Servo - May 2008

REVIVING AN ANDROBOT BOB: Part 4

ANDROBOT BOB HANDY BOARD PORT ASSIGNMENTS

The Handy Board is currently set up as the main controller 21 for an early prototype BOB robot. Here is a list of the assignment 22 and meaning of each I/O pin on the Handy Board. Also listed 23 are the built-in ports for motor control, etc., which show how 24 they are wired into the robot. Some notes about each one are 25 shown as a reference to explain how they are used within BOB. 26

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BUILT-IN HANDY BOARD PORTS:

Compass – East
Smoke Detector
Battery Voltage/Level
Ambient Light Level – Left
Ambient Light Level – Right
Motion Detect (reserved for original I/R)
Motion Detect (reserved for original I/R)

RJ11 Connector: Serial connection (direct downloading of firmware/wireless Bluetooth operation)

Pin Description

1 NC

2 RX - Input

3 +5V from Handy Board (this is customized for BOB)

Can power Bluetooth or Serial Interface

4 Ground

5 TX - Output

6 N/C

Motor Ports: Used for main drive motors
Port Description
0 Left Drive Motor (to LMD18200 H-bridge)
1 Right Drive Motor (to LMD18200 H-bridge)
2 Open – TI75540 H-bridge on Handy Board
3 Open – TI75540 H-bridge on Handy Board

Analog In: Port Description 0 Pass Through to Expansion Board 1 Pass Through to Expansion Board 2 Open 3 Open 4 Open 5 Open 6 Ambient Sound Level

Digital Out: Port Description

0 Bit 0 – Sonar Select 1 Bit 1 – Sonar Select 2 Bit 2 – Sonar Select 3 Serial Select – Low (0) SX48 Co-processor, or High (1)

SpeakJet 4 Open 5 Open 6 Open 7 Open 8 Open

LEGO Sensor In: Port Description 28 Open 29 Open 30 Open 31 Open

Servo Outputs: Port Description 0 Open 1 Open 2 Open 3 Open 4 Open 5 Open

Digital In:
Port Description
7 Sonar ECHO (from J12 on expansion board)
8 SpeakJet Status (buffer half full)
9 PA7 – Serial Out to SX48 and SpeakJet
10 Left Encoder – Main Drive
11 Left Encoder – Main Drive
12 Right Encoder – Main Drive
13 Right Encoder – Main Drive
14 SpeakJet Status (Speaking)
15 SpeakJet Status (Ready)

EXPANSION BOARD PORT CONNECTIONS:

Analog In:
Port Description
16 Head Busy (from SX48 controller)
17 Head Error (manually moved)
18 Compass – North
19 Compass – West
20 Compass – South

Miscellaneous Handy Board connections:
START Button: Tap Switch on BOB’s Head
STOP Button: Hidden Switch Inside (used for Firmware
upgrades)
Thumbwheel: Ambient Temperature (LM34)
I/R Output: Unused
I/R Input: Unused (may be used for I/R remote control)