This document describes the Karelino controller prototype for the Karel robot. Karelino uses an Arduino-compatible microcontroller with 12 analog inputs to read sensors and control motors and other components. It has a Bluetooth module for wireless communication and regulates power from a lithium polymer battery. The document provides details on the electrical schematic, component selection and layout on the printed circuit board. It also discusses the production of additional controllers by partner teams in the Comenius project and proposes further improvements to the design.

1. KAREL
Controller Design
Mihai Agape, Project Coordinator
Palatul Copiilor Drobeta Turnu Severin
KAREL, Comenius Project Meeting
Rybnik, 06-13.04.2014

2.  This project has been funded with support from the
European Commission.
 This communication reflects the views only of the
authors, and the Commission cannot be held
responsible for any use which may be made of the
information contained therein.

3. The Purpose of the
Presentation
 Explain Karelino - first
controller prototype of Karel
robot

4. Don’t forget!
 All partners have to be able to produce the
final controller
 Romanian team will produce 1 prototype for
each partner
 Turkish, Greek, Polish, and Romanian teams
will produce 4 controller pieces for their own
robots

5. Why Karelino?
Karel problems
2 s LiPo battery management
Motor voltage regulator
Solution
Small complexity prototype

6. Karelino
Requirement & Godmother
Karelino additional requirement
12 analogic inputs
Cristina-Maria Agape
Karel & Arduino -> Karelino

7. Karelino pins alocation
 Drive the transistor which control the current
through emitters (1): PE6
 Phototransistor reading (12): PF7–PF4 (A0–
A3), PF –PF0 (A4–-A5), PD4 (A6), PD6 (A7),
PD7 (A8), and PB4–PB6 (A9–A11)
 Motors Drivers Control (4):
 Motor 1 (pin 12 – OC0A = AIN2, pin 18 – OC0B = AIN1)
 Motor 2 (pin 31 – OC3A = BIN2, pin 32 – OC4A = BIN1)
 Pushbuttons (3): PB1 – PB3 (SPI pins)
 LEDs (3): PB0, PD1, and PD5
 Bluetooth Communication (2): RX and TX

8. Schema electrică

9. Power Supply

10. Power Supply
 2s Lithium Polymer battery
 Capacity >= 600mAh
 Battery voltage = 6–8,4V
 +5V Regulator
 LM2940CS (800mA)
 +3,3V Regulator
 LM1117IMP-3.3
 Bluetooth module
 Microcontroller Voltages
 VCC–GND & AVCC–AGND

11. Communication Interfaces
 Bluetooth (Rayson
UART—RX & TX—
serial adaptor
BTM112) – wireless
communication with
the computer
 USB – programming
the microcontroller
 SPI – programming
microcontroller fuses

12. Motors Driver = DRV8833PWP
 Dual driver
 1,2 A / channel
 2 PWM signals
 Motor 1 (pin 12 – OC0A = AIN2, pin 18 – OC0B = AIN1)
 Motor 2 (pin 31 – OC3A = BIN2, pin 32 – OC4A = BIN1)

13. Pushbuttons & LEDs
 LEDs
 PB0, PD1 i PD5ș
 Active on 0 logic
 Pushbuttons
 PB1–PB3 (SCK, MOSI &
MISO)
 Separation with 1kΩ resistor
 Active on 0 logic

14. PCB Design
 Single Side PCB laminate
 Components
 SMD
 THD
 Software
 Target3001!

15. Copper Bottom Layer

16. Top Silkscreen

17. Bottom Silkscreen

18. 3D Top View

19. 3D Bottom View

20. Useful Links
 Drawings for manufacturing the controller
http://1drv.ms/1jet3ci
 Bill of materials for all designs
http://1drv.ms/1oAF8hr

21. Other Designs
 Charger with MCP73833
 Single Motor Driver with DRV8833
 12 Line Sensors
 Load Switch & Protection
 Motor Voltage Regulator with TPS63060

22. Further Improvements
 Integrate some of the designs from previous
slide
 Replace USB micro B connector with an USB
mini B connector
 Redesign the PCB (components places and
traces) according to the chassis shape
 Add LEDs to show the state of Bluetooth
module
 … The list is open to your proposals

23. Bibliography
 Agape, Mihai. Agape, Maria-Genoveva.
“KAREL Specifications”, agreed in Karel
Project Meeting, held at Beypazari on 10–
16.11.2013. http://sdrv.ms/170NTak
 Agape, Mihai. “Karelino—One Step in Karel
Robotic Platform Developing”, presentation
given at National Symposium IPO-TECH,
Tirgu-Neamt, 29.03.2014

24. Bibliography (cont.)
 *** ATmega32U4, 7766G–AVR–02/2014. Atmel.
http://www.atmel.com/Images/Atmel-7766-8-bit-AVR-
ATmega16U4-32U4_%20Datasheet.pdf
 *** DRV8833, SLVSAR1C. Texas Instruments.
http://www.ti.com/lit/gpn/drv8833.
 *** LM2940, SNVS769I. Texas Instruments.
http://www.ti.com/lit/gpn/lm2940-n.
 *** LM1117, SNOS412M. Texas Instruments.
http://www.ti.com/lit/gpn/lm1117-n
 *** Bluetooth Module BTM-112. Rayson.

25. Questions?