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

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	Wire colour	L298N (1)
2	Stepper coil A	Green	OUT1
3	Stepper coil A	Purple	OUT2
4	Stepper coil B	Yellow	OUT3
5	Stepper coil B	Blue	OUT4
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
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)

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