The technical details of the project are as follows:
Components
1 x RS-EDP 4-slot Baseboard - EDP-BB-4A
2 x RS-EDP Brushed Motor Controller Application Module - EDP-AM-MC1
1 x RS-EDP mbed Carrier Module - RS-EDP-CM-MBED
1 x Stinger Robot Kit
1 x SparkFun Triple Axis Accelerometer Breakout ADXL345 - SEN-09156
1 x SparkFun Triple Axis Digital Output Gyro ITG3200 Breakout - SEN-09801
1 x Maplin 2000mAh Rechargeable NiMH AA 12-Pk - L30BJ
Assembly
1 Acquire the components needed
2 Assemble the Stinger Robot kit according to the manual
2.1 Connect 12 NiMH AA batteries in series and attach them to the chassis
2.2 Attach the 4-slot EDP baseboard to the chassis
3 On the mbed carrier module:
3.1.1 Cut the default link and solder link 2-3 (EVG7_GPIO54) on J208
3.1.2 Cut the default link and solder link 2-3 (GPIO0) on J217
3.1.3 Cut the default link and solder link 2-3 (MOTOR_P0L) on J219
3.1.4 Cut the default link and solder link 2-3 (EVG4_GPIO48) on J225
3.1.5 Cut the default link and solder link 2-3 (EVG5_GPIO50) on J226
3.2 Place the carrier module in module position 2
4 Place an EDP-AM-MC1 in module position 1 on the baseboard and on this:
4.1.1 Connect the RED POWER wire of the left motor to screw terminal OP1
4.1.2 Connect the BLACK POWER wire of the left motor to screw terminal OP2
4.1.3 Connect the RED ENCODER wire of the left motor to pin 7 on P301
4.1.4 Connect the BLACK ENCODER wire of the left motor to pin 15 on P301
4.2.1 Set JP204 to link 1-2 (EVG0_GPIO40)
4.2.1 Set JP209 to link 2-3 (GPIO0)
4.2.2 Set JP207 to link 2-3
4.2.3 Set JP206 to link 2-3 (EVG5_GPIO50)
4.2.4 Set JP203 to link 2-3
5 Place an EDP-AM-MC1 in module position 4 on the baseboard and on this:
5.1.1 Connect the RED POWER wire of the right motor to screw terminal OP1
5.1.2 Connect the BLACK POWER wire of the right motor to screw terminal OP2
5.1.3 Connect the RED ENCODER wire of the right motor to pin 7 on P301
5.1.4 Connect the BLACK ENCODER wire of the right motor to pin 15 on P301
5.2.1 Set JP204 to link 2-3 (EVG4_GPIO48)
5.2.2 Set JP209 to link 1-2 (GPIO1)
5.2.3 Set JP207 to link 2-3
5.2.4 Set JP206 to link 1-2 (EVG1_GPIO42)
5.2.5 Set JP203 to link 2-3
6 On the EDP I/O Pin Headers:
6.1.1 Connect the WHITE ENCODER wire of the left motor to pin 22 on P602 (EVG6_GPIO52)
6.1.2 Connect the GREEN ENCODER wire of the left motor to pin 21 on P601 (EVM5_GPIO47)
6.1.3 Connect the WHITE ENCODER wire of the right motor to pin 4 on P603 (AN12)
6.1.4 Connect the GREEN ENCODER wire of the right motor to pin 37 on P601 (MOTOR_P0L)
6.2.1 Connect VDD and VIO from the ITG-3200 breakout to pin 44 on P603 (+3V3)
6.2.2 Connect GND from the ITG-3200 breakout to pin 46 on P603 (SGND)
6.2.3 Connect SCL from the ITG-3200 breakout to pin 35 on P603 (CNTRL_I2C_SCL)
6.2.3 Connect SDA from the ITG-3200 breakout to pin 34 on P603 (CNTRL_I2C_SDA)
6.3.1 Connect GND from the ADXL345 breakout to pin 46 on P603 (SGND)
6.3.2 Connect VCC from the ADXL345 breakout to pin 44 on P603 (+3V3)
6.3.3 Connect CS from the ADXL345 breakout to pin 23 on P602 (EVG7_GPIO54)
6.3.4 Connect SCL from the ADXL345 breakout to pin 30 on P603 (CNTRL_SPI_CLK)
6.3.5 Connect SDA from the ADXL345 breakout to pin 32 on P603 (CNTRL_SPI_MTSR)
6.3.6 Connect SDO from the ADXL345 breakout to pin 31 on P603 (CNTRL_SPI_MRST)
6.4.1 Short pin 33 on P602 (ASC1_TX_TTL) to pin 20 on P602 (EVG4_GPIO48)
6.4.2 Short pin 7 on P601 (CPU_DACO1_GPIO19) to pin 15 on P603 (GPIO1)
7. Plug your mbed into the mbed carrier module and flash it with the Rover program
8. Create a file named commands.txt on your mbed and fill it with commands of the form:
move {"forward", "backward"} [distance in metres]
or
turn {"right", "left"} [amount to turn in degrees]
9.1 Connect the positive side of the battery pack to the +12V screw terminal on P501
9.2 Connect the negative side of the battery pack to the 0V screw terminal on P501
10 Press the reset button on the mbed and watch the rover follow the commands! Tune the PID and IMUfilter parameters as appropriate.
References
EDP I/O Pin Header information can be found here
EDP-AM-MC1 schematic information can be found here
mbed Carrier Module information can be found here
Other posts in this series:
1. Introduction
2. Chassis
3. Quadrature encoders
4. PID velocity control
5. Inertial measurement unit
6. Rover State Machine
7. Conclusion
8. Technical Details
