BarBot/Components/ControlSystem: Difference between revisions

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===Control box layout===
===Control box layout===
[[File:ControlBox.png|none|800px|Control box - internal layout (draft)]]
[[File:ControlBox.png|none|700px|Control box - internal layout (draft)]]


===Fuse layout===
===Connector panel===
[[File:ControlBoxFuses.png|none|200px|Control box - fuse layout]]
[[File:ConnectorPanelLabelled.png|none|250px|Control panel with labels]]


===External connections===
===Fuses===
[[File:ConnectorPanelLabelled.png|none|600px|Control panel with labels]]
[[File:ControlBoxFuses.png|none|250px|Control box - fuse layout]]  


====Platform (9 way 'D' skt)====
====Platform (9 way 'D' skt)====
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|}
|}


====Cherry conveyor (9 way 'D' skt)====
====Cherry/olive conveyor (9 way 'D' skt)====
{| class="wikitable"
{| class="wikitable"
|-
|-
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====Carbonate drinks servos (25 way 'D' skt)====
====Mixer servos (25 way 'D' skt)====
{| class="wikitable"
{| class="wikitable"
|-
|-
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{| class="wikitable"
{| class="wikitable"
|-
|-
! Pin no!! Signal
! Pin no!! Signal !! Wire colour || Arduino / PSU
|-
|-
| TBC || TBC
| 1 || +5V supply || Red || PSU +5V
|-
| 9 || +5V supply || Red || PSU +5V
|-
| 2 || +5V supply || Red || PSU +5V
|-
| 10 || || ||
|-
| 3 || Neopixel 0 (Dasher 0) ||  || 7
|-
| 11 || Neopixel 1 (Dasher 1) ||  || 8
|-
| 4 || Neopixel 2 (Dasher 2) ||  || 9
|-
| 12 || Neopixel 3 ||  || 10
|-
| 5 || Neopixel 4 ||  || 11
|-
| 13 || Neopixel 5 ||  || 12
|-
| 6 || || ||
|-
| 14 || || ||
|-
| 7 || Ground || Black || PSU 0V
|-
| 15 || Ground || Black || PSU 0V
|-
| 8 || Ground || Black || PSU 0V
|}
|}


===Arduino Mega 2560 Connections===
===Arduino Mega 2560 Connections===
{| class="wikitable"
{| class="wikitable sortable"
|-
|-
! Signal !! Arduino pin !! pinMode !! Signal type !! Wire colour
! Signal !! Arduino pin !! pinMode !! Signal type !! Wire colour
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|-
|-
| Dasher 2 driver || 27 || OUTPUT || LOW = motor off, HIGH = motor on || White/purple
| Dasher 2 driver || 27 || OUTPUT || LOW = motor off, HIGH = motor on || White/purple
|-
| Neopixel on Dashers || TBC || OUTPUT || Neopixel serial
|-
|-
| Cherry/olive conveyor || 38 || OUTPUT || Normally HIGH, pulse low for 10 msec || Yellow
| Cherry/olive conveyor || 38 || OUTPUT || Normally HIGH, pulse low for 10 msec || Yellow
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| Big Syringe BTS7960B || 6 || OUTPUT || PWM || Purple
| Big Syringe BTS7960B || 6 || OUTPUT || PWM || Purple
|-
|-
| Platform "glass present" || 15 (RX3) || INPUT_PULLUP || 0 = no glass, 1 = glass present || Grey
| Platform "glass present" || 15 (RX3) || INPUT_PULLUP || LOW = no glass, HIGH = glass present || Grey
|-
|-
| Platform illumination control || 14 (TX3) || OUTPUT || serial (TX to platform only) || White/black
| Platform illumination control || 14 (TX3) || OUTPUT || serial (TX to platform only) || White/black
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| Pololu stepper driver || 4 || OUTPUT || Enable || White/black
| Pololu stepper driver || 4 || OUTPUT || Enable || White/black
|-
|-
| Limit / zero switch || 52 || INPUT_PULLUP || 0 = platform at zero, 1 = platform not at home position || White/black
| Limit / zero switch || 52 || INPUT_PULLUP || LOW = at zero, HIGH = not at zero || White/black
|-
| Emergency stop || 53 || INPUT_PULLUP || LOW = pressed, HIGH = not pressed || White/black
|-
| Neopixel 0 (Dasher 0) || 7 || OUTPUT || Neopixel serial ||
|-
| Neopixel 1 (Dasher 1) || 8 || OUTPUT || Neopixel serial ||
|-
| Neopixel 2 (Dasher 2) || 9 || OUTPUT || Neopixel serial ||
|-
| Neopixel 3 || 10 || OUTPUT || Neopixel serial ||
|-
|-
| Emergency stop || 53 || INPUT_PULLUP || 0 = switch pressed, 1 = switch not pressed || White/black
| Neopixel 4 || 11 || OUTPUT || Neopixel serial ||
|-
|-
| Lighting / bling ? || ? || ? || Neopixel serial?
| Neopixel 5 || 12 || OUTPUT || Neopixel serial ||
|-
|-
| Serial comms to/from Rassberry Pi || || 1 x INPUT, 1 x OUTPUT || serial (TX / RX)
| Serial to Rassberry Pi || 16 (TXD2) || OUTPUT || serial TX ||
|-
|-
! Total I/O !! !! 27 x OUTPUT, 3 x INPUT_PULLUP, 1 x INPUT !!
| Serial from Rassberry Pi || 17 (RXD2) || INPUT_PULLUP || serial RX ||
|}
|}

Revision as of 15:59, 26 July 2014

Control System

General Description

The Barbot control system is based on an Arduino Mega 2560 and a Raspberry Pi. Power is from a PC ATX PSU.

Control box layout

Control box - internal layout (draft)
Control box - internal layout (draft)

Connector panel

Control panel with labels
Control panel with labels

Fuses

Control box - fuse layout
Control box - fuse layout

Platform (9 way 'D' skt)

Pin no Signal Wire colour Pololu / Arduino
1 +5V supply Orange PSU +5V
2 Stepper coil A Green Pololu
3 Stepper coil A Purple Pololu
4 Stepper coil B Yellow Pololu
5 Stepper coil B Blue Pololu
6 Serial TX to platform White/black 14 (TX3)
8 "Glass present" signal Grey 15 (RX3)
9 Ground Black PSU 0V

Cherry/olive conveyor (9 way 'D' skt)

Pin no Signal Wire colour L298N (1)
2 Stepper coil A Green OUT2
3 Stepper coil A Purple OUT1
4 Stepper coil B Yellow OUT4
5 Stepper coil B Blue OUT3
7 IR sensor Orange
8 IR LED Grey
9 Ground Black

Lemon vendor (9 way 'D' skt)

Pin no Signal Wire colour L298N (2)
2 Motor +ve Green OUT1
3 Motor -ve Purple OUT2
8 CAM switch White/black
9 Ground Black PSU 0V

Stirrer (9 way 'D' skt)

Pin no Signal Wire colour L298N (3)
2 Motor +ve (swizzler) Orange OUT1
3 Motor -ve (swizzler) Black OUT2
4 Motor -ve (up/down) Purple OUT3
5 Motor +ve (up/down) White/black OUT4

Umbrella dropper (9 way 'D' skt)

Pin no Signal Wire colour L298N (4)
2 Solenoid Orange OUT1
3 Solenoid Blue OUT2

Big Syringe (9 way 'D' skt)

Pin no Signal Wire color BTS7960B
2 Motor +ve Red/brown OUT1
3 Motor -ve Black OUT2

Optic servos (25 way 'D' skt)

Pin no Signal Wire colour Arduino / PSU
2 Ground Black PSU 0V
15 +5V supply Pink PSU +5V
3 Servo 0 Yellow 40
16 Ground Black PSU 0V
4 +5V supply Pink PSU +5V
17 Servo 1 Green 42
5 Ground Black PSU 0V
18 +5V supply Pink PSU +5V
6 Servo 2 Blue 44
19 Ground Black PSU 0V
7 +5V supply Pink PSU +5V
20 Servo 3 Grey 46
8 Ground Black PSU 0V
21 +5V supply Pink PSU +5V
9 Servo 4 Purple 48
22 Ground Black PSU 0V
10 +5V supply Pink PSU +5V
23 Servo 5 Orange 50
25 Makerslide zero / limit switch White/black 52
13 Ground Black PSU 0V

Mixer servos (25 way 'D' skt)

Pin no Signal Wire colour Arduino / PSU
2 Ground Black PSU 0V
15 +5V supply Pink PSU +5V
3 Servo 0 Yellow 41
16 Ground Black PSU 0V
4 +5V supply Pink PSU +5V
17 Servo 1 Green 43
5 Ground Black PSU 0V
18 +5V supply Pink PSU +5V
6 Servo 2 Blue 45
19 Ground Black PSU 0V
7 +5V supply Pink PSU +5V
20 Servo 3 Grey 47
8 Ground Black PSU 0V
21 +5V supply Pink PSU +5V
9 Servo 4 Purple 49
22 Ground Black PSU 0V
10 +5V supply Pink PSU +5V
23 Servo 5 Orange 51
25 Emergency stop switch White/black 53
13 Ground Black PSU 0V

Dashers (15 way 'D' skt)

Pin no Signal Wire colour Arduino
1 Motor common +ve Red/brown PSU +5V
2 Motor 0 -ve Yellow Dasher driver 0
3 Motor 1 -ve Green Dasher driver 1
4 Motor 2 -ve Blue Dasher driver 2
5 Cam switch 0 Purple 22
6 Cam switch 1 Grey 24
7 Cam switch 2 White/black 26
8 Cam switch common ground Black PSU 0V

LEDs / bling (15 way 'D' skt)

Pin no Signal Wire colour Arduino / PSU
1 +5V supply Red PSU +5V
9 +5V supply Red PSU +5V
2 +5V supply Red PSU +5V
10
3 Neopixel 0 (Dasher 0) 7
11 Neopixel 1 (Dasher 1) 8
4 Neopixel 2 (Dasher 2) 9
12 Neopixel 3 10
5 Neopixel 4 11
13 Neopixel 5 12
6
14
7 Ground Black PSU 0V
15 Ground Black PSU 0V
8 Ground Black PSU 0V

Arduino Mega 2560 Connections

Signal Arduino pin pinMode Signal type Wire colour
Optic 0 40 OUTPUT servo Yellow
Optic 1 42 OUTPUT servo Green
Optic 2 44 OUTPUT servo Blue
Optic 3 46 OUTPUT servo Grey
Optic 4 48 OUTPUT servo Purple
Optic 5 50 OUTPUT servo Orange
Mixer 0 41 OUTPUT servo Yellow
Mixer 1 43 OUTPUT servo Green
Mixer 2 45 OUTPUT servo Blue
Mixer 3 47 OUTPUT servo Grey
Mixer 4 49 OUTPUT servo Purple
Mixer 5 51 OUTPUT servo Orange
Dasher 0 cam switch 22 INPUT_PULLUP switch to ground Purple
Dasher 0 driver 23 OUTPUT LOW = motor off, HIGH = motor on Green
Dasher 1 cam switch 24 INPUT_PULLUP switch to ground Grey
Dasher 1 driver 25 OUTPUT LOW = motor off, HIGH = motor on Purple
Dasher 2 cam switch 26 INPUT_PULLUP switch to ground White/black
Dasher 2 driver 27 OUTPUT LOW = motor off, HIGH = motor on White/purple
Cherry/olive conveyor 38 OUTPUT Normally HIGH, pulse low for 10 msec Yellow
Lemon vendor 34 OUTPUT Normally HIGH, pulse low for 10 msec Purple
Stirrer 36 OUTPUT Normally HIGH, pulse low for 10 msec Blue
Umbrella dropper 32 OUTPUT Normally LOW, pulse HIGH for 1000 msec Orange
Big Syringe BTS7960B 5 OUTPUT PWM Yellow
Big Syringe BTS7960B 6 OUTPUT PWM Purple
Platform "glass present" 15 (RX3) INPUT_PULLUP LOW = no glass, HIGH = glass present Grey
Platform illumination control 14 (TX3) OUTPUT serial (TX to platform only) White/black
Pololu stepper driver 2 OUTPUT Step Green/yellow
Pololu stepper driver 3 OUTPUT Direction Yellow
Pololu stepper driver 4 OUTPUT Enable White/black
Limit / zero switch 52 INPUT_PULLUP LOW = at zero, HIGH = not at zero White/black
Emergency stop 53 INPUT_PULLUP LOW = pressed, HIGH = not pressed White/black
Neopixel 0 (Dasher 0) 7 OUTPUT Neopixel serial
Neopixel 1 (Dasher 1) 8 OUTPUT Neopixel serial
Neopixel 2 (Dasher 2) 9 OUTPUT Neopixel serial
Neopixel 3 10 OUTPUT Neopixel serial
Neopixel 4 11 OUTPUT Neopixel serial
Neopixel 5 12 OUTPUT Neopixel serial
Serial to Rassberry Pi 16 (TXD2) OUTPUT serial TX
Serial from Rassberry Pi 17 (RXD2) INPUT_PULLUP serial RX
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