BarBot/Components/ControlSystem
< BarBot | Components
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
Fuse layout
External connections
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 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 |
Carbonate drinks 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 |
|---|---|
| 1 | Motor common +ve |
| 2 | Motor 0 -ve |
| 3 | Motor 1 -ve |
| 4 | Motor 2 -ve |
| 5 | Cam switch 0 |
| 6 | Cam switch 1 |
| 7 | Cam switch 2 |
| 8 | Cam switch common ground |
LEDs / bling (15 way 'D' skt)
| Pin no | Signal |
|---|---|
| TBC | TBC |
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 | 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" | 15 (RX3) | INPUT_PULLUP | 0 = no glass, 1 = 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 | 0 = platform at zero, 1 = platform not at home position | White/black |
| Emergency stop | 53 | INPUT_PULLUP | 0 = switch pressed, 1 = switch not pressed | White/black |
| 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 |