BotBoarduino Manual

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2

3

4

<td align="center"><span class="headmd">Table of Contents</span></td>

5

<td align="center"><span class="headmd">Links</span></td>

</tr>

<tr>

<td >

<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#bb2lay">BotBoarduino</a>

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13

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#bbufeat">BotBoarduino Hardware Information</a></li>

14

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#aglance">Shorting Bar Jumpers and Connections</a></li>

15

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#connections">PS2 / SSC-32 Connections</a></li>

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</ul>

17

</li>

18

<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#testcont">Troubleshooting</a>

19

20

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#trouble">General Troubleshooting</a></li>

</ul>

</li>

</ul>

</td>

<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/WebHome/bbu01.pdf" target="_blank">BotBoarduino Schematic (pdf)</a></li>

</ul>

</td>

</tr>

</tbody></table>

<p align="center"><span class="headmd"><a name="bb2lay">BotBoarduino.</a></span></p>

36

37

<p><span class="headsm"><a name="bbufeat">BotBoarduino Hardware Information.</a></span></p>

38

<p>The image above illustrates the shorting bar jumpers (the black rectangles) as they are on the board as it is shipped. The jumpers are used to

39

set operating parameters for the board. It should not be assumed that they are correct for your project as changes are likely to be required. Please

40

consult the tutorial for your project for the proper shorting bar jumper positions.</p>

41

42

<p>The BotBoarduino is 3.00" x 2.30" with 0.125" holes set in

43

0.15" from each edge.</p>

44

<ol>

45

<li>The BotBoarduino is based on the Arduino Duemilanove. In the Arduino programming environment you must select "Arduino Duemilanove w/ ATmega328". Simply plug a USB Mini cable from this plug to a free USB port on your PC for programming the processor and receiving

46

debug information. For help with USB drivers, go to the <a href="http://arduino.cc/en/Guide/Windows" target="_blank">official Arduino page</a>. <font color="#FF0000">To prevent damaging the board's USB port, you must remove the USB cable from a MOBILE robot!</font></li>

47

<li>These four pins are connected to the FTDI's CTS, DSR, DCD, and RI signals. You should never have to worry about these pins. Use them only

48

if you know what you're doing as these pins can prevent the BotBoarduino from being programmed.</li>

49

50

<li>This is a Power Good LED. When you have successfully applied power to the onboard regulator, the yellow LED will turn on.</li>

51

<li>This shorting bar enables the onboard speaker. To use the speaker, send the appropriate sound generating command to Pin 5. Note, the I/O pin

52

drives a transistor amplifier. It does not drive the speaker directly.</li>

53

<li>The 3 LEDs and Pushbuttons use only 3 I/O lines to make a simple user interface for your program. By making the I/O line a low output the LED

54

can be turned on. By briefly making the I/O line an input the I/O line can be read to see if a button is being pressed. <font color="#FF0000">However,

55

do NOT make the I/O line a high output and press a button, as damage to the I/O pin can occur.</font> The shorting bars

56

directly above JA, JB, and JC will need to be

57

installed for these LEDs and Pushbuttons to be used.<br>

</tr>

<tr>

</tr>

<tr>

<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Green</td>

</tr>

<tr>

<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Yellow</td>

</tr>

</tbody></table>

</li>

<li>This is where you connect servos, motor controllers, sensors, etc. to the microcontroller. Use caution when connecting anything the the I/O

85

bus. Never connect anything while the power is on. The outside row is ground, the middle row is power, and the inside row are the IO pins.</li>

86

<li>This is where you configure the I/O bus center row to use VL (+5vdc from the onboard regulator) or VS (direct from the Servo Power Input).

87

This is done in banks of four I/O pins. <font color="#FF0000">Caution, applying the servo voltage to this row with a 5vdc peripheral installed

88

will cause damage to the peripheral.</font> </li>

89

<li>This port is for connecting a Sony Playstation controller to use as a robot controller.

90

The Lynxmotion, Sony, and Madcatz controllers we tested only required a 1K pullup on Pin 6,

91

which is built into the board and must be enabled by installing a jumper on the JPU. Other

92

brands may require a pullup on Pin 9, which is not included. Note, some controllers require the green wire

93

to be connected to 7.5vdc to enable vibrating motors, or wireless operation. The Playstation 2 cables' coloring differs from different

94

production runs. Please refer to the table in the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#aglance">Shorting Bars and Connections section</a> to verify the color coding and

95

connections for your cable.<br>

<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>PS2 Function</b></td>

</tr>

<tr>

</tr>

<tr>

</tr>

<tr>

</tr>

<tr>

</tr>

</tbody></table>

</li>

<li>This pin group breaks out the ICSP pins. These allow you to burn a bootloader onto the Atmega328 or program the chip with an external programmer.

121

Do not connect anything to these pins unless you know what you are doing.</li>

122

<li>This connecter brings out pins 0 and 1 of the arduino along with ground in such a way that you can connect the BotBoarduino to an SSC-32 with any servo extension cable. <font color="#FF0000">You will need to remove anything connected to these pins while programming.</font></li>

123

124

<li>This allows the VL and/or VS inputs to be connected to two of the AtMega328's analog inputs through a 4:1 voltage divider. For example, if the

125

battery voltage were 9vdc, the analog input would see 2.25vdc.<br>

</tr>

<tr>

<td bordercolor="#C0C0C0" bgcolor="#FFFFFF" height="1" align="center">V-Servo

136

/ General Purpose</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" bgcolor="#FFFFFF" height="14" align="center">V-Logic

141

/ General Purpose</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" bgcolor="#FFFFFF" height="14" align="center">General

Purpose</td>

</tr>

</tbody></table>

</li>

<li>These headers bring out analog pins A4 and A5 for use with the I2C comunication protocol. To use this header

152

you must install jumpers horizontally across the SDA-P and SCL-P headers.</li>

153

<li>This allows you to power the Servos and Logic from the same battery. It simply connects the VS input to the VL input. Caution, when using this

154

option do NOT use the VL input.</li>

155

156

<li>This button will reset the micro when pressed. This can be useful for starting different programs depending on which SUI button is pressed on

157

reset.</li>

158

<li>This is the VS (servo voltage) input. Servo voltage can be 4.8vdc to 7.2vdc. However, some micro servos will not tolerate more than 6vdc. This

159

input is used to provide power for the servos only, or to provide power to both VL and VS using the VS=VL jumper. See Item 13.<br>

<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Board</b></td>

164

<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Input</b></td>

</tr>

<tr>

</tr>

<tr>

<td width="248" height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">BLACK</td>

</tr>

</tbody></table>

</li>

<li>This is the VL (logic voltage) input. This input is normally used with a 9vdc battery connector to provide power to the microcontroller and

179

anything connected to the 5vdc lines on the board. This input can be used to isolate the VL from the VS (servo voltage).<br>

<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Board</b></td>

184

185

<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Input</b></td>

</tr>

<tr>

</tr>

<tr>

<td width="248" height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">BLACK</td>

</tr>

</tbody></table>

</li>

<li>This header selects the Logic Power source for the board. Select USB to power the Logic from the onboard USB port

199

or Select EXT to power the board from the VL terminal.</li>

200

<li>The Low Dropout regulator will provide 5vdc out with as little as 5.4vdc coming in. This is important when operating your robot from a

201

battery. It can accept a maximum of 12vdc in. The regulator is rated for 1.5A.</li>

202

203

<li>These headers are spaced to accept all Arduino compatible Shields and Extensions.</li>

<li>Status LEDs.<br>

<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Function</b></td>

</tr>

<tr>

<td width="248" height="1" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Directly connected to P13 on the Arduino chip</td>

</tr>

<tr>

<td width="248" height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Blinks when sending data</td>

</tr>

<tr>

<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Blinks when receiving data</td>

</tr>

</tbody></table>

</li>

<li>This is where the Atmega 328 chip is plugged in. Atmega328 pin map:<br>

</li>

</ol>

<p><span class="headsm"><a name="aglance">Shorting Bar Jumpers and Connectors at a glance.</a></span></p>

232

233

The Playstation 2 cables' coloring differs from different production runs. Please refer to the diagram below to verify the color coding on your cable.<br>

</p>

<p><span class="headsm"><a name="connections">PS2 / SSC-32 Connections</a></span></p>

<p align="center"><span class="headmd"><a name="testcont">Troubleshooting</a></span></p>

243

<p><span class="headsm"><a name="trouble">General Troubleshooting</a></span></p>

244

<p>The yellow power (PWR) LED should glow if the regulator is getting the proper power. You must make sure to connect the battery or wall pack with

245

the proper polarity. This means the red wire is positive (+) and the black wire is ground (-). <font color="#FF0000">If you connect the battery or

246

wall pack with the polarity reversed, the regulator and the microcontroller can be instantaneously and permanently damaged!</font> Check your wiring

247

carefully before applying power.</p>

248

<p><font color="#FF0000">If SSC-32 is connected to RX/TX/Gnd (hardware serial port on pin 0 and 1) it must be removed while programming! This is because the USB port shares the same IO pins.</font></p>

249

<p>The maximum voltage for VL is 12vdc. If you use a higher voltage the regulator may overheat and you could get burned!</p>

250

251

<p>Confirm that the Atmega 328 chip's notch is aligned with the socket's notch.</p>

252

<p>In the Arduino programming environment, make sure you have selected "Arduino Duemilanove w/ ATmega328".</p>

253

<p>The Lynxmotion PS2 controller has issues with the analog mode on the Lynxmotoin left pad (often displaying 0 rather than analog values). We suggest using the joysticks as alternative analog inputs.</p>

</div>

</body>

Wiki source code of BotBoarduino Manual

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1	{{html wiki="false" clean="true"}}
2	<table border="0">
3	<tbody><tr>
4	<td align="center"><span class="headmd">Table of Contents</span></td>
5	<td align="center"><span class="headmd">Links</span></td>
6	</tr>
7	<tr>
8
9	<td >
10	<ul class="toc">
11	<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#bb2lay">BotBoarduino</a>
12	<ul class="toc">
13	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#bbufeat">BotBoarduino Hardware Information</a></li>
14	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#aglance">Shorting Bar Jumpers and Connections</a></li>
15	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#connections">PS2 / SSC-32 Connections</a></li>
16	</ul>
17	</li>
18	<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#testcont">Troubleshooting</a>
19	<ul class="toc">
20	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#trouble">General Troubleshooting</a></li>
21	</ul>
22
23	</li>
24	</ul>
25	</td>
26	<td valign="top">
27	<ul class="toc">
28	<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/WebHome/bbu01.pdf" target="_blank">BotBoarduino Schematic (pdf)</a></li>
29	</ul>
30	</td>
31
32	</tr>
33	</tbody></table>
34	<hr width="95%" color="#808080">
35	<p align="center"><span class="headmd"><a name="bb2lay">BotBoarduino.</a></span></p>
36	<p><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/WebHome/bbduinom02.jpg" width="650" height="478"></p>
37	<p><span class="headsm"><a name="bbufeat">BotBoarduino Hardware Information.</a></span></p>
38	<p>The image above illustrates the shorting bar jumpers (the black rectangles) as they are on the board as it is shipped. The jumpers are used to
39	set operating parameters for the board. It should not be assumed that they are correct for your project as changes are likely to be required. Please
40	consult the tutorial for your project for the proper shorting bar jumper positions.</p>
41
42	<p>The BotBoarduino is 3.00" x 2.30" with 0.125" holes set in
43	0.15" from each edge.</p>
44	<ol>
45	<li>The BotBoarduino is based on the Arduino Duemilanove. In the Arduino programming environment you must select "Arduino Duemilanove w/ ATmega328". Simply plug a USB Mini cable from this plug to a free USB port on your PC for programming the processor and receiving
46	debug information. For help with USB drivers, go to the <a href="http://arduino.cc/en/Guide/Windows" target="_blank">official Arduino page</a>. <font color="#FF0000">To prevent damaging the board's USB port, you must remove the USB cable from a MOBILE robot!</font></li>
47	<li>These four pins are connected to the FTDI's CTS, DSR, DCD, and RI signals. You should never have to worry about these pins. Use them only
48	if you know what you're doing as these pins can prevent the BotBoarduino from being programmed.</li>
49
50	<li>This is a Power Good LED. When you have successfully applied power to the onboard regulator, the yellow LED will turn on.</li>
51	<li>This shorting bar enables the onboard speaker. To use the speaker, send the appropriate sound generating command to Pin 5. Note, the I/O pin
52	drives a transistor amplifier. It does not drive the speaker directly.</li>
53	<li>The 3 LEDs and Pushbuttons use only 3 I/O lines to make a simple user interface for your program. By making the I/O line a low output the LED
54	can be turned on. By briefly making the I/O line an input the I/O line can be read to see if a button is being pressed. <font color="#FF0000">However,
55	do NOT make the I/O line a high output and press a button, as damage to the I/O pin can occur.</font> The shorting bars
56	directly above JA, JB, and JC will need to be
57	installed for these LEDs and Pushbuttons to be used.<br>
58
59	<table border="1" bordercolor="#000000" width="200">
60	<tbody><tr>
61	<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Chip I/O</b></td>
62
63	<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14" colspan="2"><b>PB/LED</b></td>
64	</tr>
65	<tr>
66	<td align="center" bordercolor="#C0C0C0" height="1">Pin 7</td>
67	<td height="1" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">A</td>
68	<td height="1" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Red</td>
69	</tr>
70
71	<tr>
72	<td align="center" bordercolor="#C0C0C0" height="14">Pin 8</td>
73	<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">B</td>
74	<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Green</td>
75	</tr>
76	<tr>
77	<td align="center" bordercolor="#C0C0C0" height="14">Pin 9</td>
78
79	<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">C</td>
80	<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Yellow</td>
81	</tr>
82	</tbody></table>
83	</li>
84	<li>This is where you connect servos, motor controllers, sensors, etc. to the microcontroller. Use caution when connecting anything the the I/O
85	bus. Never connect anything while the power is on. The outside row is ground, the middle row is power, and the inside row are the IO pins.</li>
86	<li>This is where you configure the I/O bus center row to use VL (+5vdc from the onboard regulator) or VS (direct from the Servo Power Input).
87	This is done in banks of four I/O pins. <font color="#FF0000">Caution, applying the servo voltage to this row with a 5vdc peripheral installed
88	will cause damage to the peripheral.</font> </li>
89	<li>This port is for connecting a Sony Playstation controller to use as a robot controller.
90	The Lynxmotion, Sony, and Madcatz controllers we tested only required a 1K pullup on Pin 6,
91	which is built into the board and must be enabled by installing a jumper on the JPU. Other
92	brands may require a pullup on Pin 9, which is not included. Note, some controllers require the green wire
93	to be connected to 7.5vdc to enable vibrating motors, or wireless operation. The Playstation 2 cables' coloring differs from different
94	production runs. Please refer to the table in the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#aglance">Shorting Bars and Connections section</a> to verify the color coding and
95	connections for your cable.<br>
96
97	<table border="1" bordercolor="#000000" width="200">
98	<tbody><tr>
99	<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Pin</b></td>
100	<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>PS2 Function</b></td>
101	</tr>
102	<tr>
103	<td width="248" align="center" bordercolor="#C0C0C0" height="1">Pin 8</td>
104	<td height="1" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">DAT</td>
105	</tr>
106	<tr>
107	<td width="248" align="center" bordercolor="#C0C0C0" height="14">Pin 7</td>
108	<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">CMD</td>
109	</tr>
110	<tr>
111	<td width="248" align="center" bordercolor="#C0C0C0" height="14">Pin 6</td>
112	<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">ATT</td>
113	</tr>
114	<tr>
115	<td align="center" bordercolor="#C0C0C0" height="14">Pin 9</td>
116	<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">CLK</td>
117	</tr>
118	</tbody></table>
119	</li>
120	<li>This pin group breaks out the ICSP pins. These allow you to burn a bootloader onto the Atmega328 or program the chip with an external programmer.
121	Do not connect anything to these pins unless you know what you are doing.</li>
122	<li>This connecter brings out pins 0 and 1 of the arduino along with ground in such a way that you can connect the BotBoarduino to an SSC-32 with any servo extension cable. <font color="#FF0000">You will need to remove anything connected to these pins while programming.</font></li>
123
124	<li>This allows the VL and/or VS inputs to be connected to two of the AtMega328's analog inputs through a 4:1 voltage divider. For example, if the
125	battery voltage were 9vdc, the analog input would see 2.25vdc.<br>
126
127	<table width="200" border="1" bordercolor="#000000">
128	<tbody><tr>
129	<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Chip I/O</b></td>
130	<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Use</b></td>
131	</tr>
132	<tr>
133
134	<td align="center" bordercolor="#C0C0C0" height="1">A0</td>
135	<td bordercolor="#C0C0C0" bgcolor="#FFFFFF" height="1" align="center">V-Servo
136	/ General Purpose</td>
137	</tr>
138	<tr>
139	<td align="center" bordercolor="#C0C0C0" height="14">A1</td>
140	<td bordercolor="#C0C0C0" bgcolor="#FFFFFF" height="14" align="center">V-Logic
141	/ General Purpose</td>
142	</tr>
143
144	<tr>
145	<td align="center" bordercolor="#C0C0C0" height="14">A2 - A5</td>
146	<td bordercolor="#C0C0C0" bgcolor="#FFFFFF" height="14" align="center">General
147	Purpose</td>
148	</tr>
149	</tbody></table>
150	</li>
151	<li>These headers bring out analog pins A4 and A5 for use with the I2C comunication protocol. To use this header
152	you must install jumpers horizontally across the SDA-P and SCL-P headers.</li>
153	<li>This allows you to power the Servos and Logic from the same battery. It simply connects the VS input to the VL input. Caution, when using this
154	option do NOT use the VL input.</li>
155
156	<li>This button will reset the micro when pressed. This can be useful for starting different programs depending on which SUI button is pressed on
157	reset.</li>
158	<li>This is the VS (servo voltage) input. Servo voltage can be 4.8vdc to 7.2vdc. However, some micro servos will not tolerate more than 6vdc. This
159	input is used to provide power for the servos only, or to provide power to both VL and VS using the VS=VL jumper. See Item 13.<br>
160
161	<table border="1" bordercolor="#000000" width="200">
162	<tbody><tr>
163	<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Board</b></td>
164	<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Input</b></td>
165	</tr>
166
167	<tr>
168	<td width="248" align="center" bordercolor="#C0C0C0" height="1">VS +</td>
169	<td width="248" height="1" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">RED</td>
170	</tr>
171	<tr>
172	<td width="248" align="center" bordercolor="#C0C0C0" height="14">VS -</td>
173	<td width="248" height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">BLACK</td>
174
175	</tr>
176	</tbody></table>
177	</li>
178	<li>This is the VL (logic voltage) input. This input is normally used with a 9vdc battery connector to provide power to the microcontroller and
179	anything connected to the 5vdc lines on the board. This input can be used to isolate the VL from the VS (servo voltage).<br>
180
181	<table border="1" bordercolor="#000000" width="200">
182	<tbody><tr>
183	<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Board</b></td>
184
185	<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Input</b></td>
186	</tr>
187	<tr>
188	<td width="248" align="center" bordercolor="#C0C0C0" height="1">VL +</td>
189	<td width="248" height="1" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">RED</td>
190	</tr>
191	<tr>
192
193	<td width="248" align="center" bordercolor="#C0C0C0" height="14">VL -</td>
194	<td width="248" height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">BLACK</td>
195	</tr>
196	</tbody></table>
197	</li>
198	<li>This header selects the Logic Power source for the board. Select USB to power the Logic from the onboard USB port
199	or Select EXT to power the board from the VL terminal.</li>
200	<li>The Low Dropout regulator will provide 5vdc out with as little as 5.4vdc coming in. This is important when operating your robot from a
201	battery. It can accept a maximum of 12vdc in. The regulator is rated for 1.5A.</li>
202
203	<li>These headers are spaced to accept all Arduino compatible Shields and Extensions.</li>
204	<li>Status LEDs.<br>
205
206	<table border="1" bordercolor="#000000" width="300">
207	<tbody><tr>
208	<td width="20" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>LED</b></td>
209	<td width="248" align="center" bordercolor="#808080" bgcolor="#C0C0C0" height="14"><b>Function</b></td>
210	</tr>
211	<tr>
212	<td width="20" align="center" bordercolor="#C0C0C0" height="1">L</td>
213	<td width="248" height="1" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Directly connected to P13 on the Arduino chip</td>
214	</tr>
215	<tr>
216	<td width="20" align="center" bordercolor="#C0C0C0" height="14">TX</td>
217	<td width="248" height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Blinks when sending data</td>
218	</tr>
219	<tr>
220	<td width="20" height="14" align="center" bordercolor="#C0C0C0">RX</td>
221	<td height="14" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Blinks when receiving data</td>
222	</tr>
223	</tbody></table>
224	</li>
225	<li>This is where the Atmega 328 chip is plugged in. Atmega328 pin map:<br>
226	<br><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/WebHome/atmega328map.png">
227	</li>
228	</ol>
229
230	<hr width="95%" color="#808080">
231	<p><span class="headsm"><a name="aglance">Shorting Bar Jumpers and Connectors at a glance.</a></span></p>
232	<p><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/WebHome/bbduinom03.png" width="650" height="447"></p>
233	The Playstation 2 cables' coloring differs from different production runs. Please refer to the diagram below to verify the color coding on your cable.<br>
234
235	<p><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/WebHome/wire08s.gif"><br>
236	</p>
237	<p><span class="headsm"><a name="connections">PS2 / SSC-32 Connections</a></span></p>
238	<p><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/WebHome/botboarduino-ps2.jpg" width="650"></p>
239	<p><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/WebHome/botboarduino-ssc32.jpg" width="650"></p>
240	<p><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/WebHome/botboarduino-ssc-32-ps2.jpg" width="650"></p>
241	<hr width="95%" color="#808080">
242	<p align="center"><span class="headmd"><a name="testcont">Troubleshooting</a></span></p>
243	<p><span class="headsm"><a name="trouble">General Troubleshooting</a></span></p>
244	<p>The yellow power (PWR) LED should glow if the regulator is getting the proper power. You must make sure to connect the battery or wall pack with
245	the proper polarity. This means the red wire is positive (+) and the black wire is ground (-). <font color="#FF0000">If you connect the battery or
246	wall pack with the polarity reversed, the regulator and the microcontroller can be instantaneously and permanently damaged!</font> Check your wiring
247	carefully before applying power.</p>
248	<p><font color="#FF0000">If SSC-32 is connected to RX/TX/Gnd (hardware serial port on pin 0 and 1) it must be removed while programming! This is because the USB port shares the same IO pins.</font></p>
249	<p>The maximum voltage for VL is 12vdc. If you use a higher voltage the regulator may overheat and you could get burned!</p>
250
251	<p>Confirm that the Atmega 328 chip's notch is aligned with the socket's notch.</p>
252	<p>In the Arduino programming environment, make sure you have selected "Arduino Duemilanove w/ ATmega328".</p>
253	<p>The Lynxmotion PS2 controller has issues with the analog mode on the Lynxmotoin left pad (often displaying 0 rather than analog values). We suggest using the joysticks as alternative analog inputs.</p>
254	</div>
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