iRobot 4812 iROBOT COMMAND MODULE User Manual USERS MANUAL 1 OF 2

iRobot Corporation iROBOT COMMAND MODULE USERS MANUAL 1 OF 2

Contents

USERS MANUAL 1 OF 2

Getting Started with a PC1 Install WinAVR from the Command Module product CD 2 Power on iRobot Create, plug the Command Module into the robot’s Cargo Bay Connector, and connect the USB cable from your PC to the Command Module.3 Install the USB drivers (there are 2 that need to be installed) using the Found New Hardware Wizard or the installation executable on the Command Module product CD4 Set the USB serial port to COM9 (open the Properties for the port from the Device Manager and change the com port using the Advanced button in the Port Settings tab)Creating and Loading a New Project1 Open WinAVR 2 Create a new project and add the source files (e.g. input.c, oi.h and makefile from the input example program on the product CD)3 Compile the project using Tools->[WinAVR] Make All4 Connect the Command Module to iRobot Create and connect the USB cable from your PC to the Command Module5 Press Reset on the Command Module6 Download the project using Tools->[WinAVR] Programwww.irobot.comiRobot® Command Module QUICK START GUIDESAVE 15%on accessories.See back for details.An easy step-by-step guide and reference card for using the iRobot Command Module with your iRobot Create.TMVirtual Wall®IR transmitter conveniently placed at robot eye-level. Can be used as an invisible wall or beaconiRobot Rechargeable BatteryRechargeable battery and charger for the iRobot CreateHome BaseTMRecharges the iRobot rechargeable battery while in iRobot Create. Also contains 3 IR transmittersStandard RemoteAllows you to control iRobot Create from a distanceiRobot® CreateTM AccessoriesRegister your iRobot® Command Module today and SAVE 15% on all accessories.*©2006 iRobot Corporation. All rights reserved. iRobot and Virtual Wall are registered trademarks of iRobot Corporation. Home Base and Create are trademarks of iRobot Corporation. U.S. Pat. Nos. 6,594,844 6,690,134, and 6,809,490. Other patents pending. For more accessories and ordering information go to www.irobot.com or call 800.727.9077. *See registration card for details. Availability subject to change. Shipping and handling not included.429.06For the full set of instructions on setting up and using your Command Module visit www.irobot.com/create to download the Command Module Owner’s Manual.
IntroductionWith the iRobot Command Module, you can control iRobot Create with programs you write in C or C++. And when you add custom hardware to the Command Module and iRobot Create, you can invent almost any kind of robot you want.The Command Module plugs into iRobot Create’s Cargo Bay connector and screws down for a secure connection. Its four DB-9 expansion ports (ePorts) make adding your own sensors, lights, and motors inexpensive and easy. For more detail, download the Command Module Owner’s Manual at www.irobot.com/create.With the programs you write, you can control iRobot Create’s motors, lights, and songs and read its sensors using the robot’s Open Interface serial protocol (details are in the iRobot Create Owner’s Manual and online at www.irobot.com/create). You can also control and read your own custom sensors, buttons, LEDs, and motors when you connect them to the Command Module’s expansion ports. Once you write your programs, they are easy to download to the Command Module’s microcontroller.Start with one of the example programs; expand and change it as you wish. For more information on writing software for the Command Module see the Software Reference chapter in the Command Module Owner’s Manual and the Open Interface reference guide.What’s included:iRobot Command ModuleUSB CableiRobot Command Module CD that includes: • WinAVR install • USB Driver install • Example programs • Atmel AVR ATmega168 microcontroller data sheet Processor I/O PinsThe Command Module’s Atmel AVR ATmega 168 microcontroller has 23 I/O pins, arranged into 3 ports (B, C and D), plus 2 additional analog input pins. The table below gives a description of each pin along with the location of the hardware to which it is connected. For information on how to control and read from these pins, see the Command Module Owner’s Manual.Pin Name Description LocationPB0 Digital I/O Cargo Bay ePor t pin 3 PB1 Digital I/O Top Center ePor t pin 3PB2 Digital I/O Top Right ePor t pin 2 PB3 Digital I/O Top Left ePor t pin 3 PB4 Serial port connector select. 1 = USB port. 0 = iRobot CreateInternalPB5 iRobot Create Power Detect. High if iRobot Create is on.iRobot Create connector pins 10-13PB6 Clock line Internal Use onlyPB7 Clock line Internal Use onlyPC0 Digital I/O or Analog Input Cargo Bay ePor t pin 2PC1 Digital I/O or Analog Input Top Center ePor t pin 2PC2 Digital I/O or Analog Input Top Right ePor t pin 2PC3 Digital I/O or Analog Input Top Left ePor t pin 2PC4 Digital I/O or Analog Input Cargo Bay ePor t pin 1PC5 Digital I/O or Analog Input Top Center ePor t pin 2PC6 Reset Line Internal Use onlyPD0 Serial Rx iRobot Create connector pin 2 or USBPD1 Serial Tx iRobot Create connector pin 1 or USBPD2 iRobot Create Device Detect Input iRobot Create connector pin 15PD3 USB Detect USB portPD4 Command Module Soft Button Left buttonPD5 Command Module LED 1 Left green LEDPD6 Command Module LED 2 Right green LEDPD7 iRobot Create Power Toggle (on rising edge) iRobot Create connector pin 3ADC6 Analog Input Top Right ePor t pin 1ADC7 Analog Input Top Left ePor t pin 1Top Right ePortPin# Description Name1 Analog Input 6 ADC62 Digital I/O (Port C pin 2) or Analog Input 2 PC2/ADC23 Digital I/O (Port B pin 2) PB2 4 Regulated 5V voltage (when iRobot Create is on)Vcc 5 iRobot Create Battery Ground Gnd6 Not Connected NC7 iRobot Create Battery Voltage (when iRobot Create is on)Vpwr8 Not Connected NC9 Low Side Driver 0 LD0Cargo Bay ePortPin# Description Name1 Digital I/O (Port C pin 4) or Analog Input 4 PC4/ADC42 Digital I/O (Port C pin 0) or Analog Input 0 PC0/ADC03 Digital I/O (Port B pin 0) PB0 4 Regulated 5V voltage (when iRobot Create is on)Vcc 5 iRobot Create Battery Ground Gnd6 Not Connected NC7 iRobot Create Battery Voltage (when iRobot Create is on)Vpwr8 Low Side Driver 1 LD19 Low Side Driver 2 LD2Top Left ePortPin# Description Name1 Analog Input 7 ADC7 2 Digital I/O (Port C pin 3) or Analog Input 4 PC3/ADC43 Digital I/O (Port B pin 3) PB3 4 Regulated 5V voltage (when iRobot Create is on)Vcc5 iRobot Create Battery Ground Gnd6 Not Connected NC7 iRobot Create Battery Voltage (when iRobot Create is on)Vpwr8 Not Connected NC9 Low Side Driver 0 LD0Top Center ePortPin# Description Name1 Digital I/O (Port C pin 5) or Analog Input 5 PC5/ADC5 2 Digital I/O (Port C pin 1) or Analog Input 1 PC1/ADC13 Digital I/O (Port B pin 1) PB1 4 Regulated 5V voltage (when iRobot Create is on)Vcc 5 iRobot Create Battery Ground Gnd6 Not Connected NC7 iRobot Create Battery Voltage (when iRobot Create is on)Vpwr8 Not Connected NC9 Low Side Driver 0 LD0Anatomy LED 1LED 2Top Left ePort USB IndicatorUSBHold Down ScrewsSoft ButtonResetTop Center ePortPower LEDPower SwitchCargo Bay ePort Top Right ePortiRobot Create Connector(under the Command Module)System Requirements:Windows XP*USB connection*Support for additional operating systems may be available at www.irobot.com/create.The tables below show the signal connections for the each of the ePorts. The four ePorts have similar electrical connections, allowing add-on modules to be installed in different ePorts depending upon your needs.For more details on your iRobot Command Module and to download the Owner’s Manual, visit www.irobot.com/create.

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