Getting Started

Part List

• Main controller: Arduino Mega ADK/2560
• Motor controller: Arduino Nano
• URM driver: Arduino Nano
• Motor driver: DC Motor Driver 2×15A – Lite/ Sabertooth dual 12A motor driver
• Two DC motors with 51:1 Gearbox 8000 rpm
• Two encoders with 13 PPR
• 2 wheels (and one caster wheel)
• Three bumper sensors
• Five Sharp GP2D12 infrared sensors
• Six URM04 v2.0 Ultrasonic Sensors

Hardware Architecture

Connection

GMR Board

Attention: The yellow wires are jump wires.

And for this GMR board 3 microcontrollers should be used. Two Arduino Nano and one Arduino Mega ADK. One of Nano to control the motors and the other used to drive 6 URM sensors. And the Main microcontroller is the Mage ADK, it is used to collect the date and transfer it. There are two Wireless slots for Xbee, blueteeth and other wireless communications. In this case, we just need one Nano to drive the motors.

Switch System

Testing

1. Insert the Mega and Nano on the GMR board, connect the output of the switch system to the power supply of the motor controller and the GMR board.
2. Turn off the switch.
3. Connect the circuits as the connection diagram, connect two motors, the motor controller we will test it first
4. Use the example code of the motor control which have been listed in software architecture.
5. Test the speed and the direction of the motor. Make sure the motor will run suit your need.
6. Connect the bumpers and IR sensor, the example codes also have been listed. You may test it use another microcontroller (Arduino Uno), then move the codes to the Mega ADK
7. The codes of the motor control should be used in Nano and the codes of the bumpers and IR sensors should be used in Mega ADK. The communication between Nano and Mega ADK is I2C.
8. After testing the codes you can follow the guide and make the HCR move.

Guide

1. Assemble the HCR First, see the assembly guide.
   Instruction Manual V2.1.pdf
2. Remove the 3rd level and the 2nd level of the HCR.
3. Fix the Battery in the 1st level, connect the switch system as Picture4, and fix the 2nd level again.
4. Insert the Mega and Nano on the GMR board and put the GMR board in 2nd level and fix it, see Picture3 and connect the output of the switch system to the power supply of the motor controller and the GMR board.
5. Connect the circuits as the connection diagram (Pictutre2), include two motors, the motor controller, 3 bumpers and 7 IR sensors. And the motor controller can be fixed with the GMR board.
6. According to your choice, upload the code to the Mega and Nano. The example code have been listed in software architecture. And the communication between the Nano and Mega is I2C. And the code on the Nano (motor control) can drive the wheels.
7. Fix the 3rd level again.