MOWAY EXPANSION KIT MANUAL
Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 2 of 13
Copyright (c) 2012 Bizintek Innova, S.L. Permission is granted to copy, distribute and/or modify this document under the terms of the GNU Free Documentation License, Version 2.0 or any later version published by the Free Software Foundation; with no Invariant Sections, no Front-Cover Texts, and no Back-Cover Texts. A copy of the license is included in the section entitled "GNU Free Documentation License".
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Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 3 of 13
Index Index ................................................................................................................................. 3 1.
Introduction .............................................................................................................. 4
2.
Expansion Kit assembly ........................................................................................... 5
3.
Characteristics .......................................................................................................... 9
4.
Using in MowayWorld ........................................................................................... 10
5.
Example .................................................................................................................. 13
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Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 4 of 13
1. Introduction mOway robot has several sensors and actuators. Nevertheless the user may want to add more sensors, actuators or even user’s own circuits. The Expansion Kit of mOway makes this possible since it allows to control external electronic circuitry through the expansion connector of mOway robot.
Fig. 1. Expansion Kit with user circuitry
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Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 5 of 13
2. Expansion Kit assembly Expansion Kit consists of the following elements: 1. Drilled board (x2)
2. mOway Connector adapter
3. Right angle male pins (x3)
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Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 6 of 13
4. Female pins (x2)
5. Adhesive rubber top
In order to assembly the Expansion Kit, firstly solder the right angle male pins to the drilled board. The name of each pin is serigraphed on the top side of the board (+, -, I/O_1, I/O_2, ...). Male pins must be inserted through the bottom side of the board, as it is shown on the next image:
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Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 7 of 13
Once the pins are placed, solder them on the top side of the board. Each of these pins is connected to the drill of the nearest row of the board (row into the red rectangle).
The other drilled board included in the Expansion Kit is assembled in the same way. Once both boards are assembled, the next step is to solder the right angle male pins to the mOway Connector adapter and the two female pins rows. The following images show how to place them on the adapter:
Right angle male pins Female pins
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Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 8 of 13
The Expansion Kit also includes an adhesive rubber top which can be placed on the bottom side of a drilled board, in order to lean on mOway’s casing. The second drilled board included in the Expansion Kit could be also connected to the mOway Connector adapter in order to add more circuitry. If this is the case the user has to be careful with the inputs/outputs configuration, in order to avoid shortcircuits. IMPORTANT: In case of using Radiofrequency module, Camera module or WiFi module of mOway, the user has to be careful with the inputs/outputs configuration, in order to avoid short-circuits.
Drilled boards are connected to the female pins of the mOway Connector adapter. This adapter is connected to the expansion connector of mOway robot.
Fig. 2. Expansion connector of mOway
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Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 9 of 13
3. Characteristics Each board has 240 drills. These are its characteristics: Characteristic
Size
Board size
1,57 x 1,77 inches
40 x 45 mm
Spacing between drills
0,1 inches
2,54 mm
Drill diameter
0,05 inches
1,27 mm
The mOway Connector adapter allows to access to the following pins of mOway microprocessor (more info of PIC18F87J50 microprocessor available on www.microchip.com) Adapter pin Pin
Microprocessor pin
Name
Function
Name
Pin1
+
O
Vcc 3.3v
Pin2
-
O
GND
Pin3
I/O_1
I/O /PMD3/AN12/P3C/C2INC
RH4
Pin4
I/O_2
I/O/PMA5/AN7/C2INB
RF2
Pin5
I/O_3
I/O /SCK1/SCL1
RC3
Pin6
I/O_4
I/O /SDO1/C2OUT
RC5
Pin7
I/O_5
I/O /SDI1/SDA1
RC4
Pin8
I/O_6
I/O/INT
RB0
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Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 10 of 13
4. Using in MowayWorld As we have already seen, the user as access to 2 power supply pins (3.3 volts and Ground) and 6 pins of the microprocessor. The activation or deactivation of these pins can be achieved by means of code programming (C or assembler) or by means of graphic programming (MowayWorld).
Fig. 3. Input/Output modules in MowayWorld
This group of MowayWorld modules allows the user to gain access to mOway expansion connector, in order to control the circuits attached to this connector. Adapter pin
Name in MowayWorld
+
Not accessible
-
Not accessible
I/O_1
Line 1
I/O_2
Line 2
I/O_3
Line 3
I/O_4
Line 4
I/O_5
Line 5
I/O_6
Line 6
The voltage levels of the expansion connector pins for “activated” and “deactivated” states are the following: State
Digital value
Voltage value
Activated (On)
1 (high level)
3.3 Volts
Deactivated (Off)
0 (low level)
0 Volts
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Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 11 of 13
Now the I/O modules of MowayWorld will be described. Configuration module This module configures the expansion connector pins as inputs or outputs. It also assigns an initial value to the pins configured as outputs. We can see on the next image that the first 3 pins (from I/O_1 to I/O_3) have been configured as inputs. So that it is possible to connect to them sensors or buttons and to read their value. The rest of the pins (from I/O_4 to I/O_6) have been configured as outputs. This means that they can turn on lights or activate motors, for example.
We can also see on the image that the initial value of the two first outputs (I/O_4 and I/O_5) is “deactivated” (off), and the initial value of the last output (I/O_6) is “activated” (on). WARNING! Only advanced users can use the configuration module. Any incorrect connection of electronic elements to the expansion connector may damage the robot irreversibly or the user circuitry.
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Title: Expansion Kit Manual Rev: v1.0.0 – Mar 2012 Page 12 of 13
Set Output module This module is used to change the value of the pins configured as outputs. It activates (on), deactivates (off) or change (toggle) the outputs.
Activate: set the pin to 3.3 volts. Deactivate: set the pin to 0 volts. Toggle: o If the output was active, it will change to deactivate state o If the output was in a deactivated state, it will change to activated sate
WARNING! “Set Output” values only can be assigned for pins configured as outputs, leaving other lines with “No change” value. If a value is assigned to an input, this may damage the robot irreversibly.
Check Input module This conditional module reads checks the state of the pins configured as inputs. It compares if the value of an input is equal (==) or different (<>) to “activated” or “deactivated” states. If the comparison is true, the program will flow through the “true” path (green mark). Otherwise it will flow through the “false” path (red cross). For example, if a button is connected to one of the configured inputs and it is pushed, the value of this input will be “activated”. Otherwise, if it is not pushed, the value of the input will be “deactivated”.
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Title: Expansion Kit Manual Rev: v1.0.0 â&#x20AC;&#x201C; Mar 2012 Page 13 of 13
5. Example You can see here a mOway robot with the Expansion Kit into its expansion connector. In this case the user circuitry consists of a NTC (temperature variable resistor) and a LDR (light variable resistor). The analog values of these devices are converted into digital values through an AD converter and these digital values are read by the inputs of mOway expansion connector.
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