Build a FIRST Robotic Controller Board

Introduction Documentation Construction Notes Changes Microcontroller Operating Notes Operation Notes PC Board Procurement Controller Board Files Credits

INTRODUCTION

DOCUMENTATION

Most of the parts are from DigiKey with the exception of the case for the receiver which you can purchase from Allied Electronics. The component documentation is found in individual ‘pdf’ files with the name of the component as the filename. The version of the rxslave.bs2 code that works with this controller in found in the file named newslave.bs2. There is also a test program to wring out any bugs called test.bs2.

CONSTRUCTION NOTES

Receiver Board

1. LED1-LED8 have flat side facing relays.
2. LED9 and LED10 have flat side pointing away from relays
3. DB1-DB3 are the 0.318" (short) connectors
4. The header for the PWM output was constructed from a dual right angle header and a long straight header which were glued together and bent. Furthermore, every other column of pins must be pulled and the header cut to length.
5. Other sources for the Siemens RTD14012 relays are Allied Electronics (part #886-3215, #886-7878, or #886-4012), or Newark Electronics (part #94B9891).

Transmitter Board

1. P2-P5 are the 0.590" (long) connectors
2. C6 is made of the two 3300pf surface mount capacitors
3. Use connector mounting holes on P2-P5 as drill guide (mounting holes on board were accidentally neglected for these connectors)

CHANGES

Receiver Board Modifications

1. Con1 and Con5 are one 6-pole connector instead of a 2 pole and a 4 pole connector joined together.
2. Add 0.001mF capacitor across pins 5 and 14 of U2 (use non-component side)
3. Add 0.001uF capacitor across pins 4 and 21 of U1 (use non-component side)
4. Add 0.1mF capacitor across pins 4 and 22 of U1 (use non-component side)

Transmitter Board Modifications

1. C1 and C2 are 100uf capacitors instead of 10uf capacitors
2. Change R3 from 100K to 86.6K for increased joystick range

JOYSTICK

CH Products
970 Park Center Drive
Vista, CA 92083
(760) 598-2518
Attn: Danni Sanchez
http://www.chproducts.com/shop/classic.html#23

MICROCONTROLLER PROGRAMMING NOTES

Programming U1 (Pic17C42A) of transmitter:

1. Use file trmt1f.hex (intel-hex file)
2. Settings: Oscillator=EC (external clock input), Watch Dog=TMR (timer operation), Processor Mode=Microcontroller

Programming U2 (Pic16C54A) of receiver:

1. Use file servo1f.hex (intel-hex file)
2. Settings: Oscillator=HS (high speed crystal), Watch Dog=OFF (no watch dog), Code Protection= OFF (no code protection)

OPERATION NOTES

Transmitter Auxiliary Input Port

¨ - Note these changes from the FIRST transmitter auxiliary input port.

The potentiometer does not get tied to ground or +5. The wiper of the pot is tied to a potentiometer input (pins 4 or 19) and one of the potentiometer ends gets tied to a potentiometer common input (pins 13 or 14).

Note that the transceiver pair BIM-4xx-RS232 required slight modification to the unit designated as the transmitter. The trace to pin 7 of U3 (PIC16F84-10) was cut and then pin 7 was tied to the via labeled LED2 on the edge of the board (see red wire in photo of transceiver pair). This modification locks the transceiver in the transmit mode. The cheaper radio modem pair (RTcomTx-RS232 and RTcomRx-RS232) might be a better choice. Also remember that power is passed straight from the source to pin 9 of the serial connector for both the transmitter and receiver. Consequently, whatever unit you select, it must handle 7.5 volts to 12 volts for the power supply. The units mentioned above are compatible with this controller.

PC BOARD PROCUREMENT

We already have an arrangement with a company in Dayton,Ohio called CCI (Circuit Center Incorporated) to have boards constructed less the tooling costs (we’ve already paid for the tooling cost). We can coordinate with them to get price breaks for quantity purchases if enough interest is generated. Contact our office at NASA Glenn if you would like to be added to the list of people who desire the boards at a discount price. The following chart reflects the prices as a function of quantity (number of people willing to buy the boards).

Quantity Ordered	Transmitter Board Price	Receiver Board Price	Total Price
1	176.58	324.82	501.40
5	63.54	141.91	205.45
10	52.93	129.13	182.06
25	36.24	93.68	129.92
50	30.87	81.77	112.64

PC Board Source:

Circuit Center, Inc.
4738 Gateway Circle
Dayton, Ohio 45440
1-800-224-7440
Attn: Carolyn Faulkner
http://www.circuitcenter.com/

Should you decide to have a board built yourself, the files needed by the board house are found in:

• receiver.zip {675 kb}
• transmit.zip {77 kb}

Controller Board Files

parts.doc (updated 3/30/00)
rparts.doc (new 3/30/00)
tparts.doc (new 3/30/00)
newslave.bs2 (updated 3/7/00)
masslave.bs2 (new 2/25/00)
newtest.bs2 (updated 3/30/00)
mastest.bs2 (new 3/30/00)
servo1f.hex (updated 4/19/00)
trmt1f.hex (updated 12/28/99)
master.pdf (new 2/25/00)
receiver.pdf
transmit.pdf

74hct166.pdf
Adc0834.pdf
Max232a.pdf
Nju3716.pdf
Pic16c54.pdf
Pic17c42.pdf
Rtd14012.pdf
Stamp2.pdf
Td62083.pdf

74hct166.pdf
Adc0834.pdf
Max232a.pdf
Nju3716.pdf
Pic16c54.pdf
Pic17c42.pdf
Rtd14012.pdf
stamp2.pdf
Td62083.pdf

CREDITS

Larry Greer -- Chief engineer for controller 433-8770

Dan Spina -- Receiver board layout and schematic

Jim Fleet -- Transmitter board layout

Emye Benavage -- Transmitter board schematic

Page Created by Bruce Bream