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This book is the fifth official archival publication devoted to RoboCup.

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To adapt the segway RMP, a dynamically balancing robot base, to build robots capable of playing soccer autonomously., - Focuses on the electro‐mechanical mechanisms required to make the Segway RMP autonomous, sensitive, and able to control a football., - Finds that turning a Segway RMP into a soccer‐playing robot requires

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OSH: Schematics

Arduino PRO is open-source hardware! You can build your own board using the follwing files:

EAGLE FILES IN .ZIP SCHEMATICS IN .PDF

Power

The Arduino Pro can be powered via the USB header, with a battery, or with an external power supply. The battery power jack is a JST header. A power jack for an external supply can be soldered to the board. The power pins are as follows:

VIN: The voltage supplied to the board from a battery or the DC power jack (according to the position of the switch). You can supply voltage through this pin, or, if supplying voltage via a battery or DC power supply, access it through this pin.

VCC: The regulated power supply on the board. This comes from the battery or DC power supply via the regulator, or from the USB-to-TTL Serial convertor.

GND: Ground pins.

Memory

The ATmega328 has 32KB of flash, 2KB of SRAM, and 1KB of EEPROM.

Input and Output

Each of the 14 digital pins on the Pro can be used as an input or output, using pinMode, digitalWrite, and digitalRead functions. They operate at 3.3 or 5 volts (depending on the model). They operate at 3.3 volts. Each pin can provide or receive a maximum of 40 mA and has an internal pull-up resistor (disconnected by default) of 20-50 kOhms. In addition, some pins have specialized functions:

Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These pins are connected to the TX-0 and RX-1 pins of the six pin header.

External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a low value, a rising or falling edge, or a change in value. See the attachInterrupt() function for details.

PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite() function.

SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication, which, although provided by the underlying hardware, is not currently included in the Arduino language.

LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value, the LED is on, when the pin is LOW, it's off. The Pro has 6 analog inputs, each of which provide 10 bits of resolution (i.e. 1024 different values). By default they measure from ground to VCC, though is it possible to change the upper end of their range using the AREF pin and some low-level code.

I2C: 4 (SDA) and 5 (SCL). Support I2C (TWI) communication using the Wire library.

AREF: Reference voltage for the analog inputs. Used with analogReference().

Reset: Bring this line LOW to reset the microcontroller. Typically used to add a reset button to shields which block the one on the board.

Communication

The Arduino Pro has a number of facilities for communicating with a computer, another Arduino, or other microcontrollers. The ATmega328 provides UART TTL serial communication, which is available on digital pins 0 (RX) and 1 (TX). The Arduino software includes a serial monitor which allows simple textual data to be sent to and from the Arduino board via a USB connection.
A SoftwareSerial library allows for serial communication on any of the Pro's digital pins.

The ATmega328 also supports I2C (TWI) and SPI communication. The Arduino software includes a Wire library to simplify use of the I2C bus; see the reference for details. To use the SPI communication, please see the ATmega328 datasheet.

Programming

The Arduino Pro can be programmed with the Arduino software download. For details, see the reference and tutorials. The ATmega328 on the Arduino Pro comes preburned with a bootloaderthat allows you to upload new code to it without the use of an external hardware programmer. It communicates using the original STK500 protocol reference, C header files.
You can also bypass the bootloader and program or ATmega328 with an external programmer; see these instructions for details.

Automatic (Software) Reset

Rather then requiring a physical press of the reset button before an upload, the Arduino Pro is designed in a way that allows it to be reset by software running on a connected computer. One of the pins on the six-pin header is connected to the reset line of the ATmega328 via a 100 nanofarad capacitor. This pin connects to one of the hardware flow control lines of the USB-to-serial convertor connected to the header: RTS when using an FTDI cable, DTR when using the Sparkfun breakout board. When this line is asserted (taken low), the reset line drops long enough to reset the chip.
The Arduino software uses this capability to allow you to upload code by simply pressing the upload button in the Arduino environment. This means that the bootloader can have a shorter timeout, as the lowering of the reset line can be well-coordinated with the start of the upload.
This setup has other implications. When the Pro is connected to either a computer running Mac OS X or Linux, it resets each time a connection is made to it from software (via USB). For the following half-second or so, the bootloader is running on the Pro. While it is programmed to ignore malformed data (i.e. anything besides an upload of new code), it will intercept the first few bytes of data sent to the board after a connection is opened.
If a sketch running on the board receives one-time configuration or other data when it first starts, make sure that the software with which it communicates waits a second after opening the connection and before sending this data.

Physical Characteristics

The maximum length and width of the Pro PCB are 2.05 and 2.10 inches respectively, with the six pin header and power switch extending slightly beyond the edges. Four screw holes allow the board to be attached to a surface or case. Note that the distance between digital pins 7 and 8 is 160 mil (0.16"), not an even multiple of the 100 mil spacing of the other pins.

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Arduino PRO is open-source hardware! You can build your own board using the follwing files: EAGLE FILES IN .ZIP SCHEMATICS IN .PDF The Arduino Pro can be powered via the USB header, with a battery, or with an external power supply. The battery power jack is a JST header.

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Getting Started with Arduino Duemilanove | Tutorials of Cytron Technologies

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Arduino is a tool for making computers that can sense and control more of the physical world than your desktop computer. It's an open-source physical computing platform based on a simple microcontroller board, and a development environment for writing software for the board. Arduino can be used to develop interactive...

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LilyPad Arduino 04
This revision uses the ATmega328P instead of the ATmega168V. All other detials are identical to version 03.
LilyPad Arduino 03
This revision has a 6-pin programming header that's compatible with FTDI USB cables and the Sparkfun FTDI Basic Breakout. It adds support for automatic reset, allowing sketches to be uploaded without pressing the reset button on the board. The header is surface mounted, meaning that the board has no pokey bits sticking out the back.

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LilyPad Arduino 04 This revision uses the ATmega328P instead of the ATmega168V. All other detials are identical to version 03. LilyPad Arduino 03 This revision has a 6-pin programming header that's compatible with FTDI USB cables and the Sparkfun FTDI Basic Breakout.

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Programming

You can also bypass the bootloader and program the microcontroller through the ICSP (In-Circuit Serial Programming) header using Arduino ISP or similar; see these instructions for details.

The ATmega16U2 (or 8U2 in the rev1 and rev2 boards) firmware source code is available in the Arduino repository. The ATmega16U2/8U2 is loaded with a DFU bootloader, which can be activated by:

On Rev1 boards: connecting the solder jumper on the back of the board (near the map of Italy) and then rese ing the 8U2.

On Rev2 or later boards: there is a resistor that pulling the 8U2/16U2 HWB line to ground, making it easier to put into DFU mode.

Warnings

The Arduino Uno has a resettable polyfuse that protects your computer's USB ports from shorts and overcurrent. Although most computers provide their own internal protection, the fuse provides an extra layer of protection. If more than 500 mA is applied to the USB port, the fuse will automatically break the connection until the short or overload is removed.

Differences with other boards

The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial driver chip. Instead, it features the Atmega16U2 (Atmega8U2 up to version R2) programmed as a USB-to-serial converter.

Power

The Arduino Uno board can be powered via the USB connection or with an external power supply. The power source is selected automatically.

External (non-USB) power can come either from an AC-to-DC adapter (wall-wart) or battery. The adapter can be connected by plugging a 2.1mm center-positive plug into the board's power jack. Leads from a battery can be inserted in the GND and Vin pin headers of the POWER connector.

The board can operate on an external supply from 6 to 20 volts. If supplied with less than 7V, however, the 5V pin may supply less than five volts and the board may become unstable. If using more than 12V, the voltage regulator may overheat and damage the board. The recommended range is 7 to 12 volts.

The power pins are as follows:

Vin. The input voltage to the Arduino board when it's using an external power source (as opposed to 5 volts from the USB connection or other regulated power source). You can supply voltage through this pin, or, if supplying voltage via the power jack, access it through this pin.

5V.This pin outputs a regulated 5V from the regulator on the board. The board can be supplied with power either from the DC power jack (7 - 12V), the USB connector (5V), or the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V pins bypasses the regulator, and can damage your board. We don't advise it.

3V3. A 3.3 volt supply generated by the on-board regulator. Maximum current draw is 50 mA.

GND. Ground pins.

IOREF. This pin on the Arduino board provides the voltage reference with which the microcontroller operates. A properly configured shield can read the IOREF pin voltage and select the appropriate power source or enable voltage translators on the outputs to work with the 5V or 3.3V.

Memory

The ATmega328 has 32 KB (with 0.5 KB occupied by the bootloader). It also has 2 KB of SRAM and 1 KB of EEPROM (which can be read and written with the EEPROM library).

Input and Output

See the mapping between Arduino pins and ATmega328P ports. The mapping for the Atmega8, 168, and 328 is identical.
PIN MAPPING ATmega328P
In addition, some pins have specialized functions:

Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These pins are connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial chip.

External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a low value, a rising or falling edge, or a change in value. See the attachInterrupt() function for details.

PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite() function.

SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication using the SPI library.

LED: 13. There is a built-in LED driven by digital pin 13. When the pin is HIGH value, the LED is on, when the pin is LOW, it's off.

TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using the Wire library.

The Uno has 6 analog inputs, labeled A0 through A5, each of which provide 10 bits of resolution (i.e. 1024 different values). By default they measure from ground to 5 volts, though is it possible to change the upper end of their range using the AREF pin and the analogReference() function. There are a couple of other pins on the board:

AREF. Reference voltage for the analog inputs. Used with analogReference().

Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset button to shields which block the one on the board.

Communication

The Arduino Uno has a number of facilities for communicating with a computer, another Arduino board, or other microcontrollers. The ATmega328 provides UART TTL (5V) serial communication, which is available on digital pins 0 (RX) and 1 (TX). An ATmega16U2 on the board channels this serial communication over USB and appears as a virtual com port to software on the computer. The 16U2 firmware uses the standard USB COM drivers, and no external driver is needed. However, on Windows, a .inf file is required. The Arduino Software (IDE) includes a serial monitor which allows simple textual data to be sent to and from the board. The RX and TX LEDs on the board will flash when data is being transmitted via the USB-to-serial chip and USB connection to the computer (but not for serial communication on pins 0 and 1).

A SoftwareSerial library allows serial communication on any of the Uno's digital pins.

The ATmega328 also supports I2C (TWI) and SPI communication. The Arduino Software (IDE) includes a Wire library to simplify use of the I2C bus; see the documentation for details. For SPI communication, use the SPI library.

Automatic (Software) Reset

Rather than requiring a physical press of the reset button before an upload, the Arduino Uno board is designed in a way that allows it to be reset by software running on a connected computer. One of the hardware flow control lines (DTR) of the ATmega8U2/16U2 is connected to the reset line of the ATmega328 via a 100 nanofarad capacitor. When this line is asserted (taken low), the reset line drops long enough to reset the chip. The Arduino Software (IDE) uses this capability to allow you to upload code by simply pressing the upload button in the interface toolbar. This means that the bootloader can have a shorter timeout, as the lowering of DTR can be well-coordinated with the start of the upload.

This setup has other implications. When the Uno is connected to either a computer running Mac OS X or Linux, it resets each time a connection is made to it from software (via USB). For the following half-second or so, the bootloader is running on the Uno. While it is programmed to ignore malformed data (i.e. anything besides an upload of new code), it will intercept the first few bytes of data sent to the board after a connection is opened. If a sketch running on the board receives one-time configuration or other data when it first starts, make sure that the software with which it communicates waits a second after opening the connection and before sending this data.

The Uno board contains a trace that can be cut to disable the auto-reset. The pads on either side of the trace can be soldered together to re-enable it. It's labeled "RESET-EN". You may also be able to disable the auto-reset by connecting a 110 ohm resistor from 5V to the reset line; see this forum thread for details.

Revisions

Revision 3 of the board has the following new features:

1.0 pinout: added SDA and SCL pins that are near to the AREF pin and two other new pins placed near to the RESET pin, the IOREF that allow the shields to adapt to the voltage provided from the board. In future, shields will be compatible with both the board that uses the AVR, which operates with 5V and with the Arduino Due that operates with 3.3V. The second one is a not connected pin, that is reserved for future purposes.

Stronger RESET circuit.

Atmega 16U2 replace the 8U2.

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You can also bypass the bootloader and program the microcontroller through the ICSP (In-Circuit Serial Programming) header using Arduino ISP or similar; see these instructions for details. The ATmega16U2 (or 8U2 in the rev1 and rev2 boards) firmware source code is available in the Arduino repository.