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 |
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 |
|
| 16 |
Ground |
Black |
PSU 0V
|
| 4 |
+5V supply |
Pink |
PSU +5V
|
| 17 |
Servo 1 |
Green |
|
| 5 |
Ground |
Black |
PSU 0V
|
| 6 |
Servo 2 |
Blue |
|
| 19 |
Ground |
Black |
PSU 0V
|
| 7 |
+5V supply |
Pink |
PSU +5V
|
| 20 |
Servo 3 |
Grey |
|
| 8 |
Ground |
Black |
PSU 0V
|
| 21 |
+5V supply |
Pink |
PSU +5V
|
| 9 |
Servo 4 |
Purple |
|
| 22 |
Ground |
Black |
PSU 0V
|
| 10 |
+5V supply |
Pink |
PSU +5V
|
| 23 |
Servo 5 |
Orange |
|
| 25 |
Emergency stop switch |
White/black |
|
| 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)
Arduino Mega 2560 Connections
| Signal |
Arduino pin |
pinMode |
Signal type |
Wire colour
|
| 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 driver |
2 |
OUTPUT |
Step |
Green/yellow
|
| Pololu stepper driver |
3 |
OUTPUT |
Direction |
Yellow
|
| Pololu stepper driver |
4 |
OUTPUT |
Enable |
White/black
|
| 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 |
|
