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

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Document ID	732914
Application ID	HTn+bT7gjzwO+Fk4qlklJw==
Document Description	USERS MANUAL 1 OF 2
Short Term Confidential	No
Permanent Confidential	No
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Document Type	User Manual
Display Format	Adobe Acrobat PDF - pdf
Filesize	52.71kB (658884 bits)
Date Submitted	2006-11-29 00:00:00
Date Available	2007-01-13 00:00:00
Creation Date	2006-10-27 18:42:26
Producing Software	Adobe PDF Library 7.0
Document Lastmod	2006-10-27 18:42:31
Document Title	USERS MANUAL 1 OF 2
Document Creator	Adobe InDesign CS2 (4.0)

Getting Started with a PC
Install WinAVR from the Command Module product CD  
 ower 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.
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 CD
 et 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 Project
Open WinAVR  
 reate 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)
Compile the project using Tools->[WinAVR] Make All
 onnect the Command Module to iRobot Create and connect the
USB cable from your PC to the Command Module
Press Reset on the Command Module
Download the project using Tools->[WinAVR] Program
For 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.
iRobot Command Module
iRobot Create
Accessories
®
®
TM
Quick Start Guide
An easy step-by-step guide and reference card for using
the iRobot Command Module with your iRobot Create.
Register your iRobot® Command Module
today and SAVE 15% on all accessories.*
TM
SAVE 15%
on accessories.
See back for details.
Virtual Wall®
Home BaseTM
IR transmitter
conveniently placed at
robot eye-level. Can be
used as an invisible
wall or beacon
Recharges the iRobot
rechargeable battery
while in iRobot Create.
Also contains 3
IR transmitters
iRobot
Rechargeable Battery
Rechargeable
battery and charger
for the iRobot Create
Standard Remote
Allows you to control
iRobot Create from
a distance
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.
©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.
429.06
www.irobot.com
Introduction
Anatomy
LED 2
With 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.
Star t 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.
The 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.
Hold Down Screws
Power LED
Power Switch
USB Indicator
Top Left ePort
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.
Processor I/O Pins
LED 1
USB
Soft Button
Reset
iRobot Create Connector
(under the Command Module)
Top Center ePort
Cargo Bay ePort
Top Right ePort
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.
Top Left ePort
Top Right ePort
PB1
Digital I/O
Top Center ePort pin 3
PB2
Digital I/O
Top Right ePort pin 2
PB3
Digital I/O
Top Left ePort pin 3
PB4
Serial port connector select. 1 = USB port.
0 = iRobot Create
Internal
PB5
iRobot Create Power Detect. High if iRobot Create
is on.
iRobot Create connector
pins 10-13
PB6
Clock line
Internal Use only
PB7
Clock line
Internal Use only
Pin # Description
Name
PC0
Digital I/O or Analog Input
Cargo Bay ePort pin 2
ADC7
Analog Input 6
ADC6
PC1
Digital I/O or Analog Input
Top Center ePort pin 2
Analog Input 7
Digital I/O (Port C pin 3) or Analog Input 4
PC3/ADC4
Digital I/O (Port C pin 2) or Analog Input 2
PC2/ADC2
PC2
Digital I/O or Analog Input
Top Right ePort pin 2
Digital I/O (Port B pin 3)
PB3
Digital I/O (Port B pin 2)
PB2
PC3
Digital I/O or Analog Input
Top Left ePort pin 2
Regulated 5V voltage (when iRobot
Create is on)
Vcc
Regulated 5V voltage (when iRobot
Create is on)
Vcc
iRobot Create Battery Ground
Gnd
iRobot Create Battery Ground
Gnd
Not Connected
NC
Not Connected
NC
iRobot Command Module
USB Cable
iRobot Command Module CD that includes:
iRobot Create Battery Voltage
(when iRobot Create is on)
Vpwr
iRobot Create Battery Voltage
(when iRobot Create is on)
Vpwr
For more details on your iRobot Command Module and to download the
Owner’s Manual, visit www.irobot.com/create.
Location
Cargo Bay ePort pin 3
Name
WinAVR install
USB Driver install
Example programs
Atmel AVR ATmega168 microcontroller data sheet
Description
Digital I/O
Pin# Description
What’s included:
•
•
•
•
Pin Name
PB0
Not Connected
NC
Not Connected
NC
Low Side Driver 0
LD0
Low Side Driver 0
LD0
Top Center ePort
Cargo Bay ePort
Name
Pin #
Description
Name
PC5/ADC5
Digital I/O (Port C pin 4) or Analog Input 4
PC4/ADC4
Digital I/O (Port C pin 1) or Analog Input 1
PC1/ADC1
Digital I/O (Port C pin 0) or Analog Input 0
PC0/ADC0
Digital I/O (Port B pin 1)
PB1
Digital I/O (Port B pin 0)
PB0
Regulated 5V voltage (when iRobot
Create is on)
Vcc
Regulated 5V voltage (when iRobot
Create is on)
Vcc
Pin #
Description
Digital I/O (Port C pin 5) or Analog Input 5
iRobot Create Battery Ground
Gnd
iRobot Create Battery Ground
Gnd
Not Connected
NC
Not Connected
NC
iRobot Create Battery Voltage
(when iRobot Create is on)
Vpwr
iRobot Create Battery Voltage
(when iRobot Create is on)
Vpwr
Not Connected
NC
Low Side Driver 1
LD1
Low Side Driver 0
LD0
Low Side Driver 2
LD2
PC4
Digital I/O or Analog Input
Cargo Bay ePort pin 1
PC5
Digital I/O or Analog Input
Top Center ePort pin 2
PC6
Reset Line
Internal Use only
PD0
Serial Rx
iRobot Create connector pin 2 or USB
PD1
Serial Tx
iRobot Create connector pin 1 or USB
PD2
iRobot Create Device Detect Input
iRobot Create connector pin 15
PD3
USB Detect
USB port
PD4
Command Module Soft Button
Left button
PD5
Command Module LED 1
Left green LED
PD6
Command Module LED 2
Right green LED
PD7
iRobot Create Power Toggle (on rising edge)
iRobot Create connector pin 3
ADC6
Analog Input
Top Right ePort pin 1
ADC7
Analog Input
Top Left ePort pin 1
System Requirements:
Windows XP*
USB connection
*Support for additional operating systems may be available at www.irobot.com/create.

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