BarBot/Components/ControlSystem

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 - internal layout

Control box layout

Control box - internal layout

Connector panel

Control panel with labels

Fuses

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 and umbrella dropper (9 way 'D' skt)

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

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	Spare / unused	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
24	Zero limit switch	White/black	37
12	Ground	Black	PSU 0V
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	+5V supply	Red	PSU +5V
3	Neopixel 0 (Dashers 24+24+24 LEDs)	Yellow	7
11	Neopixel 1	White/purple	8
4	Neopixel 2	Purple	9
12	Neopixel 3	Blue	10
5	Neopixel 4	Green	11
13	Neopixel 5	Red/blue	12
14	Ground	Blue	PSU 0V
7	Ground	Blue	PSU 0V
15	Ground	Blue	PSU 0V
8	Ground	Blue	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 start/stop	38	OUTPUT	Normally HIGH, pulse LOW for 10 msec to start, hold LOW to stop	Yellow
Cherry/olive conveyor end sensor	39	INPUT_PULLUP	LOW = sensor clear, HIGH = item at end of conveyor	Orange
Lemon vendor start	34	OUTPUT	Normally HIGH, pulse LOW for 10 msec to start	Purple
Stirrer start	36	OUTPUT	Normally HIGH, pulse LOW for 10 msec to start	Blue
Umbrella dropper	32	OUTPUT	Normally LOW, pulse HIGH for 500 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
Optics 'D' type pin 25 (spare)	52	INPUT_PULLUP	Spare / unused	White/black
Zero limit switch	37	INPUT_PULLUP	LOW = at zero, HIGH = not at zero	White/blue
Emergency stop	53	INPUT_PULLUP	LOW = not pressed, HIGH = pressed	White/black
Neopixel 0 (Dashers)	7	OUTPUT	Neopixel serial (72 LEDs)	Yellow
Neopixel 1	8	OUTPUT	Neopixel serial	White/purple
Neopixel 2	9	OUTPUT	Neopixel serial	Purple
Neopixel 3	10	OUTPUT	Neopixel serial	Blue
Neopixel 4	11	OUTPUT	Neopixel serial	Green
Neopixel 5	12	OUTPUT	Neopixel serial	Red/blue
Serial to RPi (via level shifter)	16 (TX2)	OUTPUT	serial TX	Green
Serial from RPi (via level shifter)	17 (RX2)	INPUT_PULLUP	serial RX	Blue

Raspberry Pi Connections

Signal	RPi pin	Wire colour
+3V3	1	Yellow
+5V	2	Red
Ground	6	Black
TXD (to Arduino via level shifter)	8	Purple
RXD (from Arduino via level shifter)	10	White/purple