Hexapod controller
MainBoard V1.0 Bluetooth
Introduction
The MainBoard controller is designed to perfectly fit into the Micro-Base kit.However, its modest dimensions and its voltage regulation capability make it an excellent solution for many other projects requiring the control of a large number of servo-motors.
A Microchip Pic 18F452 microcontroller 40MHz manages the position of the servo-motors according to the information received on its serial port.
The system as to operating mode:
- Remote controlled by a Windows based computer with standard Bluetooth capabilities.
- Autonomous, by replacing the communication module by a microcontroller board with serial port feature.
MainBoard v1.0 documentation
Functional characteristics
21 servo-motors controller.Single power source operation.
Three integrated regulators (5V power, 5V logic and 3.3V logic).
Updatable embeded code thanks to a bootloader.
Interface to work with ICD2 and MPLAB IDE from Microchip.
Electric characteristics
Supply tension: 6.5V min.5V power output: 7.5A max.
5V logic output: 500mA max.
3.3V logic output: 250mA max.
Printed circuit board
Double side printed board, plated through holes.Target 3001 project (schematics and pcb)
Embedded application
The application was developed in assembly language. The source code is given under the terms of the Open Source license.Archives of the MPLAB project
Bluetooth communication module
The Bluetooth communication module is the best way to go for serial, small range, applications:- Ease of use with only 4 pins connexion: GND, +3.3V, TX and RX.
- Integrated antenna for communication up to ten meters.
- Usable with almost any device managed by Windows Bluetooth stack;
- 50% less caustly than the XBee solution.
Bluetooth module documentation
Computer-end software
The PC software includes two parts :- A dynamic library ( Microbase_lib.dll) written in C language grouping together all the methods described in the theoretical section.
- A graphical interface (Microbase.exe) written in C# language enables the use of the various methods of the dll (walk, turn, tilt).
The framework DotNet must be installed on the machine in order to run the Microbase.exe application.
VisualStudio projects