Unirobot
Mobile robot control board. Arduino-compatible.
A complex circuit board to control the robots peripherals completely compatible with the robot’s Arduino core.

Technical characteristics:

  • The board is based on the ATMega 2560 controller
  • An WizNet5100 based Ethernet connection which has integrated TCP/IP protocols: TCP, UDP, ICMP, IPv4 ARP, IGMP, PPPoE, Ethernet
  • A USB port on the FT232RL controller basis. It is also used for firmware upgrades.
  • A dedicated TRX device for a COM port. Will be useful for those who want to communicate with the board for instance using the ModBus protocol through the libModBus while retaining the controlled reset and firmware upgrade capability which is very useful onboard the system.
  • An expanded power supply voltage range, 9..18 volts.
  • Automatic power supply input selection for the digital part (external or USB).
  • SD memory card.
  • A RFM12b radio to which we also have the code for guaranteed delivery
  • Up to 8 medium strength analog servomotors with a total current of 3А.
  • Up to 6 Dynamixel AX-12 digital servomotors with feedback loop for which we also have a code.
  • 12 Analog distance transmitters. The GP2dxxx infrared rangefinders are supported, also the ultrasound MaxBotix EZx. For them a library was implemented to interact with the PW and AN outputs. The analog inputs can be used for any other purpose.
  • A single heavy solid-state relay up to 3.1 А.
  • Controlling 2-step motivators with a phase current up to 2 А. The motivator driver is pre-installed on the board and it is possible to set the phase current using a potentiometer. This allows the use a wide range of step-motivators described in our article. The library can define up to 5 working modes
  • Controlling the double-commutator AC motors with a phase current up to 2А and feedback loops through the Hall sensor or an optical encoder. Basically, we are talking about governing a motor with the use of PWM. There is no current loop the speed loop is implemented in the software, just like the positioning loop. The board has a pre-installed encoder filter and uplifts, the read operation is performed parallel to the controller operation utilizing counters built in to it.
  • The board has separate digital and main power supply lines. There is a dedicated power supply line for analog and digital servomotors.
  • An LCD color display with a touch-panel. This device also has a library to display primitive elements and reading-off coordinates of a touch point. The display comes with the device.
  • Support of character indicators on the basis of HD44780. This means there is an output terminal on the board to attach this device and put data on to the display.
  • The I2C interface is connected to the board’s terminals.
  • Termination for the In-system programming ISP and the JTAG are tuner are present.
  • 2 power supply lines. The board can be powered by a regular power supply with a 5.5mm connection or via a termination connector. There is reverse polarity protection, a USB 500мА current overpower protection, and also a standard glass 6А circuit breaker in case of a “short”.
  • Board dimensions 220х85 mm

A heat sink is implemented for cooling which covers the right side of the plate, from the capacitor grouping to the diode group to the left. To fully utilize the board’s performance, an adequate, strong power supply is required. A laptop power supply block should be appropriate since the board’s power supply range is expanded 9 - 18 volts. The board supports both the software and cold resets for the controller and the Ethernet module. The power supply to the encoders and Hall sensors is provided via the terminals and also for 1 other additional device with a 5-volt consumption. The important feature of this board is that there are many additional libraries written for it which allow to:

  • Use a real-time planner
  • A library to work with timers
  • A library for servomotors
  • A library for a PID controller
  • A library for digital signals
  • A library for encoders