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 |
|
8 |
"Glass present" signal |
Grey |
|
9 |
Ground |
Black |
PSU 0V
|
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 |
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
|
1 |
+5V supply |
Pink |
PSU +5V
|
2 |
Ground |
Black |
PSU 0V
|
3 |
Servo 1 |
Yellow |
|
4 |
+5V supply |
Pink |
PSU +5V
|
5 |
Ground |
Black |
PSU 0V
|
6 |
Servo 3 |
Blue |
|
7 |
+5V supply |
Pink |
PSU +5V
|
8 |
Ground |
Black |
PSU 0V
|
9 |
Servo 5 |
Purple |
|
13 |
Ground |
Black |
PSU 0V
|
14 |
Servo 0 |
Orange |
|
15 |
+5V supply |
Pink |
PSU +5V
|
16 |
Ground |
Black |
PSU 0V
|
17 |
Servo 2 |
Green |
|
18 |
+5V supply |
Pink |
PSU +5V
|
19 |
Ground |
Black |
PSU 0V
|
20 |
Servo 4 |
Grey |
|
21 |
+5V supply |
Pink |
PSU +5V
|
22 |
Ground |
Black |
PSU 0V
|
25 |
Makerslide zero / limit switch |
White/black |
|
Carbonate drinks servos (25 way 'D' skt)
Pin no |
Signal |
Wire colour |
Arduino / PSU
|
1 |
+5V supply |
Pink |
PSU +5V
|
2 |
Ground |
Black |
PSU 0V
|
3 |
Servo 1 |
Yellow |
|
4 |
+5V supply |
Pink |
PSU +5V
|
5 |
Ground |
Black |
PSU 0V
|
6 |
Servo 3 |
Blue |
|
7 |
+5V supply |
Pink |
PSU +5V
|
8 |
Ground |
Black |
PSU 0V
|
9 |
Servo 5 |
Purple |
|
13 |
Ground |
Black |
PSU 0V
|
14 |
Servo 0 |
Orange |
|
15 |
+5V supply |
Pink |
PSU +5V
|
16 |
Ground |
Black |
PSU 0V
|
17 |
Servo 2 |
Green |
|
18 |
+5V supply |
Pink |
PSU +5V
|
19 |
Ground |
Black |
PSU 0V
|
20 |
Servo 4 |
Grey |
|
21 |
+5V supply |
Pink |
PSU +5V
|
22 |
Ground |
Black |
PSU 0V
|
25 |
Emergency stop switch |
White/black |
|
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)
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 |
|
|