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NewWiringGuide

NewWiring Guide - Flockbot

The new Flockbots have Arduino Megas. Below is the wiring for them. First we list tables of constraints by pin type. Then we list the final pinouts per device.

Constraints by Type

Serial

SerialRXTXNote
001Serial to Pi. On LCD Screen. Shared with USB
11918Conflict with Interrupts, don't use
21716 
31514 

Note that we share the Pi with USB so we can download to the bootloader and flash the arduino from the Pi. If we can flash to the bootloader from some other serial, we'd prefer to use Serial2 (COM2) instead.

Interrupt

InterruptPortNote
02Used for bump Interrupt
13Used for break beam Interrupt
221Conflict with IIC, don't use if using IIC
320Conflict with IIC, don't use if using IIC
419Used for Right Wheel Watcher Interrupt
518Used for Left Wheel Watcher Interrupt

PWM

PortNote
2Used for bump sensor Interrupt. On LCD Screen
3Used for break beam Interrupt. On LCD Screen
4Used for Gripper. On LCD Screen
5On LCD Screen
6On LCD Screen
7Used by LCD Screen. Unavailable.
8Used by LCD Screen. Unavailable.
9Used by LCD Screen. Unavailable.
10Used by LCD Screen. Unavailable.
11Used by LCD Screen. Unavailable.
12On LCD Screen
13Used by LCD Screen. Unavailable. Also tied to Mega LED.
44Used for PiCam Servo
45Used for Left Wheel
46Used for Right Wheel

SPI

SPIPortNote
MISO50 
MOSI51 
SCK52 
SS53 

IIC

IICPortNote
SDA20Conflict with Interrupt 2, don't use if you need Interrupt 2
SCL21Conflict with Interrupt 3, don't use if you need Interrupt 3

Analog

PortNote
A1On LCD Screen
A2On LCD Screen
A3On LCD Screen
A4On LCD Screen
A5On LCD Screen
A6Used for Left Diagonal IR
A7Used for Left IR
A8Used for Center IR
A9Used for Right IR
A10Used for Right Diagonal IR
A11Used for Voltage Sensor
A12 
A13 
A14 
A15 

Pinouts by Device

DevicePortNote
Left Diagonal IRA6 
Left IRA7 
Center IRA8 
Right IRA9 
Right Diagonal IRA10 
Voltage SensorA11 
Serial to Pi RX0Serial 0. On LCD. See earlier note about how we'd prefer to use COM2
Serial to Pi TX1Serial 0. On LCD. See earlier note about how we'd prefer to use COM2
Bump Sensor2On LCD
Break Beam Sensor3On LCD
Gripper Servo4On LCD
PiCam Servo44 
Left Wheel Servo45 
Right Wheel Servo46 
Wheel Watcher Left Clock18 
Wheel Watcher Left Direction31 
Wheel Watcher Left Mode18Attached to the ground pin in the clock housing
Wheel Watcher Right Clock19 
Wheel Watcher Right Direction32 
Wheel Watcher Right Mode19Attached to the ground pin in the clock housing

A note about the Wheel Watcher Mode

Wheel Watchers need to have their mode pin pulled down to force them into sign/magnitude (direction/clock) mode. We can do this in various ways, it's not precisely defined yet. It appears that just grounding this pin will do the trick. Haven't tested if not doing *anything* will do the trick also.

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Page last modified on May 25, 2016, at 02:53 PM