Qty Reference
13 C1, C2, C5, C6,
C7, C8, C9, C10,
C11, C13, C14,
C20, C21
2 C3, C17
6 C4, C12, C15,
C16, C18, C19
1 D1
Manufacturer
Manuf. Part #
Distributor
Distrib. Part #
Description
Kemet
C0603C104K4RACTU Digi-Key
399-1096-2-ND
0.1 µF bypass capacitor,
16V, X7R, 0603
Kemet
C0805C105K8RACTU Digi-Key
399-1172-1-ND
Kemet
T491A106M016AS
Digi-Key
399-3687-1-ND
Arima Lasers APCD-635-02-C3-A Ayase America
N/A
1
D2
Kingbright
APB3025ESGC-F01
Mouser
604-APB3025ESGC-F01
1
JP1
Molex
22-28-8040
Digi-Key
WM6004-ND
1
L1
TDK
MLZ2012M100W
Digi-Key
445-6396-1-ND
2 L2, L3
6 R1, R2, R5, R6,
R9, R10
2 R3, R4
1
1
1
1
TDK
MLZ2012A3R3W
Digi-Key
445-6394-1-ND
Any
Any
Digi-Key
P4.7KGCT-ND
1 µF ceramic capacitor, X7R, 10V, 0805
10 µF capacitor, 20%, 16V, tantalum,
size A
Laser diode module w/APC, 635 nm,
< 3 m W, 6. 2 mm D
Red/green bi-color LED, 1201W SMT
Single row, right-angle vertical header,
four-pin, 0.1” P
Inductor, power, 10 µH, 470 mR,
150 mA, 0805
Inductor, Power, 3. 3 µH, 340 mR,
200 mA, 0805
4.7K, 5%, 1/10W, 0603
R7
R8
R11
U1
Any
Any
Any
Any
Any
Any
Any
Any
Digi-Key
Digi-Key
Digi-Key
Digi-Key
P10KGCT-ND
P270GCT-ND
P470GCT-ND
P200KGCT-ND
1
1
1
U2
U3
U4
Parallax
Atmel
ST
Microelectronics
Micrel
P8X32A-Q44
AT24C512BN-SH-T
LD1117S33
N/A
Digi-Key
Digi-Key
1
U5
MIC5213-2.8YC5
Digi-Key
1
U6
1
1
1
U7
Y1
PCB
Micrel
Texas
Instruments
Abracon
Sonic
Manufacturing
MIC5213-3.0YC5
Digi-Key
PCA9306DCTR
ABLS- 6.000MHZ-B4-T
LRF A
Digi-Key
Digi-Key
N/A
10K, 5%, 1/10W, 0603
270 ohms, 5%, 1/10W, 0603
470 ohms, 5%, 1/10W, 0603
200K, 5%, 1/10W, 0603
CMOS VGA (640x480) CameraCube,
1/13” color
N/A Microcontroller, Propeller, TQFP- 44
AT24C512BN-SH-TCT-ND Memory, serial EEPROM, 64 KB, SOIC- 8
497-1241-1-ND Linear regulator, LDO, 3.3V, 800 mA,
SOT223
576-2751-1-ND Linear regulator, LDO, 2.8V, 80 mA,
SC70-5
576-2752-1-ND Linear regulator, LDO, 3.0V, 80 mA, SC70-5
Voltage-level translator, SM8
Crystal, 6 MHz, 18 pF, HC49/US SMD
PCB, fabrication, assembly, and test
296-18509-2-ND
535-10208-2-ND
N/A
FIGURE 3. Bill of Materials.
Advanced Commands
• O Display coordinate, mass, and centroid
information for all detected blobs.
• X Calibrate camera system for range finding
(requires user interaction).
• G Capture and send single frame (eight bits/
pixel grayscale at 160x128).
• C Capture and send single frame ( 16 bits/pixel
YUV422 color at 640x16) with laser enabled.
• P Capture and send processed frame ( 16 bits/pixel
YUV422 color at 640x16) with background
subtraction.
LRF Image Viewer
While waiting for the prototype PCBs to come back
from fabrication and assembly, I started working on a PC-based monitor program called the LRF Image Viewer that
would give me an easy-to-use graphical interface to control
42 SERVO 11.2011
the LRF. Though not a requirement for usage or operation
of the LRF (since the module can be controlled with any
host microcontroller through its serial interface and can
calculate the necessary range finding results onboard),
I thought it would be handy for users to have a simple
tool at their disposal. The LRF Image Viewer is based on
the open source CMUcam3 Frame Grabber tool
( www.cmucam.org/wiki/CMUcam3-Frame-Grabber)
that was originally written in Visual Basic. I ported the tool
to Visual Basic .NET and heavily customized it to meet my
needs. The primary features include:
• Read system/debug messages sent from the LRF.
