Fire Bird V ATMEGA2560 Hardware Manual
Note:
C1 and C2 motor connectors are used in omnidirectional and 4 wheel drive robots. LEDs
for C1 motor channels are present if C1 motor channel is used.
Warning:
Auxiliary power can supply current up to 1 Ampere while Battery can supply current up to 2
Ampere. When both motors of the robot change direction suddenly without stopping, it produces
large current surge. When robot is powered by Auxiliary power which can supply only 1 Ampere
of current, sudden direction change in both the motors will cause current surge which can reset
the microcontroller because of sudden fall in voltage. It is a good practice to stop the motors for
at least 0.5 seconds before changing the direction. This will also increase the useable time of the
fully charged battery.
Robot has two IC holders for two L293D motor drivers with each having two 6 pin 2510
relimate connectors for two DC motors. Each 6 pin relimate connector provides connections for
the DC motor and the associated position encoder. Each connector can drive motor with up to
600mA current rating. Figure 3.18 shows the locations of the two L293D dual motor drivers on
the main board. Left side L293D drives C1 and C2 motors and right side L293D drives Left and
Right side motors. In the two wheel drive robot left side L293D is absent as its not used however
to use C1 and C2 motor driver channels you can insert L293D in the left side IC holder.
Figure 3.21: Motion control connections on the main board
Connector Name
Description
L
Left motor connector 1
R
Right motor connector 2
C1
C1 motor connector
C2
C2 motor connector
External Motor
Interface Port1
Logic signals of pins 47 to 55 of the main board socket for interfacing external high power
motor drivers
for L,R and C1 motors
External Motor
Interface Port2
Logic signals of pins 66 to 68 of the main board socket for interfacing external high power
motor drivers
for C2 motor
Table 3.5: Use of connectors of the motion control module
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA 31
