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
27
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)
TOPO BATTERY MONITOR BOARD
(USED ON PROTOTYPE BOB):
J1: Power in from batteries
Pin Description
1 Ground
2 +12V
3 +24V
J2: Switched power out to logic/drive
Pin Description
1 +12V
2 +24V
SERVO 05.2008 65