User Manual

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Pololu Baby Orangutan B User's

Guide

1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2. Contacting Pololu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

3. Schematic Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

4. Module Pinout and Component Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

5. Included Header Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

6. Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

7. AVR Pin Assignment Table Sorted by Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

8. AVR Pin Assignment Table Sorted by Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

9. Motor Driver Truth Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

http://www.pololu.com/docs/0J14 Page 1 of 12

Summary of content (12 pages)

PAGE 1
Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation Pololu Baby Orangutan B User's Guide 1. Overview . . . . . . . . . . . . . . . . . . . . 2. Contacting Pololu . . . . . . . . . . . . . . . . 3. Schematic Diagram . . . . . . . . . . . . . . . 4. Module Pinout and Component Identification . 5. Included Header Pins . . . . . . . . . . . . . . 6. Getting Started . . . . . . . . . . . . . . . . . 7. AVR Pin Assignment Table Sorted by Function 8. AVR Pin Assignment Table Sorted by Pin . . .
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Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 1. Overview The Baby Orangutan B-48 [http://www.pololu.com/catalog/product/1215], B-168 [http://www.pololu.com/catalog/product/ 1216], and B-328 [http://www.pololu.com/catalog/product/1220] robot controllers are complete control solutions for small robots.
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Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 2. Contacting Pololu You can check the Baby Orangutan B-328 robot controller page [http://www.pololu.com/catalog/product/1220] for additional information, including pictures, example code, and application notes. We would be delighted to hear from you about any of your projects and about your experience with the Baby Orangutan Robot controller. You can contact us [http://www.pololu.com/contact] directly or post on our forum [http://forum.
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Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 3. Schematic Diagram The basic schematic of the Baby Orangutan B is identical to that of the larger Orangutan SV-328 [http://www.pololu.com/catalog/product/1227] and Orangutan LV-168 [http://www.pololu.com/catalog/product/775] robot controllers. You can effectively build your own Orangutan SV-328 by adding a buzzer, LCD [http://www.pololu.com/catalog/product/356], and pushbuttons as indicated in the Orangutan SV-328 schematic.
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Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 4. Module Pinout and Component Identification The Baby Orangutan contains a programmable ATmega48, ATmega168, or ATmega328P AVR microcontroller, a TB6612FNG dual H-bridge for direct control of two DC motors, a 10k user trimmer potentiometer (connected to ADC7), a green power LED, a red user LED (connected to PD1), a 20 MHz resonator, and a reverse-batteryprotection MOSFET, all containted in a tiny 1.2" x 0.7" 24-pin DIP package.
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Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation drive the PD1 hard enough, the voltage will be pulled below the AVR’s high threshold by the LED-resistor circuit ). Warning: Pins PB4 and PB5 are used as ISP programming pins in addition to digital user I/O lines. Be careful not to connect anything to these pins that might interfere with programming (e.g. large capacitance or an external device that could drive those lines during programming).
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Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 5. Included Header Pins The Baby Orangutan ships with 0.1" header pins as shown in the left picture below: two 12×1 strips and one 3×2 ISP programming header.
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Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 6. Getting Started The Baby Orangutan is powered via the VIN and GND pins, which are located at the top-right corner of the board. The device is protected by a MOSFET against accidental reverse-battery connection. The supply voltage should be 5 – 13.5 V, with an absolute maximum of 15 V, so a 5- to 9-cell NiCd or NiMH battery pack is a good choice.
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Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation This pin assignment table, combined with a pinout diagram, is also available as a downloadable pdf: Baby Orangutan B pinout and pin assignment table [http://www.pololu.com/file/download/ Baby_Orangutan_B_pins.pdf?file_id=0J576] (285k pdf). 8.
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Pololu Baby Orangutan B User's Guide © 2001–2012 Pololu Corporation 9. Motor Driver Truth Table input PD5, PD3 PD6, PB3 H output M1A, M2A M1B, M2B motor effect H L L brake L H L H “forward” H L H L “reverse” L L OFF (high-impedance) coast Motor 1 is controlled by pins PD5 and PD6, and motor 2 is controlled by PD3 and PB3.