BarBot/Components/ControlSystem

Control System

General Description

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

Control box layout

Control box - internal layout (draft)

External connections

Platform (9 way 'D' skt)

Pin no	Signal
1	+5V supply to platform
2	Stepper coil A
3	Stepper coil A
4	Stepper coil B
5	Stepper coil B
6	Serial TX to platform
7	N/C
8	"Glass present" signal
9	Ground

Cherry conveyor (9 way 'D' skt)

Pin no	Signal
1	N/C
2	Stepper coil A
3	Stepper coil A
4	Stepper coil B
5	Stepper coil B
6	N/C
7	IR sensor
8	IR LED
9	Ground

Lemon vendor (9 way 'D' skt)

Pin no	Signal
1	N/C
2	Motor
3	Motor
4	N/C
5	N/C
6	N/C
7	N/C
8	CAM switch
9	Ground

Stirrer (9 way 'D' skt)

Pin no	Signal
1	N/C
2	Motor (up/down)
3	Motor (up/down)
4	Motor (swizzler)
5	Motor (Swizzler)
6	N/C
7	N/C
8	N/C
9	N/C

Umbrella dropper (9 way 'D' skt)

Pin no	Signal
1	N/C
2	Solenoid
3	Solenoid
4	N/C
5	N/C
6	N/C
7	N/C
8	N/C
9	N/C

Big Syringe (9 way 'D' skt)

Pin no	Signal
1	N/C
2	Motor
3	Motor
4	N/C
5	N/C
6	N/C
7	N/C
8	N/C
9	N/C

Optic servos (25 way 'D' skt)

Pin no	Signal
1	+5V supply
2	Servo 0
3	Ground
4	+5V supply
5	Servo 1
6	Ground
7	+5V supply
8	Servo 2
9	Ground
10	+5V supply
11	Servo 3
12	Ground
13	+5V supply
14	Servo 4
15	Ground
16	+5V supply
17	Servo 5
18	Ground
19 - 23	N/C
24	Makerslide zero / limit switch
25	Ground

Carbonate drinks servos (25 way 'D' skt)

Pin no	Signal
1	+5V supply
2	Servo 0
3	Ground
4	+5V supply
5	Servo 1
6	Ground
7	+5V supply
8	Servo 2
9	Ground
10	+5V supply
11	Servo 3
12	Ground
13	+5V supply
14	Servo 4
15	Ground
16	+5V supply
17	Servo 5
18	Ground
19 - 25	N/C

Dashers (15 way 'D' skt)

Pin no	Signal
1	Cam switch 0
2	Cam switch 0
3	Motor 0
4	Motor 0
5	Cam switch 1
6	Cam switch 1
7	Motor 1
8	Motor 1
9	Cam switch 2
10	Cam switch 2
11	Motor 2
12	Motor 2
13 - 15	N/C

LEDs / bling (15 way 'D' skt)

Pin no	Signal
TBC	TBC

Arduino Mega 2560 Connections

Signal	Arduino pin	pinMode	Signal type
Optic 0	TBC	OUTPUT	servo
Optic 1	TBC	OUTPUT	servo
Optic 2	TBC	OUTPUT	servo
Optic 3	TBC	OUTPUT	servo
Optic 4	TBC	OUTPUT	servo
Optic 5	TBC	OUTPUT	servo
Mixer 0	TBC	OUTPUT	servo
Mixer 1	TBC	OUTPUT	servo
Mixer 2	TBC	OUTPUT	servo
Mixer 3	TBC	OUTPUT	servo
Mixer 4	TBC	OUTPUT	servo
Mixer 5	TBC	OUTPUT	servo
Dasher 0	TBC	OUTPUT	pulse low
Dasher 1	TBC	OUTPUT	pulse low
Dasher 2	TBC	OUTPUT	pulse low
Neopixel on Dashers	TBC	OUTPUT	Neopixel serial
Cherry/olive conveyor	TBC	OUTPUT	pulse low
Lemon vendor	TBC	OUTPUT	pulse low
Stirrer	TBC	OUTPUT	pulse low
Umbrella dropper	TBC	OUTPUT	pulse low
Big Syringe	TBC	2 x OUTPUTs	both need to support PWM
Platform "glass present"	TBC	INPUT_PULLUP	0 = no glass, 1 = glass present
Platform illumination control	TBC	OUTPUT	serial (TX to platform only)
Pololu stepper controller	TBC	3 x OUTPUTs	Step, Direction, Enable
Limit / zero switch	TBC	INPUT_PULLUP	0 = platform at zero, 1 = platform not at home position
Emergency stop	TBC	INPUT_PULLUP	0 = switch pressed, 1 = switch not pressed
Lighting / bling ?	?	?	Neopixel serial?
Serial comms to/from Rassberry Pi		1 x INPUT, 1 x OUTPUT	serial (TX / RX)
Total I/O		27 x OUTPUT, 3 x INPUT_PULLUP, 1 x INPUT