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Pololu Orangutan SVP User's

Guide

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

1.a. Supported Operating Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2. Contacting Pololu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3. Schematic Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4. Module Pinout and Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

5. Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

5.a. Installing Windows Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

5.b. Using the Demo Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5.c. Programming your Orangutan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.d. Assembling the kit version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

6. AVR Pin Assignment Table Sorted by Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

7. AVR Pin Assignment Table Sorted by Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

8. Using the USB Communication Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

9. Using the TTL Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

10. Motor Driver Truth Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

11. USB Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

12. Upgrading Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

13. Related Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

http://www.pololu.com/docs/0J39/all Page 1 of 37

Summary of content (37 pages)

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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation Pololu Orangutan SVP User's Guide 1. Overview . . . . . . . . . . . . . . . . . . . . 1.a. Supported Operating Systems . . . . . . 2. Contacting Pololu . . . . . . . . . . . . . . . . 3. Schematic Diagrams . . . . . . . . . . . . . . 4. Module Pinout and Components . . . . . . . . 5. Getting Started . . . . . . . . . . . . . . . . . 5.a. Installing Windows Drivers . . . . . . . 5.b. Using the Demo Program . . . . . . . . 5.c.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 1. Overview The Orangutan SVP robot controller is a complete control solution for small and medium-sized robots running at 6 – 13.5 V.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation ◦ 17 free I/O lines on the main MCU, of which 8 can be analog inputs ◦ 4 input lines on the auxiliary processor, which can be either 4 analog inputs or dual quadrature encoder inputs ◦ 2 hardware UARTs • Removable 16-character × 2-line LCD with backlight • Primary 5V switching regulator capable of supplying 3 A • Secondary adjustable (2.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation In Linux, the three virtual COM ports created by the SVP should appear as devices with names like /dev/ttyACM0, /dev/ttyACM1, and /dev/ttyACM2 (the numbers depends on how many other ACM devices you have plugged in) and you can use any terminal program (such as kermit) to send and receive bytes on those ports. In Mac OS X 10.7 (Lion) or later, the three virtual COM ports created by the SVP should appear as devices with names like /dev/tty.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 2. Contacting Pololu You can check the Orangutan SVP-324 robot controller page [http://www.pololu.com/catalog/product/1325] or Orangutan SVP-1284 robot controller page [http://www.pololu.com/catalog/product/1327] for additional information, including pictures, example code, and application notes. You can also find libraries for interacting with the onboard hardware and an assortment of sample code in the Pololu AVR Library [http://www.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 3. Schematic Diagrams Schematic diagrams of the Orangutan SVP are available here: Orangutan SVP schematic diagram [http://www.pololu.com/file/download/org06a02_schematic.pdf?file_id=0J265] (99k pdf) 3.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 4. Module Pinout and Components The Orangutan SVP contains a programmable AVR ATmega324PA or ATmega1284P microcontroller connected to two motor drivers for direct control of two DC motors, a 16×2 character LCD, a buzzer, three user pushbuttons, two user LEDs, and a demultiplexer for servo control.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation Orangutan SVP-324 with dimensions. Power & Motor Connections Power for the Orangutan SVP should be connected to the positive (+) and ground (GND) terminals near the words “Power In” on the board. The input voltage (VIN) of the power supply should be 6 – 13.5 V, from which the onboard regulator generates the 5 V supply (VCC) that is used to power the logic. The Orangutan SVP has one TB6612FNG motor driver for each motor output.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation For each motor, the Orangutan SVP has a current-sensing circuit that produces an output voltage proportional to the current the motors are using (850 mV/A). The respective outputs of these circuits are labeled CS1 and CS2, and they are accessible near the center of the board. User I/O & Power Outputs Sixteen user I/O lines can be accessed via the four 4×3 0.100" female headers along the lower edger of the board, as shown below.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation Trimpot The Orangutan SVP comes with a 10 kilo-ohm user trimmer potentiometer, located between the USB connector and the LCD connector. The trimpot is connected to the auxiliary processor, which measures its output voltage and reports it to the AVR. You can disconnect the trimpot from the auxiliary processor by cutting the labeled trace between POT and ADC/SS on the bottom side of the board.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation jumper attached to just the middle pin of each of the two servo power selection banks. In this default orientation, the jumper supplies no power to the servo power rail. Orangutan SVP with key integrated hardware labeled. Adjustable Voltage (VADJ) In addition to the 5 V regulator that supplies VCC, the Orangutan SVP comes with an adjustable voltage regulator. Both regulators can supply a current of 3 A.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation LEDs Orangutan SVP LEDs. The Orangutan SVP comes with 9 LEDs: • A blue power LED is located next to the power button. • There are four motor indicator LEDs located near the motor outputs. A green LED lit indicates that the corresponding motor is being driven “forward” (the voltage on output B is higher than the voltage on A).
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 3.0 V. If this happens to you, check your power connections and battery voltage, and make sure you are not drawing too much power from the board. 4.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 5. Getting Started 5.a. Installing Windows Drivers If you use Windows XP, you will need to have either Service Pack 3 [http://www.microsoft.com/downloads/ details.aspx?FamilyId=68C48DAD-BC34-40BE-8D85-6BB4F56F5110] or Hotfix KB918365 installed before installing the drivers for the Orangutan SVP.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 5. On the second screen of the “Found New Hardware Wizard”, select “Install the software automatically” and click “Next”. 5.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 6. Windows XP will warn you again that the driver has not been tested by Microsoft and recommend that you stop the installation. Click “Continue Anyway”. 7. When you have finished the “Found New Hardware Wizard”, click “Finish”. After that, another wizard will pop up. You will see a total of three wizards when plugging in the Orangutan SVP. Follow steps 4-7 for each wizard. 5.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation If you use Windows XP and experience problems installing the drivers, the cause of your problems might be a bug in older versions of Microsoft’s usb-to-serial driver usbser.sys. Versions of this driver prior to version 5.1.2600.2930 will not work with the Orangutan SVP. You can check what version of this driver you have by looking in the “Details” tab of the “Properties” window for C:\Windows\System32\drivers\usbser.sys.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation Windows XP device manager showing the Pololu Orangutan SVP. Windows Vista device manager showing the Pololu Orangutan SVP. Some software will not allow connection to higher COM port numbers. In particular, AVR Studio and Atmel Studio can only connect to COM1 through COM9. If you need to change the COM port number assigned to one of the COM ports, you can do so using the Device Manager.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation Button button (marked PC3 on the underside of the board) to proceed to the main menu. Press the Top Button (marked PC5) or the Bottom Button (marked PC2) to scroll forward or backward through the menu, and press the Middle Button to make a selection or to exit one of the demos. There are nine demos accessible from the menu: 1. Analog Inputs: This demo displays voltage readings from the Orangutan SVP’s 13 analog inputs as a bar graph.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation • Six 3×4 male header blocks • Six 3×4 blocks female header [http://www.pololu.com/catalog/ product/1034] • One 3×7 male header block • One 3×7 female header block • Three 2-pin 3.5mm terminal blocks • Five blue shorting blocks [http://www.pololu.com/catalog/ product/968] • Two blocks 2×3 female header [http://www.pololu.com/catalog/ product/1023] Hardware included with the Orangutan SVP partial kit.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation Orangutan SVP kit PCB showing possible locations for included buzzer, pushbuttons, headers, and terminal blocks. 1. Power button To turn on your the AVR, you need to connect a power button (or a jumper at location 11). The Orangutan SVP PCB has two parallel sets of holes for the power button.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation SVP, we solder a 2×8 shrouded header in to the 16 pins highlighted in the diagram. Then the 16×2 character LCD with backlight [http://www.pololu.com/catalog/product/772] (included with the assembled version, but not the kit version) plugs in to the lower 7 rows of the connector, as well as the A and K lines on the other side of the board.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 16. Servo power selection To use your servo ports, you will need to connect a power source (no power source is connected by default). You can install two 1×3 male headers at this location and use two shorting blocks to select either VCC or VADJ for servo power. 17.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation Port D Pins Orangutan Function PD0 Notes/Alternate Functions digital I/O USART0 input pin (RXD0) PD1 digital I/O red user LED (low turns LED on; connection can be cut and replaced with jumper) USART0 output pin (TXD0) PD2 digital I/O USART1 input pin (RXD1) External interrupt 0 (INT0) PD3 digital I/O USART1 output pin (TXD1) External interrupt 1 (INT1) PD4 buzzer Timer1 PWM output B (OC1B) PD5 digital I/O servo pulse output
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 8. Using the USB Communication Port The Orangutan SVP’s USB Connection provides a virtual serial port called the Pololu Orangutan SVP USB Communication Port which allows two-way communication between a personal computer and the Orangutan SVP’s AVR at a rate of over 20 kilobytes per second. The bytes sent from the computer will be transmitted to the Orangutan SVP’s auxiliary processor and made available to the AVR.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation the second port is the USB Communication Port. In Linux, the port name depends on how many other devices are using the USB CDC ACM driver to create virtual serial ports at the time the Orangutan SVP is plugged in. To determine the port name in Mac OS X, type ls /dev/tty.usb*. There should be three entries for the Orangutan SVP, and the USB Communication Port should be the second one.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation // Set the DTR line to 0. port.DtrEnable = false; // Disconnect from the port so that other programs can use it. port.Close(); Communication on the AVR side Writing programs for the USB Communications port on the AVR side is supported by two different sections of the Pololu AVR C/C++ Library.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 9. Using the TTL Serial Port The Orangutan SVP’s USB Connection provides a serial port called the Pololu Orangutan SVP TTL Serial Port which allows two-way communication between a personal computer and TTL-level serial devices at baud rates between 300 bps and 115200 bps. This serial port can be used for communication between a computer and an external serial device besides the AVR.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation There are many free terminal programs available, including PuTTY [http://www.chiark.greenend.org.uk/~sgtatham/ putty/] (Windows or Linux), Tera Term [http://hp.vector.co.jp/authors/VA002416/teraterm.html] (Windows), and Br@y Terminal [http://sites.google.com/site/terminalbpp/] (Windows). To use any of these terminal programs, you must specify the port name determined above, and the baud rate.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 10. Motor Driver Truth Table Input Orangutan SVP output PD7, PD6 PC7, PC6 M1A, M2A M1B, M2B motor effect LED on H H L H “forward”* green H L H L “reverse”* red L H or L L L brake low none * Note that the concept of “forward” is arbitrary as simply flipping the motor leads results in rotation in the opposite direction. Motor 1 is controlled by pins PD7 (i.e. OC2A) and PC7. Motor 2 is controlled by pins PD6 (i.e.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 11. USB Power When connected to a computer, the USB connection provides a 5 V power supply. If an external power supply is present, the unit will run off of the external supply and not draw any power from USB. If only the USB power is present, then by default the auxiliary processor will be powered from USB, but the AVR and the VCC power pins on the board will not be powered. An option is available for powering the entire board from USB.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 12. Upgrading Firmware The firmware (program) that runs on the Orangutan SVP’s auxiliary processor can be upgraded with bug fixes or new features. Firmware Release Notes Firmware version 1.00 is the original firmware for the SVP’s auxiliary processor, released in November 2009. Firmware version 1.01 was released on January 15th, 2010.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation neighboring parts. Ground is available in many places on the SVP; check the Orangutan SVP Reference Diagram [http://www.pololu.com/file/download/orangutan_svp_reference_diagram.pdf?file_id=0J244] (82k pdf) if you are not sure where to find ground. You may have to remove the Orangutan SVP’s LCD to access the bootloader line. The Orangutan SVP’s bootloader line. 5.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation If you run into problems during a firmware upgrade, please contact us [http://www.pololu.com/contact] for assistance. 12.
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Pololu Orangutan SVP User's Guide © 2001–2012 Pololu Corporation 13. Related Resources The following list of resources might come in handy: • ATmega324PA documentation [http://www.atmel.com/dyn/products/product_card.asp?PN=ATmega324PA]: ATmega324PA datasheet and additional documentation • ATmega1284P documentation [http://www.atmel.com/dyn/products/product_card.asp?PN=ATmega1284P]: ATmega1284P datasheet and additional documentation • Pololu AVR Programming Quick Start Guide [http://www.pololu.