05-09-2012, 10:40 AM
SPARK V ATMEGA16 Hardware Manual
[attachment=33383]
Introduction
Thanks for choosing the SPARK V mobile robot platform. SPARK V will give you good
exposure to the world of robotics and embedded systems. Thanks to its innovative architecture
and adoption of the ‘Open Source Philosophy’ in its software and hardware design, you will be
able to create and contribute to complex applications that run on this platform, helping you
acquire expertise as you spend more time with them.
Safety precautions:
• Robot’s electronics is static sensitive. Use robot in static free environment.
• Read the assembling and operating instructions before working with the robot.
• If robot’s battery low buzzer starts beeping, immediately charge the batteries.
• To prevent fire hazard, do not expose the equipment to rain or moisture.
• Refrain from dismantling the unit or any of its accessories once robot is assembled.
• Never allow NiMH battery to deep discharge.
• Mount all the components with correct polarity.
• Keep wheels away from long hair or fur.
• Keep the robot away from the wet areas. Contact with water will damage the robot.
• To avoid risks of fall, keep your robot in a stable position.
• Do not attach any connectors while robot is powered ON.
• Never leave the robot powered ON when it is not in use.
SPARK V ATMEGA16
Spark V is a low cost robot designed for robotics hobbyists and enthusiasts. It is jointly designed
by NEX Robotics with Department of Computer Science and Engineering, IIT Bombay. Spark V
will help you get acquainted with the world of robotics and embedded systems. Thanks to its
innovative architecture and adoption of the ‘Open Source Philosophy’ in its software and
hardware design, you will be able to create and contribute to complex applications that run on
this platform, helping you acquire expertise as you spend more time with them.
Spark V robot is based on ATMEGA16A microcontroller. Robot comes with rechargeable 7.2V
600mA NiMH Battery and onboard intelligent battery charger. It has 3 analog white line sensors,
3 analog IR Proximity sensors, 3 directional light intensity sensors, battery voltage sensing,
TSOP1738 IR receiver for TV remote control and Position encoders. Robot has support for 3
MaxBotix EZ series ultrasonic range sensors. It also has support for the servo mounted sensor
pod which can be used to make 180 degrees scan for the map making. Robot is powered by 6 cell
7.2V 600mA rechargeable NiMH batteries which gives about one hour battery operation. Robot
has built-in Smart Battery Controller which charges the battery in intelligent way and also
monitors the battery charge level when robot is in operation. Robot has 2x16 alphanumeric LCD,
Lots of LED indicators for quick debugging, Buzzer etc. Motors are controlled by L293D motor
driver. Robot gives top speed of 15cm to 20cm per second depending on the model.
Motion control
Spark V robot has two DC geared motors in differential drive configuration along with the third
caster wheel for the support. Robot has top speed of about 15/20cm per second. Using this
configuration, the robot can turn with zero turning radius by rotating one wheel in clockwise
direction and other in counterclockwise direction. Robot’s motors have built-in clutch for
protection of the motor’s gears from non continuous wheel stalling.
Motion control involves direction control and velocity control. Motors are controlled by L293D
dual motor driver which can provide up to 600mA of current to each motor. To change the
direction of the motor, appropriate logic levels (High/Low) are applied to L293D’s direction
control pins. Velocity control is done using Pulse Width Modulation (PWM).
LEDs are connected at the input and the output stage of the motor driver for quick interpretation
of the motion commands.
[attachment=33383]
Introduction
Thanks for choosing the SPARK V mobile robot platform. SPARK V will give you good
exposure to the world of robotics and embedded systems. Thanks to its innovative architecture
and adoption of the ‘Open Source Philosophy’ in its software and hardware design, you will be
able to create and contribute to complex applications that run on this platform, helping you
acquire expertise as you spend more time with them.
Safety precautions:
• Robot’s electronics is static sensitive. Use robot in static free environment.
• Read the assembling and operating instructions before working with the robot.
• If robot’s battery low buzzer starts beeping, immediately charge the batteries.
• To prevent fire hazard, do not expose the equipment to rain or moisture.
• Refrain from dismantling the unit or any of its accessories once robot is assembled.
• Never allow NiMH battery to deep discharge.
• Mount all the components with correct polarity.
• Keep wheels away from long hair or fur.
• Keep the robot away from the wet areas. Contact with water will damage the robot.
• To avoid risks of fall, keep your robot in a stable position.
• Do not attach any connectors while robot is powered ON.
• Never leave the robot powered ON when it is not in use.
SPARK V ATMEGA16
Spark V is a low cost robot designed for robotics hobbyists and enthusiasts. It is jointly designed
by NEX Robotics with Department of Computer Science and Engineering, IIT Bombay. Spark V
will help you get acquainted with the world of robotics and embedded systems. Thanks to its
innovative architecture and adoption of the ‘Open Source Philosophy’ in its software and
hardware design, you will be able to create and contribute to complex applications that run on
this platform, helping you acquire expertise as you spend more time with them.
Spark V robot is based on ATMEGA16A microcontroller. Robot comes with rechargeable 7.2V
600mA NiMH Battery and onboard intelligent battery charger. It has 3 analog white line sensors,
3 analog IR Proximity sensors, 3 directional light intensity sensors, battery voltage sensing,
TSOP1738 IR receiver for TV remote control and Position encoders. Robot has support for 3
MaxBotix EZ series ultrasonic range sensors. It also has support for the servo mounted sensor
pod which can be used to make 180 degrees scan for the map making. Robot is powered by 6 cell
7.2V 600mA rechargeable NiMH batteries which gives about one hour battery operation. Robot
has built-in Smart Battery Controller which charges the battery in intelligent way and also
monitors the battery charge level when robot is in operation. Robot has 2x16 alphanumeric LCD,
Lots of LED indicators for quick debugging, Buzzer etc. Motors are controlled by L293D motor
driver. Robot gives top speed of 15cm to 20cm per second depending on the model.
Motion control
Spark V robot has two DC geared motors in differential drive configuration along with the third
caster wheel for the support. Robot has top speed of about 15/20cm per second. Using this
configuration, the robot can turn with zero turning radius by rotating one wheel in clockwise
direction and other in counterclockwise direction. Robot’s motors have built-in clutch for
protection of the motor’s gears from non continuous wheel stalling.
Motion control involves direction control and velocity control. Motors are controlled by L293D
dual motor driver which can provide up to 600mA of current to each motor. To change the
direction of the motor, appropriate logic levels (High/Low) are applied to L293D’s direction
control pins. Velocity control is done using Pulse Width Modulation (PWM).
LEDs are connected at the input and the output stage of the motor driver for quick interpretation
of the motion commands.