This page (revision-43) was last changed on 2021-02-26 02:31 by Murray Altheim

This page was created on 2019-12-24 01:06 by Murray Altheim

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Version Date Modified Size Author Changes ... Change note
43 2021-02-26 02:31 7 KB Murray Altheim to previous
42 2021-02-26 00:59 7 KB Murray Altheim to previous | to last
41 2021-02-26 00:44 7 KB Murray Altheim to previous | to last

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KR 01 Wiring Notes
KR01WiringNotes

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At line 1 changed 2 lines
This page contains some miscellaneous notes about wiring on the [KR01] robot, included specifically
so that the robot can be disassembled and reassembled without confusion about which wire goes where.
This page contains some miscellaneous notes about wiring on the [KR01] robot.
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See: [ThunderBorg Wiring|ThunderBorgWiring]
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At line 34 removed 11 lines
* 0x14 : UltraBorg servo/ultrasonic controller
* 0x15 : ThunderBorg motor controller
* 0x28 : BNO055 9 DoF sensor
* 0x29 : VL531X ToF sensor
* 0x48 : ADS1015 AD converter
* 0x68 : PiJuice UPS
* 0x74 : starboard RGBMatrix5x5
* 0x75 : 11x7 LED Matrix
* 0x77 : port RGBMatrix5x5
At line 52 changed 10 lines
| __04__ | __14__: TXD0 %%prp STATUS LED %%
| %%grn GND %% | __15__: RXD0 %%prp PIR SENSOR %%
| __17__: %%prp ENCODER A2 STBD %% (white) | __18__: %%prp ENCODER B2 STBD %% %%gry (PCM_CLK) %% (violet)
| __27__: GPIO 27 (unused) | %%grn GND %%
| __22__: %%prp ENCODER A1 PORT %% (grey) | __23__: %%prp ENCODER B1 PORT %% (blue) %%sup † %%
| %%org 3V3 %% %%sup † %% | __24__: GPIO 24%%sup † %%
| __10__: MOSI%%sup † %% | %%grn GND %% %%sup † %%
| __9__: MISO%%sup † %% | __25__: GPIO 25%%sup † %%
| __11__: SCLK%%sup † %% | __8__: CE0%%sup † %%
| %%grn GND %% | __7__: CE1 %%prp UPPER BUMPER %%
| __17__: GCLK | __14__: TXD0
| %%grn GND %% | __15__: RXD0
| __17__: %%prp STATUS LED %% | __15__: %%prp ENCODER A2 %% %%gry (PCM_CLK) %%
| __27__: %%prp ENCODER A1 %% | %%grn GND %%
| __22__: %%prp ENCODER B1 %% | __23__: %%prp ENCODER B2 %%
| %%org 3V3 %% | __24__: GPIO 24%%sup † %%
| __10__: MOSI%%sup † %% | %%grn GND %%
| __9__: MISO%%sup † %% | __25__: GPIO 25%%sup † %%
| __11__: SCLK%%sup † %% | __8__: CE0%%sup † %%
| %%grn GND %% | __7__: CE1%%sup † %%
At line 63 changed 6 lines
| __5__: %%prp PORT SIDE INFRARED %% | %%grn GND %%
| __6__: %%prp PORT INFRARED %% | __12__: %%prp STBD SIDE INFRARED %%
| __13__: %%prp STBD BUMPER %% | %%grn GND %%
| __19__: %%prp CENTER BUMPER %% | __16__: %%prp STBD INFRARED %%
| __26__: (unused: conflict with SPI) | __20__: %%prp CNTR INFRARED | BUTTON %%
| %%grn GND %% | __21__: %%prp PORT BUMPER %%
| __5__: %%prp STARBOARD INFRARED %% | %%grn GND %%
| __6__: %%prp CENTER INFRARED %% | __12__: %%prp PORT INFRARED %%
| __13__: %%prp PORT BUMPER %% | %%grn GND %%
| __19__: %%prp CENTER BUMPER %% | __16__
| __26__: %%prp STARBOARD BUMPER %% | __20__
| %%grn GND %% | __21__
At line 72 changed 2 lines
†   part of cable assembly connecting to [Adafruit 2.0" 320x240 Color IPS TFT Display|https://www.adafruit.com/product/4311] \\
‡   part of cable assembly connecting to [Adafruit 1.14" Mini Pi TFT Display|https://www.adafruit.com/product/4393]
†   Used by [Adafruit 320x240 TFT Display|Adafruit320x240TFTDisplay] \\
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For sensor wires, wire markings are orange or red for port, green for starboard (just like on a boat).
For sensor wires, wires are orange or red for port, green for starboard (just like on a boat).
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Requires pins for: , , ENCODER B2
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!! Starboard-Aft Board (connections to below)
!! Port-Back Board (connections to below)
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| [{Image src='attach/KR01WiringNotes/starboard-aft-connections.png' width='400' caption='Starboard Aft Boar' align='left'}] | [{Image src='attach/KR01WiringNotes/starboard-aft-board-v2.png' caption='Starboard Aft Board' align='right'}]
| B1 (black wire) | A1 (brown wire)
| %%red +5V %% | %%grn GND %%
| B2 | A2
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Mounted on the chassis, an [Adafruit Perma Proto Bonnet|https://www.adafruit.com/product/3203] serves to collect the various power and sensor connections into three connectors: one six pin connector comprising the first six GPIO pins (including 5V, 3.3V, Ground, SDA and SCL), and two ten (2x5) pin connectors. These are commonly called ''Dupont Connectors'', bespoke cables made using dual row wire housings (see [Small Dual Row Wire Housing Pack for DIY Jumper Cables|https://www.adafruit.com/product/3143]).
The upper __Starboard-Aft Board__ board provides two 10 pin connections to the lower board, which includes: the outputs from the bumpers (BP, BC and BS); infrared sensors (IRP, IRC and IRS); motor encoders (A1, A2, B1 and B2); indicator LED; and bypass/switched 5 volt sensor supply.
The color-coding of the jumper wires from the Starboard-Aft Board is as follows:
|| Color || Connection || GPIO Pin
| Purple | Port Bumper | 13
| Blue | Center Bumper | 19
| Green | Starboard Bumper | 26
| | |
|| Color || Connection || GPIO Pin
| Orange | Port Infrared | 12
| Yellow | Center Infrared | 6
| Green | Starboard Infrared | 5
| | |
|| Color || Connection || GPIO Pin
| Blue | Encoder A1 Port | 22
| Purple | Encoder A2 Starboard | 27
| Grey | Encoder B1 Port | 23
| White | Encoder B2 Starboard | 18
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Earlier I'd experimented using a Perma-Proto board dedicated to holding an [ItsyBitsy M4 Express] and a [BNO055 9-Axis Absolute Orientation|BNO055ImuSensor] sensor. The various connections to and from the daughterboard are shown in the above photo. The two columns of cyan and magenta-coloured pins are used to explode the 5V supply, which are used for the bumper and infrared sensors.
The KR01 has a Perma-Proto board dedicated to holding an [ItsyBitsy M4 Express] and a [BNO055 9-Axis Absolute Orientation|BNO055-9AxisAbsoluteOrientationSensor] sensor. The various connections to and from the daughterboard are shown in the above photo. The two columns of cyan and magenta-coloured pins are used to explode the 5V supply, which are used for the bumper and infrared sensors.
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This board is currently not functional. The BNO055 is theoretically incompatible with the Raspberry Pi (the I2C bus speed needs to be slowed), so the ItsyBitsy was used to drive the BNO055 (and potentially poll other sensors). It seems the BNO055 is working okay with the Pi so lately I've just been connecting it directly.
This board is currently not functional. The BNO055 is incompatible with the Raspberry Pi, so the ItsyBitsy will be used to drive the BNO055 (and potentially poll other sensors).
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More experiments are in order.
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This page (revision-43) was last changed on 2021-02-26 02:31 by Murray AltheimTop