Remote control for CPG-based robots

Gabriel Cuendet

Semester project at the Biorob laboratoryEcole polytechnique fédérale de Lausanne

Professor: Auke Jan IjspeertAssistant: Alessandro Crespi

Spring semester 2010

Abstract

This 3rd year semester project’s aims at the realization of an autonomous remotecontrol for the CPG-based Biorob’s robots. This report presents the work that wasdone from the beginning of the project to the final realization of the device. Thefirst step was the realization of a first prototype (the development version) on whichthe software could be developed. Then a second version was designed in order tofit into a case. Some considerations were also made about the ergonomics of thedevice.

Contents

1 Introduction 41.1 Current way to remote control the robots at Biorob . . . . . . . . . . 41.2 Task description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Hardware design 62.1 The radio interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62.2 The user interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.2.1 Definition of the needed components . . . . . . . . . . . . . . 72.2.2 Functioning of the user interface . . . . . . . . . . . . . . . . . 8

2.3 The battery management and voltage supply . . . . . . . . . . . . . . 92.3.1 Battery management and charge . . . . . . . . . . . . . . . . 102.3.2 Voltage supply to the device . . . . . . . . . . . . . . . . . . . 10

2.4 Key points about the PCB . . . . . . . . . . . . . . . . . . . . . . . . 11

3 Software 123.1 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.1.1 Getters and setters . . . . . . . . . . . . . . . . . . . . . . . . 123.1.2 Interfacing the buttons . . . . . . . . . . . . . . . . . . . . . . 13

3.2 The state machine based model . . . . . . . . . . . . . . . . . . . . . 143.2.1 Definition of the different states . . . . . . . . . . . . . . . . . 143.2.2 Operations of the state machine . . . . . . . . . . . . . . . . . 153.2.3 Infinite loop in the main . . . . . . . . . . . . . . . . . . . . . 16

3.3 The menu like user interface’s implementation . . . . . . . . . . . . . 173.4 Controlling the robot in speed and direction . . . . . . . . . . . . . . 18

3.4.1 Reading the position of the joystick . . . . . . . . . . . . . . . 183.4.2 Updating the locomotion parameters on the robot . . . . . . . 19

4 Housing and mechanical integration 214.1 Choice of the case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214.2 Ergonomics of the user interface . . . . . . . . . . . . . . . . . . . . . 22

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4.2.1 End panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234.3 Components and integration . . . . . . . . . . . . . . . . . . . . . . . 24

4.3.1 Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244.3.2 LCD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.4 Mechanical result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

5 Conclusion 265.1 Recommendations for improvements and further developments . . . . 26

A Schematics 28

B Part list 31

C Mechanical drawings 32

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Chapter 1

Introduction

1.1 Current way to remote control the robots at

Biorob

The communication between the remote controller and the robot is based upon aradio protocol using the ISM frequencies band. The radio interface on the robot’sside will not be detailed in this project. On the controller’s side, the radio interfaceis currently connected to a computer via USB. The user is then controlling the robotwith a wireless gamepad. A software on the computer interfaces the signals fromthe gamepad to the radio interface which sends those signals to the robot. Thus thecomputer is used only as an interface between the gamepad and the radio interfacebut still remains essential because the protocol used by the gamepad is proprietary.The consequence is that it is very difficult to interface the gamepad directly withthe radio interface, without needing the computer.

The need for a computer is not a problem when controlling the robots insidethe laboratory. On the opposite, when outside the laboratory, for example in anexhibition for a demo or in the nature to make a movie, the computer becomesannoying.

Therefore the goal of this project is to make an autonomous device that permitsto wirelessly remote control any of the Biorob’s CPG-based robots that use the ISMfrequencies band. The next page shows the task description including the initialproject’s description.

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Remote control for CPG-based robots

Semester project, task description

Gabriel Cuendet, March 19, 2010

The goal of this project is to develop a wireless remote control that communicateswith a robot, which is controlled by a CPG . The electronics for the RF part aren’tpart of that project, since they are already designed. The remote control is able toconfigure a small number of locomotion parameters on the robot. It allows a userto interactively remote control the robot without needing a PC.

Task-list :

1. Review of the existing remote control using a PC and a radio interface. Thisradio interface is then included in the current project.

2. Definition of the components needed to achieve interaction between the userand the robot.

3. The PIC18F2580 development kit is available for test purpose.

4. Design of the hardware (PCB).

5. Design of the software on the micro-controller.

6. Design of the housing and mechanical integration of the hardware.

Deliverables:

1. A final report.

2. An entry on the BIRG site, which summarizes the work on the project.

3. A live demo of the remote control during final presentation.

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Chapter 2

Hardware design

For a better understanding, the device can be divided into three distinct parts:

• The radio interface

• The user interface

• The battery management and voltage supply

Even if the three parts are interconnected, they are analyzed separately in thisreport. Indeed, they were designed that way. The complete schematic of the threeparts can be found at the end of this report (cf. Appendix A). Although the designof the radio interface is not strictly speaking part of this project, a small section willbe dedicated to its functioning.

During the project, a total of two versions of printed circuit board of the hardwarehave been realized:

• the first prototype, called the development version, on which the software partof the project has been developed and

• the second prototype, called the final version, which had to fit into a case andwas made more user-friendly.

2.1 The radio interface

The radio interface is composed of a microcontroller (the Microchip PIC16LF876A),a 868 MHz radio transceiver (the Nordic nRF905), an impedance matching circuitand an antenna.

The microcontroller communicates with the user interface (which previously wasthe computer) using an asynchronous serial transmission. The communication pro-tocol which is implemented on that microcontroller was designed by Alessandro

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Crespi and the relevant aspects of it will be seen in the « software » section of thisreport.

Without going too much into details, this radio interface can thus be consideredas a black box with two wires for the asynchonous serial communication input andoutput on one side and an antenna for the 868 MHz radio communication input andoutput on the other side.

2.2 The user interface

As it is said in the task description (cf. 1.2), the device must be able to configurea small number of locomotion parameters on the robot and to permit interactionbetween the user and the robot.

2.2.1 Definition of the needed components

First, in order to allow the user to control the locomotion parameters of the robot,which are mainly the speed and the direction, a two-axis joystick is needed. It hasto be a potentiometer joystick and not a switch joystick in order to provide a betterresolution in the movements.

Furthermore, four push buttons are used in a menu navigation system to controlevery other parameters: an enter button, a cancel button, a plus (+) buttonand a minus (-) button. To allow further development of the device, a fifth buttonis added.

Finally, in order to achieve interaction, a visual feedback is provided to the userthrough LEDs and a LCD screen. As the LCD is mainly used in the menu navigationsystem, a simple 2x16 characters, alphanumeric LCD is sufficient. In this case, a I2Cinterfaced LCD (the Batron’s BTHQ21605V-FSRE-I2C-COG) has been chosenin order to minimize the number of pins used for the display on the microcontroller.It also minimizes the number of tracks on the printed circuit. Moreover, the LCDvoltage supply is only 3.3V 1.

The LEDs can be used instead of the LCD to display binary values or to indicatean error. In the device, two green LEDs are used to display binary values (forexample if the robot is moving in a walking or swimming mode) and a red oneto indicate an error. In the development version, a LED indicated if the devicewas turned on or off. As the device is supplied by a battery, this LED has beenremoved in the final version; it was only discharging the battery faster by pulling a

1see the datasheet of the BTHQ21605V-FSRE-I2C-COG pp.7-8 , for more details

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constant current out of it without providing any consistent information to the user.

2.2.2 Functioning of the user interface

The link between the above elements and the radio interface is done by a microcon-troller, a Microchip PIC18F2580. The choice of this microcontroller was dictatedby the habits of the staff of Biorob and the fact that this particular microcontrollerand development tools for it were available at Biorob.

Figure 2.1 shows the user interface components, linked to the microcontroller.For a complete schematic, see the Schematics section in the appendix (cf. AppendixA).

Figure 2.1: User interface components

Two of the eight analog-to-digital 10-bits converter of the microcontroller areused to convert the voltages on the two joystick potentiometers (each correspondingto an axis) to an 8-bits number. In spite of the 10-bits conversion capability of theconverter, 8-bits are sufficient to encode the position of the joystick with a goodresolution. Consequently, the 8-bits mode is used instead of the 10-bits one.

The enter and cancel buttons are connected to input 0 and input 1 of port B,which correspond to the external interrupts 0 and 1 (INT0 and INT1 Pin interrupts).

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The additional button is connected to input 2 of port B (INT2 Pin interrupt). Itis not represented in figure 2.1 as this button is not used. Those three buttonshave independent interrupts, in opposition to the plus (+) and minus (-) buttonswhich are connected to input 4 and input 5 of port B. Those inputs are triggeringthe same interrupt, which is the PortB interrupt-on-change (INTRB). In spite ofthat fact, the buttons are easily differentiated by a simple test on these inputs atthe beginning of the interrupt routine.

As the LCD uses a I2C communication protocol, only two wires are needed tointerface it with the microcontroller. Pins 3 and 4 of port C are respectively the I2Cclock and data input/output.

The LEDs are connected between outputs 0, 1 and 2 of port C and the groundthrough 150Ω resistors. The forward current is then approximately 2:

If =Usupply − Uf

R=

3.3V − 1.9V

150Ω= 9.3mA (2.1)

The maximum current sourced by any I/O pins is 25mA while the maximumcurrent sourced by the port is 200mA. The microcontroller is then capable of sourc-ing a sufficient current for those three LEDs. A lower value for the resistor couldhave been chosen in order to increase the current and the intensity of light, but thenthe battery would not have lasted as long.

Finally, the microcontroller is connected to the radio interface via a serial link.Pins 6 and 7 of port C are connected to the TX (transmit) and RX (receive) tracks.Of course, on the side of the radio interface’s microcontroller (the PIC16LF876A)the tracks are cross-connected, which means that the TX track is connected to theRX pin and vice versa.

2.3 The battery management and voltage supply

As the device is powered by a rechargeable Li-Ion battery, this one needs to beprotected and charged. Moreover, a monitoring function is very useful to know thecharge level of the battery. The voltage from the battery is included between 4.2Vand about 3V depending on its charge. Due to this variation, a DC/DC converteris needed to provide the device a constant voltage.

The above functions are realized using the same integrated circuits as in thesalamander 3. Indeed, the schematics have been adapted from the schematicsSAL3BODYPWR drawn by Alessandro Crespi.

2The forward voltage Uf is given in the datasheet of the LED in function of the forward current

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2.3.1 Battery management and charge

The DS2764 integrated circuit from Dallas Semiconductor is a high-precision Lithiumion battery monitor including a data-acquisition, information-storage, and safety-protection device. The circuit permits to disconnect the battery in case of overcharge(overvoltage), overdischarge (undervoltage), and excessive charge and discharge cur-rents (overcurrent, short circuit) to avoid irreparable damages. This circuit also al-lows to monitor the temperature, voltage and current through a I2C communicationprotocol. Moreover, it has a 40 bytes EEPROM memory that will not be used inthis project but could be used in further developments.

The battery charging is managed by the LT1571-5 integrated circuit from LinearTechnology. The charge voltage can be include between 8.2V and 26V. At Biorob,the chargers are providing a 24V constant voltage. The circuit also provide a flagoutput which indicate the end of the charge. This one is not used in the final versionof the remote control because a software implementation of that functionality hasbeen preferred. The advantage of the software implementation versus the LED ismainly at the mechanical integration level. Indeed, a charge-LED would have meantone more hole near the power jack connector, which would have been problematicbecause of the lack of space on this side of the case (cf. chapter 4).

2.3.2 Voltage supply to the device

The option to supply the whole device with a single 3.3V voltage has been taken.It would have been perfectly possible to supply two parts of the circuit with twodifferent voltages, but obviously, it requires less components to generate only oneconstant supply voltage. As the radio interface circuit (nRF905) needs a supply of3.3V, this voltage is inevitably necessary.

Most of the LCD displays need a 5V supply, but the chosen one only needs a3.3V supply. This is one of the reasons why it was chosen, beside the I2C interface.

The only problematic circuit is the user interface’s microcontroller, the PIC18F2580.According to the datasheet3, this version of the microcontroller only accepts a supplyvoltage between 4.2V and 5.5V. However, the low-voltage part PIC18LF2580 func-tions over an extended VDD range of 2.0V to 5.5V but with reduced clock speed. Inboth versions (development and final version) of the remote control, a PIC18F2580is used. Indeed, some tests had already been made at Biorob and the only problemwith a supply voltage of 3.3V on that microcontroller was a failure with the CANbus at a temperature exceeding 35C. As the CAN bus is not used in this project,

3see the datasheet of the PIC18F2580, pp.422-423

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this is not a limitation.Taking into account all those considerations, a single DC/DC converter is needed

in the device. The LTC3240-3.3 from Linear Technologies has been used. This is astep-up/step-down charge pump DC/DC converter that produces a fixed regulatedoutput voltage of 3.3V over a wide input voltage range (1.8V to 5.5V) including thevoltage range covered by the battery at the different charge levels.

2.4 Key points about the PCB

The most sensitive routing part is the impedance matching circuit. The tracks mustbe as short as possible all the way between the ant1/ant2 outputs of the nRF905integrated circuit and the antenna. Moreover, the tracks must be balanced.

For most integrated circuits, good routing advices can be found in the corre-sponding datasheets. For example, the routing advices about the charger4 (LT1571-5) have been followed.

4see the datasheet of the LT1571-5 p.14

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Chapter 3

Software

During the project, only the software on the microcontroller PIC18F2580 has beendeveloped. Indeed, the software on the radio interface’s microcontroller was alreadydeveloped and thus will not be part of this report. The software has been developedon the development version of the hardware.

This chapter aims to present the global functioning of the software and not todescribe every single functions in details. The reader should read the code, which iscommented, in order to get those details.

3.1 Basics

3.1.1 Getters and setters

The way to control the robots consists only in writing into or reading specifiedregisters of the robot. As a consequence, the most needed software functions are thesetter functions and the getter functions.

The remote control always remains the master and the robot the slave. Therobot cannot initiate the transmission. Thus, the getter functions first have toask the robot to send the value of a register. There is no function receiving dataautomatically from the robot. That enables both the getters and the setters to sharethe same structure. For both functions, a one dimension array req is defined. Itsstructure is shown in figure 3.1.

The first two elements of that array are then sent to the radio interface via theserial link. The radio interface microcontroller answers with a confirmation byte.This byte has either the value ’6’ in case of success, which value corresponds tothe ACK (Acknowledgment) character in the ASCII table or the value ’13’ (NAK(Negative Acknowledgement) character) in case of failure.

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req[0] op op op op op op addr addrreq[1] addr addr addr addr addr addr addr addrreq[2-n] data data data data data data data data

Figure 3.1: Structure of the array req with ’op’ refering to operation and ’addr’ toaddress.

Depending on the function (either a getter or a setter), the data are then sentfrom the radio interface via serial link and written in the req[2] and following orread from the req[2] and following and sent to the radio interface via RS-232.The number of lines of req depends on the length of the register that is beingaccessed. That length varies from one byte to 29 bytes making the number of linesof req between 3 and 32. Several getters and setters of various length are thenimplemented, but each one is based upon the same basic function:

int1 reg_op ( int8 op , int16 addr , int8∗ data , int l en ) ;

All the access to the robot will be provided by the specific-length getters and setters.

3.1.2 Interfacing the buttons

Every time a button is pressed, the corresponding interrupt is trigered. The figure3.2 shows those interrupts names.

Button Pin Interruptenter Port B0 INT0cancel Port B1 INT1(supp Port B2 INT2)plus Port B4 INT_RBminus Port B5 INT_RB

Figure 3.2: The buttons and their corresponding interrupts

As the buttons plus and minus trigger the same interrupt, inputs 4 and 5 ofport B are read at the beginning of the routine of interrupt INT_RB in order todecide which buttons trigger interrupt up.

This detail taking apart, all the interrupts then works the same way:

1. A do-while loop increments a variable from 0 to 50 each millisecond as long asthe button state does not change (no bouncing).

2. If the variable is greater than 45, which means the button has been pressedfor 45 millisecond without bouncing, the function

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void press_button (char button ) ;

is called. Otherwise, the function is not called. As the button is bouncing, itis very likely that the interrupt is going to be set up again at the next bounce.

The function press_button implements the state machine as described in section3.3.

3.2 The state machine based model

3.2.1 Definition of the different states

In order to facilitate the navigation into the different functions, six states have beendefined:

1. RC Autonomous: When no robot is controlled, this state allows the user toaccess the menu by pressing the enter button in order to select one robot orto access the remote control’s functions like the display of the battery voltage.

In this state, the charge of the remote control is displayed on a seven segmentsbar graph. The values of the segments are the following: 3.1V / 3.25V / 3.4V/ 3.55V / 3.7V / 3.85V / 4V. If the voltage is under 3V, a text message isdisplayed : ’empty!’.

2. Menu: In this state, the menu is displayed. The working of the menu isdescribed in section 3.3.

3. Stopped: When a communication with a robot has been set up, this stateallows the user to access the menu but not to control the robot in speed anddirection (the INT_RTCC interrupt is disabled).

The LCD displays the text "Ready" on first line and "enter for menu" onsecond line. Entering the menu enables the user to start the robot and thusto control it in speed and direction.

4. In charge: When the robot is charging, the corresponding state is "In charge".On the older version of the salamander the charge can be interrupted bypressing the cancel button. The menu can still be accessed, but the robotcannot be started and thus cannot be controlled in speed and direction.

5. Started: In this state, the INT_RTCC interrupt is enabled. The joystick con-trols the speed and direction of the robot (see section 3.4 for more details). The

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menu cannot be displayed and the robot is stopped by pressing the cancel

button. The plus button is enabling the turbo mode while the minus buttonis disabling that turbo. A single pressure on the enter button switches thelocomotion between walking and swimming.

6. Error: "error !" is displayed on the first line of the LCD and a small de-scription of the error on the second line. Furthermore, the red error LED isturned on.

The figure 3.3 shows the state machine.

Figure 3.3: State machine

3.2.2 Operations of the state machine

Two global variables (current_state and previous_state) are defined. They are ofthe type state.

typedef enumSTARTED, IN_CHARGE, STOPPED, MENU,RC_AUTONOMOUS, ERROR=9 s t a t e ;

The use of two variables enables to remember a previous state. This is useful withthe menu and error modes where a return to the previous state is needed.

Basically, the transition between the states are made via the menu state. Thestates in charge and started can be accessed only if the previous state (stored in

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the previous_state variable) is stopped. Indeed, the access to the stopped statedepends on the valid connexion to a robot and the states in charge and started

need a valid connexion to this robot.When the current state is stopped, the function start robot of the sub menu

robot initializes the robot, enables the INT_RTCC interrupt and set the currentstate to started. It allows the user to control the robot in speed and direction.

Once in the states in charge or started, a simple pressure applied on thecancel button make the current state stopped.

At any time, in case of error, for example when selecting a function in the menufor which a robot is needed but that is not responding, the current state switches tothe error state. The error description remains displayed until the user press anyof the buttons. The previous state is then reloaded.

3.2.3 Infinite loop in the main

In the main, after the initialization of the device, the program enters a while(1)loop. Inside the loop, a test is made on the current state. Depending on the currentstate, the corresponding informations are displayed on the LCD. But if the currentstate has not changed and if the display does not need to be actualized, it is annoyingto continuously update the display. Indeed, it creates a blinking effect. To avoidthat disturbing effect on the LCD, the previous state is compared to the currentstate at the beginning of the while(1) loop and if they are equals, nothing is done.

As the menu and error states need to have access to the previous state, thevariables current_state and previous_state will never be equal while in those states.It is not a problem for the error state because the display is updated at the callof the function

void e r r (char∗ d e s c r i p t i o n )

and not during the while(1) loop. On the contrary, while in the menu state, thefunction

void display_menus ( )

is called during the while(1) loop. This leads to a blinking effect while in the menu

state. To avoid this, the comparison of the current state and previous state has beenreinforced with a more complete test condition:

(current state 6= previous state) XOR [(current state = menu) AND (displaydidn’t change)]

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3.3 The menu like user interface’s implementation

The menus, displayed on the LCD and whose give access to the different functionsof the remote control, are two levels menus. For a memory saving purpose, thelabels of each top menu and each function are stored in a single dimensional arrayof characters strings:

char menu_labels [ 1 3 ] [ 1 6 ] ="INFOS RC" ,"Batt. voltage" , . . . , "Stop charging" ;

Indeed, none of the menu have the same length and it would have been a waste toallocate memory according to the longest menu (the one having the most functions)in a two-dimensional array. As a consequence, two variables are then needed to storethe current first level and second level during the navigation. Those variables are:

typedef enum INFOS_RC_MAIN=0,SELECT_ROBOT_MAIN,ROBOT_MAIN main_menu ;

main_menu current_main_menu = 0 ;

and

typedef enumNO_SUB=0, BATT_VOLTAGE_SUB=1, VERSION_RADIO_SUB,FAVORITES_SUB=1, ENTER_CHANNEL_SUB, SCAN_CHANNELS_SUB,START_SUB=1, STOP_SUB, START_CHARGING_SUB,

STOP_CHARGING_SUB sub_menu ;

sub_menu current_sub_menu = NO_SUB;

The corresponding functions are stored in an array of pointers on functions takingno arguments and returning nothing.

typedef void (∗ tab_fct ) ( void ) ;

tab_fct menu_fct [10]= show_batt_voltage , . . . ,menu_stop_charging ;

In order to be able to display the label (or to select the function) correspondingto the current main menu index and/or sub menu index, the number of menu andthe length of each menu have to be store. This is done in the variable:

int8 menu_lengths [4 ]=3 , 2 , 3 , 4 ;

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Where the first element is the number of main menu and the following elements arethe length of each sub menu.

Finally, the function void display_menus() is called each time a button has beenpressed. This is indicated by the value of the variable:

int1 display_changed = 0 ;

This variable is set to one each time the function void press_button(char button) iscalled and set to zero before each new display.

3.4 Controlling the robot in speed and direction

Each of the two axis of the joystick corresponds to a parameter, either the speedor the direction. When the user is controlling the robot, the timer-based interruptINT_RTCC is enabled. At each interrupt, an update function updates the contentof defined registers in the robot.

3.4.1 Reading the position of the joystick

The period of the interrupts has been chosen in order to have a good compromisebetween a slow, non responsive system (if T 0.2s) and a too demanding periodfor the system (T 50µs 1). Indeed, during the interrupt, 2 · 10 µs are necessaryto switch the input channel plus the time of conversion which also has to be takeninto account.

Afterwards, it appeared that a very similar value had been chosen in the previoussoftware2 which was used with the gamepad and the computer (see Current way toremote control the robots at Biorob, section 1.1). The chosen period is given byequation (3.1) for a prescaler equal to 4.

Tinterrupt =2bits

fcounter

prescaler

=216 · 4

2500000≈ 104 ms (3.1)

At each interrupt, the voltages on the x axis (corresponding to the speed) andthe y axis (corresponding to the direction) are converted to the 8-bits numbers aand b.

The update function (here the update function of the salamander3) is then called

1see the datasheet of the PIC18F2580, p.258 for the detailed calcul of the minimum requiredacquisition time, which is if the order of 10 - 15µs maximum

2cf. file "joyctrl.cpp", part of the software developped by Alessandro Crespi.3corresponding functions exist for the amphibot II, the amphibot III and for the amphibot with

Mathieu Porez software

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with two arguments:

int1 update_salamander ( f loat spd , f loat d i r )

As the update functions take two floating point numbers between (-1) and 1 inargument, those are calculated from the converted values a and b of the ADC:

spd =a− 28−1

228−1

2

=a− 127.5

127.5(3.2)

dir =b− 28−1

228−1

2

=b− 127.5

127.5(3.3)

Moreover, the speed and direction values are displayed on the LCD.

3.4.2 Updating the locomotion parameters on the robot

The update functions update the values of the registers of the corresponding robotin function of:

• the position of the joystick (given by the arguments spd and dir),

• the current locomotion mode stored in the global variable

locomotion_mode current_locomotion_mode ;

which is of the type:

typedef enumWALKING, SWIMMING locomotion_mode ;

(can be either walking or swimming for the salamander and only swimmingfor the amphibot) and

• the turbo option (turbo on or off) which value is stored in the global variable

int1 turbo = 0 ;

In order to control the different types of CPG-based robots at Biorob, which aremainly the salamanders and the amphibots, several update functions have been im-plemented. Indeed, each different type of CPG-based robot has its own registersaddresses and its own locomotion parameters set. Moreover, the locomotion param-eters set is different from a version to another even for the same type of robot. Ineach update function the parameters set is updated in function of the version of thecurrent robot (which is stored in the current_robot global variable).

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The values of the different registers and the locomotion parameters set have beencopied from the code of the previous software which was used with the gamepad andthe computer4.

4cf. file "robots.h" and "robots.cpp", part of the software developed by Alessandro Crespi.

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Chapter 4

Housing and mechanical integration

From the very beginning of the project, the goal was to come to a device integratedinto a case. An effort has been made in order to find an ergonomic case and to keepthe aesthetic side on mind. This chapter focus on the choices that have been madeand not on all the mechanical aspects of the work.

4.1 Choice of the case

The key point in the choice of the case has been the size. Indeed, as the device wasintended to be hold in the hand, the size of the housing had to be reasonable. Onthe other hand, some elements were of such dimensions that they would not havefitted into a small case. For example, the height of the joystick or the width of theLCD were limiting factors.

During the search for the right case, two main options appeared:

1. A bigger case in which the joystick could fit entirely but less ergonomic becauseof its size and shape. In particular the height of the case would not havepermitted to hold it in one hand comfortably.

2. A specific case designed for hand-held comfort, with a reduced height but inwhich the joystick would not have fit entirely.

Figure 4.1 shows an example of a case of each category. The second option hasbeen preferred, giving priority to the ergonomic. Moreover, the aesthetic point isnot forgotten. Indeed, a case specifically designed for hand-held comfort is muchmore aesthetic than a big rectangular box in spite of the joystick sticking out of thecase.

From a mechanical point of view, the chosen option is a bit more complex becauseof the shape of the joystick hole which is not just a circular hole. This leads to an

21

Figure 4.1: Two types of case: a) option 1; b) option 2

important comment: the device is certainly less protected from the dust or eventhe water splashing when choosing the second option. Even if the device does nothave to be waterproof, an improvement of that aspect could be made in furtherdevelopment.

The case is in molded ABS plastic with a black soft plastic grip on the sides.

4.2 Ergonomics of the user interface

Figure 4.2 shows the front panel (top) of the remote control.

Figure 4.2: Front panel view (without antenna)

22

The orientation of the case was dictated by the fact that the antenna is anexternal one. As it is sticking out of the box from the end panel, the end panel hadto be pointing forwards and not sideways which would have been the case with anhorizontal orientation. The horizontal orientation would have permit to hold thecase with both hands: controlling the joystick with one and pushing the buttonswith the other one. The use of the device would then have been very similar to theuse of the gamepad.

Conversely, the vertical orientation enables the user to hold the device with onlyone hand. A small experiment among the staff of Biorob shows that the right-handerfirst take the device with the left hand in order to have access to the joystick withthe right hand. The four buttons, slightly on the right side are then also accessiblewith the right hand. While not controlling the robot in speed and direction, thedevice can also be held with the right hand. In this case, the buttons are accessiblewith the same hand. The use is then similar to the use of a television remote control.

The layout of the buttons is strongly inspired from the gamepad that is currentlyused at Biorob. Indeed, the gamepad is especially designed to be ergonomic.

4.2.1 End panel

Figure 4.3 shows the end panel of the remote control.

Figure 4.3: End panel view (without antenna)

From the left to the right, there is a small reset push button, the antenna con-nector, the main power switch and the jack connector for the charger.

The reset button1 is intentionally not too easily accessible as its size is reducedand its position is on the side of the top panel.

1Note that this button resets only the user interface microcontroller (PIC18F2580) and notboth microcontrollers.

23

4.3 Components and integration

4.3.1 Buttons

The buttons that have been used are the Multimec 3FTL6. They are composed ofa through hole mounting body covered by a cap. The important point is that thiscap can be chosen in various height : 16mm, 19mm or 22.5mm. In the presentcase, 19mm height buttons perfectly fit for the application, sticking out from thecase of about 3mm.

4.3.2 LCD

The total height between the top surface of the PCB and the inner top side of thecase is 8.9mm with a 1.6mm thick PCB. Thus, the LCD could not be fixed on thePCB and at the same time be near the surface of the inner top side of the case whichis what is wanted.

The selected solution is to fix the LCD on another PCB which is itself fixed onthe top of the case. The link between the main PCB and the LCD is then made viaa flat cable.

Figure 4.4 shows the side view of the inside of the case. The second PCB is ingreen and is screwed in the dark grey boss.

Figure 4.4: Elevation view of the inside of the case. The main PCB is in light grey,The LCD is in red and the second PCB in green.

This solution enables the battery to be fixed between the two PCBs by providingjust the sufficient height. In this version, the battery is fixed with double side scotch-tape. An alternative idea is to integrate the fixating system on one of the PCB. Thissystem could be as simple as four pins surrounding the battery, one on each side,making a cage. By assembling the two parts, the battery is then hold in position.

Figure 4.5 shows the shape of that second PCB and the position of the LEDsand buttons.

24

Figure 4.5: Second PCB on the inside of the top panel

4.4 Mechanical result

Figure 4.6 shows the disassembled device.

Figure 4.6: Final version of the remote control

25

Chapter 5

Conclusion

The designed device satisfies the main objective of the project, which was to havean autonomous device. Moreover, the designed remote control seems to be practicaland user-friendly, but this has to be verified during the effective use of it. Theexternal size of the device is not much bigger than the size of the previously usedgamepad.

Keeping in mind that the final version of the device as presented in this reportis only the second prototype, improvements can still be made.

5.1 Recommendations for improvements and fur-

ther developments

From a mechanical point of view, the drawings could be improved. Indeed, as this isonly the second version, a big margin has been taken on every hole. By reducing thismargin, the device could be better protected against dust and even water splashing.Nevertheless, the case cannot be made waterproof as the joystick is sticking out.

An interesting development could be the integration of the antenna inside thecase. This would considerably reduce the external size of the device. Moreover, itcould enable the user to hold the device horizontally, providing new potential uses.

Most of the improvements that could be done are in the software part. Forexample, the voltage indicator during the rc_autonomous state, could better fitthe discharge curve of the battery, which is non-linear. A function could also providean access to the charge level of the battery, during its charge. Indeed, the function

f loat battery_current ( ) ;

can be used in order to measure the current flowing into the battery (while in charge)or out of the battery. This provides access to the level of charge, as the battery is

26

charging under a constant voltage during the second part of the charging cycle1.The management of the different robots could also be improved, making easier

to add a robot with its own parameters set without having to write several functions(the init function, the update function and possibly other specific functions).

A further software development could be to enable the user to choose betweendifferent parameters sets for each robot. The locomotion could then be adapted todifferent conditions, like for example the type of the ground.

1In the first part of the charging cycle, the current flowing into the battery is constant (I =600mA). In the second part, the voltage remains constant while the current is decreasing nonlinearly.

27

1

1

2

2

3

3

4

4

D D

C C

B B

A A

Title

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Date: 09.06.2010 Sheet ofFile: \\..\schema_remoteControl01.SchDoc Drawn By:

RA2/AN2/VREF- 1

RA3/AN3/VREF+ 2

RA4/T0CKI 3

RA5/AN4/SS/HLVDIN 4VSS5

OSC1/CLKI/RA7 6OSC2/CLKO/RA6 7

RC0/T1OSO/T13CKI 8

RC1/T1OSI 9

RC2/CCP1 10

RC3/SCK/SCL 11

RC4/SDI/SDA 12

RC5/SDO 13

RC6/TX/CK 14

RC7/RX/DT 15

VSS16

VDD17

RB0/INT0/AN10 18

RB1/INT1/AN8 19

RB2/INT2/CANTX 20

RB3/CANRX 21

RB4/KBI0/AN9 22

RB5/KBI1/PGM 23

RB6/KBI2/PGC 24

RB7/KBI3/PGD 25

MCLR/VPP/RE326 RA0/AN0 27

RA1/AN1 28

Thermal Pad29

U1

PIC18F2580-I/ML

C1100nF, 20V

GND

47KR1

+3.3V

+3.3V

23

1

SW1

ResetGND

22pF

C2

22pFC3

GND

TXD->RADIO

RXD<-RADIO

GND

progpgm_PIC

progpgm_PIC

progpdt_PICprogpcl_PIC

D2LED

150RR3

D3LED

150RR4

GND

progpdt_PICprogpcl_PIC

GND

SW2

Enter

47KR7

+3.3V

GND

button01

button01

SW3

Clear

47KR8

+3.3V

GND

button02

button02

button03button04

SW4

button03

47KR9

+3.3V

GND

button03SW5

button04

47KR10

+3.3V

GND

button04 Remote_control : User's interface

Gabriel Cuendet

123456

J2

MM6

Prog

ram

mat

ion_

PIC

12

Y1XTALGND 10MHz

GND

VC

C1

Xaxis2

GN

D3

VC

C4

Yaxis5

GN

D6

JoystickJoystick

+3.3V

123456

J3

LCD

SDA

SCL

+3.3V

GND

100nFC4

1uFC5

+3.3V

GND GND

VLCD

VLCD

SCLSDA

SDA

SCL

3.3KR5

3.3KR6

J1

progvdd_PIC

progvdd_PIC

buttonSupp

SW7

buttonSupp

47KR30

+3.3V

GND

buttonSupp

D11LED

150RR31

Final version

reset_radio

PIC101

PIC102COC1 PIC201 PIC202

COC2

PIC301 PIC302

COC3

PIC401

PIC402COC4

PIC501

PIC502COC5

PID201PID202

COD2PID301PID302

COD3PID1101PID1102

COD11

PIJ101 PIJ102

COJ1PIJ201

PIJ202

PIJ203

PIJ204

PIJ205

PIJ206

COJ2

PIJ301

PIJ302

PIJ303

PIJ304

PIJ305

PIJ306

COJ3

PIJoystick01

PIJoystick02

PIJoystick03

PIJoystick04

PIJoystick05

PIJoystick06

COJoystick

PIR101

PIR102COR1

PIR301

PIR302COR3

PIR401

PIR402COR4 PIR501

PIR502COR5

PIR601

PIR602COR6

PIR701

PIR702COR7

PIR801

PIR802COR8

PIR901

PIR902COR9

PIR1001

PIR1002COR10

PIR3001

PIR3002COR30

PIR3101

PIR3102COR31

PISW101

PISW102

PISW103COSW1

PISW201 PISW202

COSW2

PISW301 PISW302

COSW3

PISW401 PISW402

COSW4

PISW501 PISW502

COSW5

PISW701 PISW702

COSW7

PIU101

PIU102

PIU103

PIU104PIU105

PIU106

PIU107

PIU108

PIU109

PIU1010

PIU1011

PIU1012

PIU1013

PIU1014

PIU1015

PIU1016

PIU1017

PIU1018

PIU1019

PIU1020

PIU1021

PIU1022

PIU1023

PIU1024

PIU1025

PIU1026 PIU1027

PIU1028

PIU1029

COU1

PIY101PIY102

COY1

PIC402

PIJ101

PIJ303

PIJoystick01 PIJoystick04

PIR102

PIR502PIR602

PIR702 PIR802 PIR902 PIR1002

PIR3002

PIR701PISW201

PIU1018NLbutton01

PIR801PISW301

PIU1019NLbutton02

PIR901PISW401

PIU1022 NLbutton03

PIR1001PISW501

PIU1023

NLbutton04

PIR3001PISW701

PIU1020

NLbuttonSupp

PIC101PIC202

PIC302

PIC401 PIC501

PIJ204

PIJ302

PIJ305

PIJoystick03 PIJoystick06

PIR301PIR401PIR3101

PISW102

PISW202 PISW302 PISW402 PISW502

PISW702

PIU105

PIU1016

PIU1029

PIY103

PIC201

PIU107PIY101

PIC301

PIU106

PIY102

PID201PIU108

PID202PIR302

PID301PIU109

PID302PIR402

PID1101PIU1010

PID1102PIR3102

PIJ201

PIC102PIJ102

PIJ205

PIU1017

POprogvdd0PIC

PIJoystick02PIU1027

PIJoystick05PIU1028

PISW103

PIU101

PIU102

PIU103

PIU104

PIU1013

PIU1014

POTXD0>RADIOPIU1015

PORXD<0RADIO

PIU1021 POreset0radio

PIJ202

PIU1024

NLprogpcl0PIC

PIJ203

PIU1025

NLprogpdt0PIC

PIJ206

PIR101PISW101

PIU1026

NLprogpgm0PIC

PIJ306

PIR501

PIU1011

NLSCLPOSCL

PIJ304

PIR601

PIU1012

NLSDAPOSDA

PIC502

PIJ301

NLVLCD

POPROGVDD0PIC

PORESET0RADIO

PORXD<0RADIOPOSCL

POSDAPOTXD0>RADIO

28

1

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2

2

3

3

4

4

D D

C C

B B

A A

Title

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Date: 09.06.2010 Sheet ofFile: \\..\schema_alim01.SchDoc Drawn By:

Remote_Control : Battery

Gabriel Cuendet

VOUT 3

C+ 4

C- 5

VIN2

GND1

SHDN6

U3

ltc3240

C131uF

C141u

C154u7

+3.3V

C16100n

C17220u 4V

Vbatt

GND_Batt

SW 2

BOOST 3

SENSE 7

CAP 13

SELECT 6

GND 16

VCC115

PROG12

VC11

FLAG5

BAT10

BAT24

VCC214

GND1

GND8 GND 9

U2

LT1571-5GND

100nFC10

GND

22uF 6.3V

C12

330nF

C91KR11

GND

Battery charger

1uFC8

300RR12

8.2KR13

22uFC6

GND

D4D Schottky

Vcharge (8.2-26V)1

23

J4

PWRJACK

D5MCL4148

220nFC11

10uHL1

D6

D SchottkyGND

100nFC7

DC/DC Converter Vbatt -> 3.3V

33KR15

SS24

SS24

35V

1234

J5

Battery

CC 1

PLS2

DC 3

SNS4

SNS5

SNS6

PS7

IS28 IS19

SDA10

VSS 11

VSS 12

VSS 13

SCL14 VDD 15

Vin16

U4

DS2764

1KR16

150R17

4.7KR18

25m

R19

150R20

1KR21

1KR22

100nFC20

100nFC18

100nFC19

Vbatt

Vbatt

GND_BattGND

SDA

SCL

Q1IRF7410

Q2IRF7410

Vbatt

VCC

VCC

VCC

VCC

Battery monitor & protection

100nFC21

1nFC22

1nFC23

S6

SW-ON/OFF

Final version

GND

GND_Batt

PIC601

PIC602COC6

PIC701

PIC702COC7

PIC801 PIC802

COC8

PIC901 PIC902COC9

PIC1001

PIC1002COC10

PIC1101

PIC1102COC11

PIC1201

PIC1202

COC12

PIC1301

PIC1302COC13

PIC1401 PIC1402

COC14

PIC1501

PIC1502COC15

PIC1601

PIC1602COC16

PIC1701

PIC1702COC17

PIC1801

PIC1802COC18

PIC1901

PIC1902COC19

PIC2001PIC2002

COC20

PIC2101

PIC2102COC21

PIC2201

PIC2202COC22

PIC2301

PIC2302COC23

PID401PID402

COD4

PID501PID502

COD5

PID601PID602

COD6

PIJ401

PIJ402

PIJ403

COJ4

PIJ501

PIJ502

PIJ503

PIJ504

COJ5

PIL101

PIL102

COL1

PIQ101PIQ102PIQ103PIQ104

PIQ105PIQ106PIQ107PIQ108COQ1

PIQ201PIQ202PIQ203PIQ204

PIQ205PIQ206PIQ207PIQ208COQ2

PIR1101 PIR1102

COR11PIR1201

PIR1202COR12

PIR1301

PIR1302COR13

PIR1501

PIR1502COR15

PIR1601 PIR1602

COR16

PIR1701 PIR1702COR17

PIR1801

PIR1802COR18

PIR1901PIR1902

COR19

PIR2001PIR2002

COR20

PIR2101PIR2102

COR21

PIR2201PIR2202

COR22

PIS601 PIS602

COS6

PIU201

PIU202

PIU203

PIU204

PIU205

PIU206

PIU207

PIU208

PIU209

PIU2010

PIU2011

PIU2012

PIU2013

PIU2014

PIU2015

PIU2016

COU2

PIU301

PIU302 PIU303

PIU304PIU305PIU306

COU3

PIU401

PIU402

PIU403

PIU404

PIU405

PIU406

PIU407

PIU408

PIU409

PIU4010

PIU4011

PIU4012

PIU4013

PIU4014

PIU4015

PIU4016

COU4

PIC1501 PIC1601 PIC1701PIU303

PIC602

PIC702

PIC1002PIC1202

PIC1502 PIC1602 PIC1702

PIC1902 PIC2101

PID601

PIJ402

PIJ403

PIR1101PIR1201 PIR1301

PIR1501

PIR1801

PIR1902

PIU201

PIU206

PIU208

PIU209

PIU2016

PIU301

PIU404

PIU405

PIU406

PIC1802

PIJ503

PIJ504

PIR1901

PIU4011

PIU4012

PIU4013

PIC601PID402

PIU2014

PIU2015PIC801PIR1202 PIC802PIR1302

PIU2012

PIC901PIR1102 PIC902PIU2011

PIC1001 PIR1502PIU2013

PIC1101PID602 PIL101PIU202

PIC1102PID502

PIU203

PIC1302 PIU306 PIC1401PIU305 PIC1402

PIU304

PIC2001PIU409PIC2002

PIU408

PIC2102

PIR2002PIU4015

PIC2201PIC2302

PID501PIL102

PIU207

PIJ501

PIJ502

PIS601

PIQ104PIR2101

PIQ105PIQ106PIQ107PIQ108

PIQ205PIQ206PIQ207PIQ208PIQ204

PIR2201

PIR1602PIU4016

PIR1702PIU402

PIR1802PIU407

PIR2102PIU401

PIR2202PIU403

PIU205

PIU4010

POSDA

PIU4014

POSCL

PIC1801

PIC2301

PIQ201PIQ202PIQ203

PIR1601

PIR2001PIS602

PIC1201

PIC1301

PIC1901

PIC2202PIQ101PIQ102PIQ103

PIR1701

PIU204

PIU2010

PIU302

PIC701 PID401PIJ401

POSCL

POSDA

29

1

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2

2

3

3

4

4

D D

C C

B B

A A

Title

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Date: 09.06.2010 Sheet ofFile: \\..\schema_radio01.SchDoc Drawn By:

C305p6

C315p6

ant2

ant1

C32

(not

fit) L2

12nH

L4

10nH

L3

12nH

C33

22p

C35

33p

C36 4p7

C34

3n3

vddpa

Sortie antenne(50 Ohm)

5

1

2 3 4

P1 COAX-M

123456

J7

MM6Prog

ram

mat

ion_

RA

DIO

VDD14

VDD217

VDD325

DVDD_1V231

MISO10

MOSI11

SCK12

CS13

TRX_CE1

PWR_UP2

TX_EN32

CD6

AM7

DR8

uPCLK3

VSS1 5

VSS2 9

VSS3 16

VSS4 18

VSS5 22

VSS6 24

VSS7 26

VSS8 27

VSS9 28

VSS10 29

VSS11 30

XC1 14

XC2 15

VDD_PA 19

ANT1 20

ANT2 21

IREF 23

U6

NRF905

RA0/AN0 27

RA1/AN1 28

RA2/AN2/VREF-/CVREF 1

RA3/AN3/VREF+ 2

RA4/T0CKI/C1OUT 3

RA5/AN4/SS/C2OUT 4

RB0/INT 18

RB1 19

RB2 20

RB3/PGM 21

RB4 22

RB5 23

RB6/PGC 24

RB7/PGD 25

RC0/T1OSO/T1CKI8

RC1/T1OSI/CCP29

RC2/CCP110

RC3/SCK/SCL11

RC4/SDI/SDA12

RC5/SDO13

RC6/TX/CK14

RC7/RX/DT15

VSS5

VSS16

MCLR/VPP26

OSC1/CLKI6

OSC2/CLKO7

VDD 17

U5

PIC16LF876A-I/ML

R28

22K (1%)

C24

22pF

C25

22pF

csel

csel

txentxce

txce

txenpwuppwup

dramcd

dramcd

picled

sckmisomosi

misomosisck

R23

47K

+3.3V

C27

10n

vddpa

ant1ant2

R291M

C29

22p

C28

22pR27

10K

+3.3V

RXD<-RADIOTXD->RADIO

+3.3V

C26100n

picled_tx

D9

Orange

R25

150Rpicled

Q3 BSS138

D10

Vert

R26

150R

+3.3V

cd

D8

Rouge

R24

150Rpicled_tx

Remote_control : Radio interface

20MHz

progpcl_RADIOprogpdt_RADIO

progpgm_RADIO

progpcl_RADIOprogpdt_RADIO

progpgm_RADIO

Gabriel Cuendet

12

Y2XTALGND10MHz

12

Y3XTALGND

progvdd_PIC

progvdd_PIC

Final version

reset_radio

150RR33

PIC2401PIC2402

COC24

PIC2501PIC2502

COC25

PIC2601

PIC2602COC26

PIC2701PIC2702

COC27

PIC2801 PIC2802

COC28

PIC2901 PIC2902

COC29

PIC3001

PIC3002COC30

PIC3101

PIC3102COC31

PIC3201

PIC3202

COC32

PIC3301 PIC3302

COC33

PIC3401 PIC3402

COC34

PIC3501 PIC3502

COC35

PIC3601

PIC3602COC36

PID801 PID802

COD8

PID901 PID902

COD9

PID1001 PID1002

COD10

PIJ701

PIJ702

PIJ703

PIJ704

PIJ705

PIJ706

COJ7

PIL201

PIL202COL2

PIL301PIL302COL3

PIL401 PIL402

COL4PIP101

PIP102 PIP103 PIP104 PIP105

COP1

PIQ301 PIQ302

PIQ303

COQ3

PIR2301 PIR2302COR23

PIR2401PIR2402COR24

PIR2501PIR2502COR25

PIR2601PIR2602COR26

PIR2701PIR2702COR27

PIR2801 PIR2802

COR28

PIR2901

PIR2902COR29

PIR3301 PIR3302COR33

PIU501

PIU502PIU503

PIU504

PIU505

PIU506

PIU507

PIU508

PIU509

PIU5010

PIU5011

PIU5012

PIU5013

PIU5014

PIU5015

PIU5016 PIU5017

PIU5018

PIU5019

PIU5020

PIU5021

PIU5022

PIU5023

PIU5024

PIU5025

PIU5026

PIU5027

PIU5028

COU5

PIU601PIU602

PIU603

PIU604 PIU605

PIU606

PIU607

PIU608

PIU609

PIU6010

PIU6011

PIU6012

PIU6013

PIU6014

PIU6015

PIU6016

PIU6017

PIU6018

PIU6019

PIU6020

PIU6021

PIU6022

PIU6023

PIU6024

PIU6025

PIU6026

PIU6027

PIU6028

PIU6029

PIU6030

PIU6031

PIU6032

COU6

PIY201PIY202

COY2

PIY301PIY302

COY3

PID1001

PIR2301

PIR2702

PIU604

PIU6017

PIU6025

PIU5019

PIU607NLam

PIC3102

PIC3202

PIL201

PIL302

PIU6020NLant1

PIC3001

PIC3201

PIC3301

PIL202

PIU6021NLant2

PIQ303

PIU5020

PIU606NLcd

PIU508

PIU6013NLcsel

PIU5018

PIU608NLdr

PIC2402

PIC2502

PIC2602

PIC2702

PIC2802

PIC2902

PIC3002

PIC3101PIC3402

PIC3502

PIC3602

PIJ704

PIP102 PIP103 PIP104 PIP105

PIQ302

PIR2401

PIR2501

PIR2802

PIU505

PIU5016

PIU605

PIU609

PIU6016

PIU6018

PIU6022

PIU6024

PIU6026

PIU6027

PIU6028

PIU6029

PIU6030

PIY203

PIY303

PIU5012

PIU6010NLmiso

PIU5013

PIU6011NLmosi

PIC2401

PIU506

PIY201

PIC2501

PIU507PIY202

PIC2601

PIJ705

PIU5017 POprogvdd0PIC

PIC2701 PIU6031

PIC2801

PIR2902PIU6014

PIY301

PIC2901

PIR2901PIU6015

PIY302

PIC3302 PIL401

PIC3601

PIL402 PIP101

PID802PIR2402

PID902PIR2502

PID1002PIR2602

PIJ701

PIQ301PIR2601

PIR2801PIU6023

PIR3301POreset0radio

PIU501

PIU502

PIU5014

PORXD<0RADIO

PIU5015

POTXD0>RADIOPIU5021

PIU5022

PIU5027

PIU5028

PIU603

PID901

PIU504

NLpicled

PID801

PIU5023

NLpicled0tx

PIJ702

PIU5024NLprogpcl0RADIO

PIJ703

PIU5025NLprogpdt0RADIO

PIJ706

PIR2302

PIR3302

PIU5026

NLprogpgm0RADIOPIR2701PIU503 PIU602

NLpwup

PIU5011

PIU6012NLsck

PIU5010

PIU601NLtxce

PIU509

PIU6032NLtxen

PIC3401

PIC3501

PIL301

PIU6019NLvddpa

POPROGVDD0PIC

PORESET0RADIO

PORXD<0RADIOPOTXD0>RADIO

30

Qté Nom Valeur Fabriquant N° Farnell Footprint============================================================================= ==============

1 C1 100nF, 20V 0603_G7 C2,C3,C24,C25,C28,C29,C33 22pF 0603_G9 C4,C7,C10,C16,C18,C19,C20,C21,C26 100nF 0603_G4 C5,C8,C13,C14 1uF 0603_G1 C6 22uF, 35V CAP_SMD_D1 C9 330nF 0603_G1 C11 22nF 0603_G1 C12 22uF, 6.3V CAP_SMD_A1 C15 4,7uF 0603_G1 C17 220uF, 4V CAP_SMD_B2 C22,C23 1nF 0603_G1 C27 10nF 0603_G2 C30,C31 5,6pF 0603_G0 C32 not fit 0603_G1 C34 3,3nF 0603_G1 C35 33pF 0603_G1 C36 4,7pF 0603_G

------------------------------------------------------ ------------------------------------------ ------------------- ------------- ----------------------2 D2,D3 LED verte, 3mm Kingbright *1142502 LED_5MM1 D11 LED rouge, 3mm Kingbright *1142517 LED_5MM2 D4,D6 Diode schottky DSO-C2/X2.31 D5 MCL4148 Micromelf MICROMELF_D_21 D8 Led smd rouge 0603_D1 D9 Led smd orange 0603_D1 D10 Led smd vert 0603_D

------------------------------------------------------ ------------------------------------------ ------------------- ------------- ----------------------1 J1 Jumper JUMP4 J2,J3,J7 MM6 Micromatch MM6

*LCD, pour le 2e PCB MM6 Micromatch MM61 J4 RASM712 Switchkraft *1608734 RASM7121 J5 MM4 Micromatch MM4

----------------------------------------------------- ------------------------------------------ ------------------- ------------- ----------------------1 Joystick STD-2603AR Multicomp 1148306

----------------------------------------------------- ------------------------------------------ ------------------- ------------- ----------------------1 L1 10uH WE-PD2-S2 L2,L3 12nH 0603_G1 L4 10nH 0603_G

----------------------------------------------------- ------------------------------------------ ------------------- ------------- ----------------------1 LCD BTHQ21605V-COG-FSRE-I2C Batron 1220409 LCD1 P1 Connecteur RF, SMA coudé Multicomp *1169632 CONN_SMA2 Q1,Q2 IRF7410 SOIC127P600-8AM1 Q3 BSS138 SOT95P240-3M

----------------------------------------------------- ------------------------------------------ ------------------- ------------- ----------------------7 R1,R7,R8,R9,R10,R23,R30 47K 0603_G8 R3,R4,R17,R20,R24,R25,R26,R31 150R 0603_G3 R5,R6,R27 10K 0603_G4 R11,R16,R21,R22 1K 0603_G1 R12 300R 0603_G1 R13 8.2K 0603_G1 R15 33K 0603_G1 R18 4,7K 0603_G1 R19 25m RESC5025M1 R28 22K (1%) 0603_G1 R29 1M 0603_G1 R33 150R RESC1608L

----------------------------------------------------- ------------------------------------------ ------------------- ------------- ----------------------1 SW-ON/OFF Jumper JUMP1 SW-ON/OFF, facade Slider switch Knitter-Switch *8075391 SW1 SPDT Subminiature switch, M6RE Multicomp *15502675 SW2,SW3,SW4,SW5,SW7 Bouton, corps 3FTL6 Multimec *11328855 Bouton, cap. 1S09-19.0 Multimec *1132918

----------------------------------------------------- ------------------------------------------ ------------------- ------------- ----------------------1 U1 PIC18F2580-I/ML Microchip QFN-ML28_M1 U2 LT1571-5,Battery charger1 U3 ITC3240, DC/DC converter, 3.3V DFN6-DC1 U4 DS2764,Battery monitor TSSOP161 U5 PIC16LF876A-I/ML Microchip QFN-ML28_M1 U6 NRF905,single chip radio trans. QFN32_M

----------------------------------------------------- ------------------------------------------ ------------------- ------------- ----------------------2 Y1,Y2 Crystal Oscillator, 10MHz XTALGND1 Y3 Crystal Oscillator, 20MHz XTALGND

----------------------------------------------------- ------------------------------------------ ------------------- ------------- ----------------------1 Boitier Hammond 1553D Noir Hammond *1511160

Bleu translucide *1511161Jaune *1511163

31

SIZE

WEIGHT:

2.01553D

ABS

Remote Control, BiorobG.C. 01.06.10

DWG. NO. du boitier !

FRONT PANELCOMMENTS:

SHEET 1 OF 2

Q.A.

MFG APPR.

ENG APPR.

CHECKED

DRAWN

DATENAME

ATTENTION : Vue depuis l'intérieur

AREV.

FINISH

MATERIAL

DO NOT SCALE DRAWING

DIMENSIONS ARE IN MMTOLERANCES:FRACTIONALANGULAR: MACH BEND TWO PLACE DECIMAL THREE PLACE DECIMAL

SCALE:1:1

84.6

8

155

35

77.9518

119.

67

59.95 (cf. datasheet)

95

32

DÉTAIL A

2424

28

4

28

36

4

36

DWG. NO.SIZE

WEIGHT:

AREV.

MATERIAL

FINISH

DO NOT SCALE DRAWING

ATTENTION : Vue depuis l'extérieur

1553D

ABS

Remote Control, BiorobG.C.

NAME

du boitier

FRONT PANELCOMMENTS:

SHEET 2 OF 2

Q.A.

MFG APPR.

ENG APPR.

CHECKED

DRAWN

DATE

01.06.2010DIMENSIONS ARE IN MMTOLERANCES:FRACTIONALANGULAR: MACH BEND TWO PLACE DECIMAL THREE PLACE DECIMAL

SCALE:1:1

A

21.39

88.4

2

61.84

3.50

49.7

3

15.8

0

16.79

61

76.3

788.8

2

3x

44.90

32.9533.08

7

101.

14

76.8

7

62.02 7

74x

140.

40

33

2.50

12.5

7

43.72

17.60

4.50 7

13.20

2.50

50.32

26.12

7

11.76

28.328.

3612

.37

2.50

20.57

7.50

INTERPRET GEOMETRICTOLERANCING PER:

5 4 3 2

ENDPANEL

2.0DO NOT SCALE DRAWING

1553DSHEET 1 OF 1

01.06.10GC

UNLESS OTHERWISE SPECIFIED:

SCALE: 2:1 WEIGHT:

REVDWG. NO.

ASIZE

TITLE:Remote control, BiorobNAME DATE

COMMENTS:

Q.A.

MFG APPR.

MATERIAL

CHECKED

ENG APPR.

FINISH

DRAWN

ABS

DIMENSIONS ARE IN MMTOLERANCES:FRACTIONALANGULAR: MACH BEND TWO PLACE DECIMAL THREE PLACE DECIMAL

1

34