Channels6
Analog Input Channels4 (of the Digital I/O pins)
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Summary (Control Board)

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Summary (Motor Board)

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AA battery slot4 alcaline or NiMh rechargable batteries
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AA battery slot4 alcaline or NiMh rechargeable batteries
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Analog I/O Pins4
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PWM Channels1
Analog Input Channles4 (same as the Digital I/O pins)
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SRAM2.5 KB (ATmega32u4)
EEPROM1 KB (ATmega32u4)
Clock Speed16 MHz
Trimmerfor movement calibration
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It has 20 digital input/output pins (of which 7 can be used as PWM outputs and 12 as analog inputs), a 16 MHz crystal oscillator, a micro USB connection, a power jack, an ICSP header, and a reset button. It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter or battery to get started. The Leonardo differs from all preceding boards in that the ATmega32u4 has built-in USB communication, eliminating the need for a secondary processor. This allows the Leonardo to appear to a connected computer as a mouse and keyboard, in addition to a virtual (CDC) serial / COM port. It also has other implications for the behavior of the board; these are detailed on the getting started page.

As always with Arduino, every element of the platform – hardware, software and documentation – is freely available and open-source. This means you can learn exactly how it's made and use its design as the starting point for your own circuits. Hundreds of thousands of Arduino boards are already fueling people’s creativity all over the world, everyday. Join us now, Arduino is you!

  • Requires ........
  • Operating voltage .....

Description

Technical description goes here

Power requirements

On board indicators

The robot contains a number of status LEDs:

  • On: shows the Shield gets power.
  • Status: turns on to when the modem is powered and data is being transferred to/from the GSM/GPRS network.
  • Net: blinks when the modem is communicating with the radio network.

On board inputs

On board outputs

Expansions

to:

Schematic & Reference Design

EAGLE files: arduino-robot-reference-design.zip

Schematic: arduino-robot-schematic-rev3b.pdf Δ

Power

The Arduino Robot can be powered via the USB connection or with batteries. The power source is selected automatically.

For safety, the motors will be disabled when the robot is powered from the USB connection.

The Robot has an on-board battery charger that requires 9V external (non-USB) power coming from an AC-to-DC adapter (wall-wart). The adapter can be connected by plugging a 2.1mm center-positive plug into the Motor Board's power jack.

The Control Board is powered by the power supply at the Motor Board through the flat cable communicating both boards.

Memory

The ATmega32u4 has 32 KB (with 4 KB used for the bootloader). It also has 2.5 KB of SRAM and 1 KB of EEPROM (which can be read and written with the EEPROM library).

The Control Board has an extra 512 Kbit EEPROM that can be accessed via I2C.

Input and Output

The Robot comes with a series of pre-soldered connectors, plus a collection of hooks for you to install whatever parts you need in your project.

All the connectors are labelled on the boards and mapped with those names in the software. That allows you access them using standard Arduino functions. They operate at 5 volts. Each pin can provide or receive a maximum of 40 mA. In addition, some pins have specialized functions.

  • Control Board's TK0 to TK7: these pins are multiplexed into a single analog pin to the microprocessor on the Control Board. They are optimal as analog inputs for distance sensors, analog Ultrasound sensors, or mechanical switches to detect collisions.

  • Control Board's TKD0 to TKD5: they are digital I/O pins directly connected to the processor, and therefore can be addressed using the Robot.digitalRead() and Robot.digitalWrite) functions.

  • Furthermore, pins TKD0 to TKD3 can be used as analog inputs and read with Robot.analogRead()

  • Motor Board's TK1 to TK4: these pins are renamed in software to be B_TK1 to B_TK4, they can be both digital and analog pins. Therefore you can use the whole range of Robot.digitalRead(), Robot.digitalWrite) and Robot.analogRead() to work with them.

  • Serial Communication: both boards communicate with each other using the processor's serial port. The 10-pin connector that connects both boards carries the serial communication, power for the top board and other information like the battery's current charge.

  • Control Board's SPI: The SPI communication is used to control the LCD and the SD card. If you want to flash the processor with your own custom software using an external programmer, you should remember un-plugging the screen first.

  • Control Board's LEDs: There are three on board LEDs, one to indicate that the board is powered (PWR) and two to indicate there is communication happening over the USB port (LED1/RX and TX). LED1 is accessible via software.

  • Both boards have I2C connectors available: 3 on the Control Board and 1 on the Motor Board.

Communication

The Robot has a number of facilities for communicating with a computer, another Arduino, or other microcontrollers. The ATmega32U4 provides UART TTL (5V) serial communication, which is available on digital the 10-pin board-to-board connector. The 32U4 also allows for serial (CDC) communication over USB and appears as a virtual com port to software on the computer. The chip also acts as a full speed USB 2.0 device, using standard USB COM drivers. On Windows, a .inf file is required. The Arduino software includes a serial monitor which allows simple textual data to be sent to and from the Robot board. The RX (LED1) and TX LEDs on the board will flash when data is being transmitted via the USB connection to the computer (but not for serial communication between boards).

Each one of the boards has a separate USB product identifier and will show up as different ports on you IDE. Make sure you choose the right one when programming.

The ATmega32U4 also supports I2C (TWI) and SPI communication. The Arduino software includes a Wire library to simplify use of the I2C bus; see the documentation for details. For SPI communication, use the SPI library.

Programming

The Robot can be programmed with the Arduino software (download). Select "Arduino Robot Control Board" or "Arduino Robot Motor Board" from the Tools > Board menu. For details, see the reference and tutorials.

The ATmega32U4 on the Arduino Robot comes preburned with a bootloader that allows you to upload new code to it without the use of an external hardware programmer. It communicates using the AVR109 protocol.

You can also bypass the bootloader and program the microcontroller through the ICSP (In-Circuit Serial Programming) header; see these instructions for details.

Automatic (Software) Reset and Bootloader Initiation

Rather than requiring a physical press of the reset button before an upload, the Robot is designed in a way that allows it to be reset by software running on a connected computer. The reset is triggered when the Leonardo's virtual (CDC) serial / COM port is opened at 1200 baud and then closed. When this happens, the processor will reset, breaking the USB connection to the computer (meaning that the virtual serial / COM port will disappear). After the processor resets, the bootloader starts, remaining active for about 8 seconds. The bootloader can also be initiated by pressing the reset button on the Robot. Note that when the board first powers up, it will jump straight to the user sketch, if present, rather than initiating the bootloader.

Because of the way the Robot handles reset it's best to let the Arduino software try to initiate the reset before uploading, especially if you are in the habit of pressing the reset button before uploading on other boards. If the software can't reset the board you can always start the bootloader by double-pressing the reset button on the board.

USB Overcurrent Protection

Both of the Robot boards have a resettable polyfuse that protects your computer's USB ports from shorts and overcurrent. Although most computers provide their own internal protection, the fuse provides an extra layer of protection. If more than 500 mA is applied to the USB port, the fuse will automatically break the connection until the short or overload is removed.

Physical Characteristics

The Robot is a 19cm diameter machine; including wheels, LCD screen and other connectors it gets up to 10cm high.

To Learn More

May 01, 2013, at 10:54 AM by David Cuartielles -
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DC Current for 3.3V Pin50 mA
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Prototyping area4

The motor board comes with:

  • a battery holder for 4 AA batteries that can be recharged using a 9V power supply (charger works only for NiMh batteries)
  • a DC-DC converter to keep the voltage at the motors as constant as possible
  • 5 infrared sensors to perform line following operations

prototyping area to build your own parts into the robot

  • a series of TinkerKit connectors where to plug in sensors and actuators
  • I2C connectors
to:
Prototyping areas4

Summary (Control Board)

MicrocontrollerATmega32u4
Operating Voltage5V
Input Voltage9V to battery charger
AA battery slot4 alcaline or NiMh rechargable batteries
Digital I/O Pins4
Analog I/O Pins4
DC Current per I/O Pin40 mA
DC-DC convertergenerates 5V to power up the whole robot
Flash Memory32 KB (ATmega32u4) of which 4 KB used by bootloader
IR line following sensors5
I2C soldering ports1
Prototyping areas2

May 01, 2013, at 09:56 AM by David Cuartielles -
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The Lottie Lemon .....

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The Arduino Robot is the first official Arduino on wheels. The robot has two processors, one per board, one to run the motors (called the Motor Board) and one to read sensors and make decisions about what to do next (Control Board). Each one of the boards is a full Arduino board programmable using Arduino’s official core.

Both Motor and Control boards are a microcontroller board based on the ATmega32u4 (datasheet). In the same line as the Arduino Esplora, the Robot has many of its pins mapped to on-board sensors and actuators.

Summary (Control Board)

MicrocontrollerATmega32u4
Operating Voltage5V
Input Voltage5V through flat cable
Digital I/O Pins4
PWM Channels7
Analog Input Channels (multiplexed)8
DC Current per I/O Pin40 mA
DC Current for 3.3V Pin50 mA
Flash Memory32 KB (ATmega32u4) of which 4 KB used by bootloader
SRAM2.5 KB (ATmega32u4)
EEPROM (internal)1 KB (ATmega32u4)
EEPROM (external)512 Kbit (I2C)
Clock Speed16 MHz
Keypad5 keys
Knobpotentiomenter attached to analog pin
Full color LCDover SPI communication
SD card readerfor FAT16 formatted cards
Speaker8 Ohm
Digital Compassprovides deviation from the geographical north in degrees
I2C soldering ports3
Prototyping area4

The motor board comes with:

  • a battery holder for 4 AA batteries that can be recharged using a 9V power supply (charger works only for NiMh batteries)
  • a DC-DC converter to keep the voltage at the motors as constant as possible
  • 5 infrared sensors to perform line following operations

prototyping area to build your own parts into the robot

  • a series of TinkerKit connectors where to plug in sensors and actuators
  • I2C connectors

It has 20 digital input/output pins (of which 7 can be used as PWM outputs and 12 as analog inputs), a 16 MHz crystal oscillator, a micro USB connection, a power jack, an ICSP header, and a reset button. It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter or battery to get started. The Leonardo differs from all preceding boards in that the ATmega32u4 has built-in USB communication, eliminating the need for a secondary processor. This allows the Leonardo to appear to a connected computer as a mouse and keyboard, in addition to a virtual (CDC) serial / COM port. It also has other implications for the behavior of the board; these are detailed on the getting started page.

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May 01, 2013, at 08:01 AM by Scott Fitzgerald -
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