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ROVER

USER GUIDE Rev 2.4

This guide is only available in English

Ce manuel est seulement disponible uniquement en Anglais

The DFRobotShop Rover is intended to be a “learning platform” which provides users with the hardware to get

started in programming mobile robots using Arduino. The sample code available here can be used as reference

to help you test the various platforms but users are expected to learn how to use the Arduino software.

Contents

Arduino.............................................................................................................................................................5

Overview...........................................................................................................................................................5

PCB V .0............................................................................................................................................................6

PCB V .5............................................................................................................................................................6

PCB V2.0............................................................................................................................................................8

Basic Kit (V .0, V .5, V2.0 )............................................................................................................................. 0

Assembly Guide........................................................................................................................................... 0

Important Notes.......................................................................................................................................... 0

Power.......................................................................................................................................................... 0

Motion........................................................................................................................................................

Specifications (Basic Kit)...............................................................................................................................

Bluetooth / Xbee Kits (V .0, V .5).................................................................................................................... 2

Assembly Guide........................................................................................................................................... 2

Important Notes.......................................................................................................................................... 2

Power.......................................................................................................................................................... 2

Motion........................................................................................................................................................ 2

Specifications (Basic Kit)............................................................................................................................... 3

Bluetooth / Xbee Kits (V2.0)............................................................................................................................. 4

Assembly Guide........................................................................................................................................... 4

Important Notes.......................................................................................................................................... 4

Power.......................................................................................................................................................... 4

Motion........................................................................................................................................................ 5

Specifications (Basic Kit)............................................................................................................................... 5

V2.0 Mecanum Kit.......................................................................................................................................... 6

Assembly Guide........................................................................................................................................... 6

Important Notes.......................................................................................................................................... 6

Motion........................................................................................................................................................ 7

V2.0 Omniwheel Kits........................................................................................................................................ 8

Assembly Guide........................................................................................................................................... 8

Important Notes.......................................................................................................................................... 8

Power.......................................................................................................................................................... 9

Motion ........................................................................................................................................................20

Autonomous Kit...............................................................................................................................................2

Assembly Guide...........................................................................................................................................2

Power..........................................................................................................................................................2

Motion........................................................................................................................................................2

Specifications (Basic Kit)...............................................................................................................................2

Programming...................................................................................................................................................22

Important notes...........................................................................................................................................22

Basic Kit (V2.0).............................................................................................................................................23

Autonomous Kit (V2.0).................................................................................................................................23

Bluetooth Kit (V2.0).....................................................................................................................................24

XBee kit (V2.0).............................................................................................................................................25

Sample Code................................................................................................................................................26

Sketch # : Basic Rover – Full speed forward..............................................................................................26

Sketch #2: Basic Rover – W/A/S/D Keyboard Control.................................................................................27

Sketch #3: V2.0 Mecanum – Basic Directions............................................................................................28

Sketch #4: Omni Wheel Rover – Basic Directions.......................................................................................30

Sketch #5: Basic Rover V .0 and V .5 - Analog Sensors.............................................................................32

Sketch #6: Encoders - Counting.................................................................................................................32

Hyperterminal configuration........................................................................................................................33

Troubleshooting V2..........................................................................................................................................35

FAQ.................................................................................................................................................................43

Power Issues................................................................................................................................................43

Motion / Mechanical Issues.........................................................................................................................43

Programming...............................................................................................................................................44

Versions & Kits.............................................................................................................................................46

Upgrades and Optional Parts........................................................................................................................50

Compatibility...................................................................................................................................................5

Universal Connection Point..........................................................................................................................5

Shield Compatibility.....................................................................................................................................52

Design.........................................................................................................................................................52

Useful Links.....................................................................................................................................................53

Products......................................................................................................................................................53

Software......................................................................................................................................................53

Support.......................................................................................................................................................53

Arduino

“Arduino is an open-source electronics prototyping platform based on flexible easy-to-use hardware and

software. It's intended for artists designers hobbyists and anyone interested in creating interactive objects or

environments.” - www.arduino.cc

There are many ways to learn how to code in Arduino. We suggest one or more of the following:

www.arduino.cc -> “Learning” and “Reference” categories

Arduino-related books http://www.robotshop.com/books.html

Overview

This guide contains all information related to the DFRobotShop Rover Series. Rather than releasing multiple

user guides for different versions of the DFRobotShop Rover, this guide distinguishes between versions

whenever necessary.

The DFRobotShop Rover is a versatile mobile robot tank based on the popular Arduino microcontroller. The

basic Rover uses the Tamiya twin motor gearbox but can also be purchased in a variety of kits and

configurations. The DFRobotShop Rover PCB incorporates a standard Arduino (surface mount ATMega328), dual

motor driver (connected to digital pins 5 to 8), onboard voltage regulator and prototyping area. The PCB itself is

partially used in the mechanical structural of the robot. The voltage regulator allows the entire board to be

powered using as little as 3.7V up to ~9V*. Versions .5 and up incorporate an onboard 3.7V LiPo charger.

In order to make assembly as easy as possible, wire crimps have been included to give the option of crimping

the wires to the motors (soldering is always preferable if it's an option). The DFRobotShop Rover is compatible

with a variety of shields (when used at the same time as the motor driver) and is compatible with all shields if

the motors are not connected. Additional features common to all versions include pinout for the DFRobot

Bluetooth and DFRobot APC220 RF modules, 6x cool blue LEDs (jumper selectable) placed around the board

and a universal mounting point for Lynxmotion brackets at the front of the board.

*Note that the motors included with the Tamiya Twin Motor Gearbox kit operate at ~3V to 4.5V. 6V motors are

available for purchase separately.

PCB V1.0

The V .0 PCB is almost identical to V .5 below except for items ( ) and (2). The V .0 board is not certified RoHS

compliant.

PCB V1.5

Figure 1: DFRobotShop Rover V1.5 Features

(1) 3.7V LiPo battery charging jumper. Important note: jumper should only be in place when using a LiPo

battery connected to (38) otherwise remove. Do NOT use jumper if you are using the 4xAA pack.

(2) Charging circuit for 3.7V LiPo batteries

(3) Mini USB connector (programming and charging LiPo; cannot power motors)

(4) Voltage regulation circuit (roughly behind USB and barrel connector)6

(5) FTDI USB to serial3

(6) Arduino stacking headers

(7) ATMega328P microcontroller

(8) Reset button

(9) APC220 RF or DFRobot Bluetooth connector

( 0) In-system programming (ICSP) headers

( ) ST L293B Dual motor controller2

( 2) Empty space for cargo / solderless breadboard

( 3) LED jumper select

( 4) Motor On/ Off switch

( 5) Mini JST connector (powers board and motors)

( 6) Barrel connector (powers board and motors)

( 7) Light sensor jumper (connects light sensor to analog pin 0)

( 8) Temperature sensor jumper (connects temperature sensor to analog pin )

( 9) I2C connector

(20) LM35 temperature sensor5

(2 ) Light sensor4

(22) 4xAA battery holder holes

(23) Universal connection point

*Important note: jumper (1) in figure 1 should only be in place when using a LiPo battery connected to (15)

otherwise remove.

Surface mount ATMega328 chip from ATMEL:

http://www.atmel.com/dyn/products/product_card.asp?PN=ATmega328P

2ST L293B Four Channel H-Bridge Driver (DIP 6):

http://www.st.com/stonline/products/literature/ds/ 328.pdf

3FTDI 0947-B USB UART IC:

http://www.ftdichip.com/Products/FT232R.htm

4Light Sensor (V .0 and V .5):

http://us. 00y.com.tw/pdf_file/GL5528.pdf

5Temperature Sensor (V .0 and V .5):

http://www.national.com/mpf/LM/LM35.html

6Voltage regulation:

Voltage: 3.5V (min) to 9V (max) via Vin pin, PWRin (3.5mm jack) or white connector.

The Tamiya motors run at 3 to 4.5V nominal. 6V+ will work but reduce the motor’s life

6V motors are available separately should you want to make your rover faster.

PCB V2.0

Figure 2: DFRobotShop Rover V2 Features

( ) Cool blue LED

(2) 3.7V LiPo battery charging circuit. Important note: jumper should only be in place when using a LiPo

battery connected to (38) otherwise remove. Do NOT use jumper if you are using the 4xAA pack.

(3) USB connector

(4) FTDI Chip (USB to serial) shown but replaced with ATMega8 for USB to serial

(5) Reset headers (normally unused)

(6) LEDs associated with pin 3, Tx / Rx activity, Power indicator

(7) Arduino stacking headers

(8) Encoder analog select (use jumper to connect the encoder to A )

(9) Encoder input (one on each side)

( 0) Motor 2 input terminals

( ) Cool blue LED

( 2) L298P Dual Motor driver

( 3) XBee select switch (see XBee headers section below)

( 4) XBee slot (see XBee headers section below)

( 5) XBee pinout (see XBee headers section below)

( 6) 5V row

( 7) GND row

( 8) Solder prototyping area

( 9) Cool blue LED

(20) Universal connection point

(2 ) 2x slots for additional mounting of sensors

(22) Cool blue LED

(23) Mounting holes for 2nd motor (Mecanum and 4WD versions)

(24) 5V row

(25) GND row

(26) XBee 2 slot (XBee faces the front of the board, towards #20)

(27) XBee 2 pinout (for possible use with the prototyping area)

(28) Cool blue LED

(29) Motor screw terminals

(30) DFRobot Bluetooth / APC220 (RF) input

(3 ) ICSP headers

(32) Reset button

(33) ATMega329 microchip

(34) Voltage regulator (circuit)

(35) Barrel connector

(36)On / Off switch (On towards the center of the board)

(37) Cool blue LED and main LED jumper (jumper on = 6x LEDs powered at all times)

(38) Mini JST connector for 4xAA battery pack or 3.7V LiPo pack

Xbee Headers

The two XBee slots can be used with both series and series 2 XBee modules. Note that the basic rover does

NOT include the headers which can be purchased separately (they would need to be soldered to the board).

Headers were not included to allow the largest possible flat cargo area on the PCB (to install a solderless

breadboard for example). Certain kits such as the Xbee and Bluetooth kits do include a pair of headers which

must be soldered to the board.

When putting in the Xbee module in place, ensure the XBee modules are oriented correctly before inserting

(with the antenna facing the REAR of the board toward the USB port;). Follow the numbers on the XBee module

and those on the DFRobotShop Rover PCB – they should line up.

When using ONE XBee, use slot marked #26 above (XBee2) to have access to the XBee switch (# 3). When

programming the robot, set the switch to xbee to free up the Tx and Rx lines. After programming, set the

switch to xbee2 to connect the Tx and Rx lines to the XBee module.

When using TWO XBee modules, we suggest one is connected to the prototyping area, and then connected to

the digital I/O pins using soft serial. When programming the robot, you will likely need to remove the Xbee in

position 4 to get access to the XBee switch.

Basic Kit (V1.0, V1.5, V2.0 )

Assemb y Guide

The assembly video guide can be found on RobotShop’s Youtube page (RobotShopTV) at:

V .0 and V .5: http://www.youtube.com/watch?v=yXW yrmKiuI

V2.0: www.youtube.com/watch?v=MWWoEul9Qsk

Important Notes

•For the basic version (tracks), assemble the Tamiya Twin Motor Gearbox in the Type C configura ion

ONLY. Note that Type A and Type B configurations will cause the track to be too tight. Note that some

parts will remain unused.

•If you use the crimps, the bare motors leads closest to the board can potentially contact the pins on the

underside of the PCB. We highly suggest covering the pins closest to the motor leads with a bit of

electrical tape, and also wrapping the bare leads of the motor with electrical tape (not included with

the kit)

•Use EITHER the mini JST connector ( 5) or the Barrel connector ( 6). NOT BOTH.

Power

. USB : Connecting a USB cable (sold separately) will power the microcontroller – not the motors. If you

have L _SEL jumper in place, it will also charge any LiPo battery connected to the white mini JST

connector ( 5).

2. Barrel : The barrel connector powers both the microcontroller and the motors. To power only the

microcontroller, you need a 3 to 2V adapter capable of ~250mA. To power the motors, you need a 3V

to 6V adapter capable of ~ .5A. Note that if your power supply cannot provide enough power to the

motors, they will not turn. Use EITHER the mini JST connector OR the barrel connector – NOT BOTH.

3. Mini JST : The JST connector can power both the microcontroller and the motors. We suggest using a

3.7V LiPo battery pack of at least 000mAh or more. The board (microcontroller and motor controller)

will only turn on if you set the On/Off switch to ON. The batteries connect directly to the motors (not

regulated). The mini JST can handle up to ~ 2V, but keep in mind that the voltage goes directly to

whichever motors are connected.Use EITHER the mini JST connector OR the barrel connector – NOT

BOTH.

a. 4x AA Battery Pack : The DFRobotShop Rover includes a 4xAA battery pack which can be

connected directly to the white power input at the back of the board. Both alkaline ( .5V) and

rechargeable ( .2) batteries can be used, and the batteries power both the board and the

motors. Remove jumper ( ) in figure when using the AA battery pack.

b. LiPo battery : A LiPo pack with the correct mini JST connector can be used to power the

DFRobotShop Rover. This has the advantage of significantly reducing the weight of the rover

and also takes advantage of the onboard LiPo charger. You can use a 3.7V or 7.4V LiPo battery,