DAGU RS025 Руководство - Страница 12

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1. Installing the Software

Troubleshooting continued:

Problem: One of the motors does not turn.

Solution: Check that the jumpers are placed correctly on D7, D8, D9 and D10.

Problem: When the program runs, the robot goes forward slightly and then goes in circles.

Solution: Make sure your encoders are plugged into the correct sockets as shown (Wiring Instructions).

Problem: The pen does not raise or lower. The servo just sits in one position.

Solution: Check that the servo is connected to D12. Make sure the signal wire (orange or white) is closest to the

processor as shown in the wiring instructions. Check that V+ selection jumper is set to +5V.

Problem: The USB port is not recognised by your computer or does not show up in the Arduino IDE.

Solution: Make sure you do not have anything connected to the serial communications socket while using the

USB cable. Make sure you have the latest CP2102 USB interface drivers installed (Installing the Software).

Using the controller as an Arduino board:

The DAGU mini driver is software compatible with

an Arduino NG. It has been designed specifically

for robotics so it has a few extra features.

Up to 8 servos can be connected directly to the

PCB by changing the +V selector from 5V to Bat.

This allows the servos to be powered directly from

the battery as the 5V regulator is only capable of

powering 1 miniature servo under a light load.

Analog pins A0-A5 have 5V and Gnd pins available

for powering 5V sensors. As the SMD chip has

extra pins there are 2 exta analog inputs. A6 is not

used although it can be accessed by a solder pad

under the PCB. A7 is configured to monitor battery

voltage. The maximum allowable battery voltage is

9V.

The dual "H" bridge is capable of driving 2 motors,

each with a stall current of 2A or 1 stepper motor

with a maximum of 2A per winding.

If you do not wish to use the motor driver then you

can remove the jumpers on D7, D8, D9 and D10.

You can then use these pins for alternate purposes.

There is a 4 pin female header on the PCB that is

intended for use with a wireless transceiver such as

an Xbee or Bluetooth module. You can access D0

and D1 (Rx and Tx) directly from this header.

The ISP socket is the same as a standard Arduino

board and can be used to re-burn the bootloader.

Newer versions of the Arduino IDE will allow you to

program the board directly from this socket. Note

that there is a small white arrowhead next to pin 1.

Specifications:

Controller:

Processor:

Clock speed:

FLASH:

SRAM:

EEPROM:

USB interface:

Supply voltage:

Regulator:

Dual "H" bridge:

Battery +

Battery -

Switch

+V: Bat/5V

ATmega8A

16MHz

512 bytes

CP2102

5V - 9V

1A max.

2A per motor

Power

D11

D12

D13

Gnd 5V

D9 D7 D10 D8

Left

motor

Output devices:

Servo voltage:

Servo torque:

Servo speed:

Servo weight:

Motor voltage:

Gearbox torque:

Speed:

Weight:

USB

5V G

G T

Gnd

ATmega

Right

motor

4V - 6V

2Kg/cm

0.08 sec/60°

12g

2Kg/cm max.

125RPM ±10%

Reset

D13

LED