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DAGU Playful Puppy, Instruction Manual, Page: 26 / 26

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DAGU Playful Puppy Instruction Manual Download Page 26

Robot Controller:

The  Playful  Puppy  uses  the 

Mini  Driver

 

which  is  a  general  purpose  robot  controller 
from DAGU. 

T h i s  i s  a  s m a l l ,  A r d u i n o  c o m p a t i b l e 
controller  that  comes  with  the  Arduino 
bootloader pre-installed.

Specifications:

Ø

Input voltage 4.5V - 9V with reverse polarity protection rated at 4A.

Ø

LDO 5V regulator rated at 1A.

Ø

USB interface and ISP socket, can be programmed with USB cable or ISP programmer.

Ø

ATmega8A processor @ 16MHz with 8K FLASH, 1K SRAM and 512 Bytes EEPROM memory.

Ø

8x digital I/O pins with servos compatible 3 pin male headers and selectable power (+5V / +Battery). 

Ø

6x analog inputs with regulated 5V and Gnd for powering analog sensors.

Ø

Built in battery monitor on analog input A7.

Ø

Dual FET "H" bridge rated at 2.5A per channel can drive 2x DC motor or 1x Stepper motor.

Ø

Serial port for optional Bluetooth transceiver.

26

Summary of Contents for Playful Puppy

Page 1: ...the express written consent of DAGU Hi tech Electronic Co Ltd The manufacturer and distributor cannot be held responsible for any damages occurred by mishandling mounting mistakes or misuse due to non...

Page 2: ...Parts list Assembly instructions Wiring Instructions Installing the Software Controlling the robot Understanding the code Uploading via the ISP socket Burning the bootloader Trouble Shooting Controll...

Page 3: ...ons in this manual exactly you will quickly assemble your Playful Puppy robot Before you start you must prepare the following tools Opened packages can not be returned Please check package contents be...

Page 4: ...bracket 1 1pc M2 2 8 self tapping screw 16pcs M2 6 self tapping screw 16pcs with flange 16 17 M2 6 self tapping screw 12pcs M2 8 self tapping screw with flange 4pcs 18 M2 3 12 self tapping screw 2pcs...

Page 5: ...check the length of your screws and spacers 7 4 x2 x2 2 2 2 7 14 17 18 14 14 x4 x4 Please note that servo mounts differently for left and right legs attach legs so knee bent at 90 5 Before you begin a...

Page 6: ...ets in both clutch pieces so the poles alternate as shown 34 30 x2 5 Note position of hip servos and mount legs at 90 to body Pay careful attention to which bracket you use The hole patterns are diffe...

Page 7: ...p 8 19 Step 9 Step 10 0mm 10mm 20mm 30mm 40mm 50mm 0 inch 2 inch 1 inch 22 13 23 26 21 25 2pcs 24 25 2pcs 9 31 15 11 2 6 30 x2 5 Install 8x magnets in both clutch pieces so the poles alternate as show...

Page 8: ...mm 10mm 20mm 30mm 40mm 50mm 0 inch 2 inch 1 inch Ready for wiring 21 32 27 23 22 Step 13 36 29 Step 11 33 Step 12 28 8 Remove protective paper from adhesive strips and mount battery holder with velcro...

Page 9: ...These are your analog signals from the compound eye D8 D8 Make sure the servo power selection jumper is toward the outer edge of the PCB This will power the leg servos directly from the battery When...

Page 10: ...ont knee and hip servos as shown Make sure the knee and hip can both move freely over their entire range before tightening the cable tie Repeat the process for the rear legs Feed these cables through...

Page 11: ...ller from DAGU Before we can upload the sample code we must select the correct board type and serial port This is done in theTools menu Select Arduino NG or older w ATmega8 as your board type The robo...

Page 12: ...he robot turned on and put it on it s back so it cannot try to run away Before you upload the code it is always good practice to verify it first This will compile the code and check for any errors bef...

Page 13: ...your hand gets too close the robot will back up If your hand is too far away but still in range then the robot will walk forward If you do not play with the puppy it will get bored and sit down While...

Page 14: ...nal code if you make a mistake Below is a flowchart of the sample code A flow chart is not actual code it is more like a map showing blocks of code and the different paths the processor can follow wit...

Page 15: ...tion runs only once when the program first runs This is where the servos are attached to their digital pins and initialized to their center positions By default all digital pins are configured as inpu...

Page 16: ...o quickly it can overshoot and the head will tend to vibrate or constantly shake Too slow and the robot will loose it s lock on a moving object If you make changes to the code that affect how quickly...

Page 17: ...sensors with the IR LEDs turned ON This reading is a combination of the ambient IR light plus the IR light from the LEDs being reflected from any nearby objects Then the LEDs are turned OFF and the s...

Page 18: ...variables panscale and tiltscale are used to try and compensate for distance and the speed at which the program runs The constants LRscalefactor and UDscalefactor can be changed in the Constants h tab...

Page 19: ...ion of the code the difference between millis and sit are compared to the constant Boredom The result is that if the robot does not take a step for Boredom milliseconds then the robot will become bore...

Page 20: ...legs raise move and lower Negative values of LShift and RShift make the legs go backward instead of forward The Speed constant determines the number of milliseconds between steps in the gait Stepsize...

Page 21: ...n the SitShakeLiedown tab determines the behavior of the puppy While in the sitting position the robot will still track movement with it s head If the head tracks movement towards either front leg the...

Page 22: ...ion manual These instructions will explain how to use an Arduino or compatible board as the programmer Using the example code supplied with the Arduino IDE you can use another Arduino or Arduino compa...

Page 23: ...rammer leave the board type as Arduino NG or older w ATmega8 as this is the configuration of the puppy robot Go to the Tools menu select programmer and choose your programmer type Arduino as ISP Then...

Page 24: ...e procedure is very similar to uploading code via the ISP socket If you have not done so already configure an Arduino or compatible board as your programmer as explained on page 21 Once your programme...

Page 25: ...port is recognized and the correct port is selected Try re instalingl the USB drivers Q The robot looks away from an object instead of towards it A Check that the Pan Tilt assembly has been assembled...

Page 26: ...ted at 1A USB interface and ISP socket can be programmed with USB cable or ISP programmer ATmega8A processor 16MHz with 8K FLASH 1K SRAM and 512 Bytes EEPROM memory 8x digital I O pins with servos com...

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