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BotBoarduino Manual.

Author: Devon Simmons

Date: March 27, 2012

Table of Contents Links

BotBoarduino BotBoarduino Schematic (pdf)
BotBoarduino Hardware Information
Shorting Bar Jumpers and Connections
PS2 / SSC-32 Connections
Troubleshooting
General Troubleshooting

BotBoarduino.

BotBoarduino Hardware Information.

The image above illustrates the shorting bar jumpers (the black rectangles) as they are on the board as it is
shipped. The jumpers are used to set operating parameters for the board. It should not be assumed that they are
correct for your project as changes are likely to be required. Please consult the tutorial for your project for the
proper shorting bar jumper positions.

The BotBoarduino is 3.00" x 2.30" with 0.125" holes set in 0.15" from each edge.

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1. The BotBoarduino is based on the Arduino Duemilanove. In the Arduino programming environment you
must select "Arduino Duemilanove w/ ATmega328". Simply plug a USB Mini cable from this plug to a
free USB port on your PC for programming the processor and receiving debug information. For help with
USB drivers, go to the official Arduino page. To prevent damaging the board's USB port, you must
remove the USB cable from a MOBILE robot!
2. These four pins are connected to the FTDI's CTS, DSR, DCD, and RI signals. You should never have to
worry about these pins. Use them only if you know what you're doing as these pins can prevent the
BotBoarduino from being programmed.
3. This is a Power Good LED. When you have successfully applied power to the onboard regulator, the
yellow LED will turn on.
4. This shorting bar enables the onboard speaker. To use the speaker, send the appropriate sound generating
command to Pin 5. Note, the I/O pin drives a transistor amplifier. It does not drive the speaker directly.
5. The 3 LEDs and Pushbuttons use only 3 I/O lines to make a simple user interface for your program. By
making the I/O line a low output the LED can be turned on. By briefly making the I/O line an input the
I/O line can be read to see if a button is being pressed. However, do NOT make the I/O line a high output
and press a button, as damage to the I/O pin can occur.The shorting bars directly above JA, JB, and JC
will need to be installed for these LEDs and Pushbuttons to be used.

Chip I/O PB/LED

Pin 7 A Red
Pin 8 B Green
Pin 9 C Yellow
6. This is where you connect servos, motor controllers, sensors, etc. to the microcontroller. Use caution when
connecting anything the the I/O bus. Never connect anything while the power is on. The outside row is
ground, the middle row is power, and the inside row are the IO pins.
7. This is where you configure the I/O bus center row to use VL (+5vdc from the onboard regulator) or VS
(direct from the Servo Power Input). This is done in banks of four I/O pins. Caution, applying the servo
voltage to this row with a 5vdc peripheral installed will cause damage to the peripheral.
8. This port is for connecting a Sony Playstation controller to use as a robot controller. The Lynxmotion,
Sony, and Madcatz controllers we tested only required a 1K pullup on Pin 6, which is built into the board
and must be enabled by installing a jumper on the JPU. Other brands may require a pullup on Pin 9, which
is not included. Note, some controllers require the green wire to be connected to 7.5vdc to enable
vibrating motors, or wireless operation. The Playstation 2 cables' coloring differs from different
production runs. Please refer to the table in the Shorting Bars and Connections section to verify the color
coding and connections for your cable.

Pin PS2 Function

Pin 8 DAT
Pin 7 CMD
Pin 6 ATT
Pin 9 CLK
9. This pin group breaks out the ICSP pins. These allow you to burn a bootloader onto the Atmega328 or
program the chip with an external programmer. Do not connect anything to these pins unless you know
what you are doing.
10. This connecter brings out pins 0 and 1 of the arduino along with ground in such a way that you can
connect the BotBoarduino to an SSC-32 with any servo extension cable. You will need to remove
anything connected to these pins while programming.
11. This allows the VL and/or VS inputs to be connected to two of the AtMega328's analog inputs through a
4:1 voltage divider. For example, if the battery voltage were 9vdc, the analog input would see 2.25vdc.

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Chip Use
I/O
V-Servo / General
A0
Purpose
V-Logic / General
A1
Purpose
A2 -
General Purpose
A5
12. These headers bring out analog pins A4 and A5 for use with the I2C comunication protocol. To use this
header you must install jumpers horizontally across the SDA-P and SCL-P headers.
13. This allows you to power the Servos and Logic from the same battery. It simply connects the VS input to
the VL input. Caution, when using this option do NOT use the VL input.
14. This button will reset the micro when pressed. This can be useful for starting different programs
depending on which SUI button is pressed on reset.
15. This is the VS (servo voltage) input. Servo voltage can be 4.8vdc to 7.2vdc. However, some micro servos
will not tolerate more than 6vdc. This input is used to provide power for the servos only, or to provide
power to both VL and VS using the VS=VL jumper. See Item 13.

Board Input
VS + RED
VS - BLACK
16. This is the VL (logic voltage) input. This input is normally used with a 9vdc battery connector to provide
power to the microcontroller and anything connected to the 5vdc lines on the board. This input can be
used to isolate the VL from the VS (servo voltage).

Board Input
VL + RED
VL - BLACK
17. This header selects the Logic Power source for the board. Select USB to power the Logic from the
onboard USB port or Select EXT to power the board from the VL terminal.
18. The Low Dropout regulator will provide 5vdc out with as little as 5.4vdc coming in. This is important
when operating your robot from a battery. It can accept a maximum of 12vdc in. The regulator is rated for
1.5A.
19. These headers are spaced to accept all Arduino compatible Shields and Extensions.
20. Status LEDs.

LED Function
Directly connected to P13 on the
L
Arduino chip
TX Blinks when sending data
RX Blinks when receiving data
21. This is where the Atmega 328 chip is plugged in. Atmega328 pin map:

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Shorting Bar Jumpers and Connectors at a glance.

The Playstation 2 cables' coloring differs from different production runs. Please refer to the diagram below to
verify the color coding on your cable.

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PS2 / SSC-32 Connections

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Troubleshooting

General Troubleshooting

The yellow power (PWR) LED should glow if the regulator is getting the proper power. You must make sure to
connect the battery or wall pack with the proper polarity. This means the red wire is positive (+) and the black
wire is ground (-). If you connect the battery or wall pack with the polarity reversed, the regulator and the
microcontroller can be instantaneously and permanently damaged!Check your wiring carefully before applying
power.

If SSC-32 is connected to RX/TX/Gnd (hardware serial port on pin 0 and 1) it must be removed while
programming! This is because the USB port shares the same IO pins.

The maximum voltage for VL is 12vdc. If you use a higher voltage the regulator may overheat and you could get
burned!

Confirm that the Atmega 328 chip's notch is aligned with the socket's notch.

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In the Arduino programming environment, make sure you have selected "Arduino Duemilanove w/
ATmega328".

The Lynxmotion PS2 controller has issues with the analog mode on the Lynxmotoin left pad (often displaying 0
rather than analog values). We suggest using the joysticks as alternative analog inputs.

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