Nvis 3302ARD Manual

Nvis 3302ARD RoboCar
RoboCar
Nvis 3302ARD
Product Tutorial
Ver. 0.1
1
2
RoboCar
Nvis 3302ARD
Table of Contents
1. Introduction 4
2. Features 5
3. Technical Specification 6
4. Theory 7
5. How to Install and Use Arduino IDE to Program the Nvisduino Board 14
6. Programming using arduino IDE 21
7. How To Make Your Own Program On Arduino IDE 24
8. Experiments
· Experiment 1 26
To study the basic robotic theory
· Experiment 2 27
To study the Board Configuration and pin configuration
· Experiment 3 28
To study the programming on Arduino(ATmega328P) Processor
· Experiment 4 33
To study control DC Motor
· Experiment 5 34
To study Ultrasonic Sensor
· Experiment 6 35
To study Zigbee Interface with robot control
· Experiment 7 36
To study Gyreosensor with accelerometer
9. Warranty 37
10. List of Accessories 37
3
Safety Instructions
Read the following safety instructions carefully before operating the instrument. To
avoid any personal injury or damage to the instrument or any product connected to it.
Do not operate the instrument if you suspect any damage within.
The instrument should be serviced by qualified personnel only.
For your safety:
Use in proper atmosphere :
Please refer to operating conditions given in the manual.
● Do not operate in wet / damp conditions.
● Do not operate in an explosive atmosphere.
● Keep the product dust free, clean and dry.
● Don’t put the battery other than supplied with the RoboCar else warranty
void.
● Don’t keep the mains adaptor or charging ON for long period (Only 45
Minutes or Up to 8.4 V), this may damage the Battery.
● Remove the battery Connector after Class or Lab Over,
● Check Battery Voltage once in a week if RoboCars are not in frequently
use.
4
Introduction
Nvis 3302ARD is capable of sensing environment using various sensor modules and
acts accordingly. Nvis RoboCar is a ready assembled unit consisting of FR4 chassis
wheels with different Sensor modules mounted on it. The machine is driven by DC
motors which are powered by rechargeable batteries. This Nvis 3302ARD is
Atmega328P Microcontroller (Arduino based) RoboCar, is designed for users to start
developing smart robot which is capable of accelerometer balancing, Gyroscope
angular velocity sensing, Ultrasonic obstacle avoiding/detecting and distance measure
and many more. There is Zigbee for wireless control your smart RoboCar.
5
Features
· Wireless Zigbee RoboCar control

· Ultrasonic RoboCar control
· DC motor interface & control
· Gyroscope Accelerometer Sensor Interface and control
· Expansion Analog connectors for enhancing more experiments
· Expansion PWM connectors for Servo motor Interface
· Expansion connectors for use ISP Programming
· Onboard motor Driver IC to control Motor
· Onboard battery charger
· PC based Programming
· Separate reset switch facility for Zigbee, controller
· Every pin is marked in order to make work easier
6
Technical Specifications
Robot Mechanism
• Motors: 2 metal geared 12V DC/150rmp/2Kgcm
• Interconnection for modules: CBK male connector
Robotic Processor Board
· Arduino processor with on board Zigbee for movements Control.
· Arduino Controller IC - Atmega328P
· FT232 PCB for USB programming
· Motor driver ICs - L293d
· On board Zigbee 2.4 GHZ for robotic control
· Sensor interfacing PCB, CBK male connectors plug able onboard.
· Sensor interface PCB with facility
• Ultrasonic
• Accelerometer(on range: ±2g, ±4g, ±8g, ±16g)
• Gyro scope(on range: ±2g, ±4g, ±8g, ±16g)
• 4 Analog sensors and 1 Digital
• 6 PWM servomotors optional
· USB 2.0 compatible for programming PCB
· 16 MHz Crystal Oscillator
· Separate reset switch facility for Zigbee, controller
· On board 4 SMD LEDs for digital output indicator
· Rechargeable batteries 8.4V /3000mAh (Lithium battery)
· DC Charger Supply 9volt/700mAh.
· On Board battery charger
· On Board separate Supply +5V, +3.3V
The Robotic Mechanical Structure
Dimension : 190 x 190 x 80mm Dual rim
Weight : 1kg approx.
Material : FR4
7
Theory
In these module covers the input devices are:
• DC Motor
• Ultrasonic Sensor
• Zigbee Module
• Gyroscope Accelerometer Sensor
DC Motor
A motor is a machine that converts electrical energy into mechanical energy
(rotation). The key elements of DC motor are field winding and an armature winding.
As electric currents flow through the windings, torque is developed between these two
windings.
In the DC motor we have only + and – leads. By reversing the polarity, the DC motor
will move in the opposite direction. While a stepper motor moves in steps of 1 to 15
degree, DC motor moves continuously.
The maximum speed of DC motor is indicated in rpm and is given in the datasheets of
motor.
Ultrasonic Sensor
The HC-SR04 ultrasonic sensor uses sonar to determine distance to an object like bats
do. It offers excellent non-contact range detection with high accuracy and stable
readings in an easy-to-use package. From 2cm to 400 cm or 1” to 13 feet. It operation
is not affected by sunlight or black material like Sharp rangefinders are (although
acoustically soft materials like cloth can be difficult to detect). It comes complete with
ultrasonic transmitter and receiver module
8
Zigbee Module
Zigbee S2 RF module is used for long range communication. It has range of 1600
meters in line of sight or 90 meters in indoors or urban area. It is used for embedded
solutions providing addressable wireless end - point connectivity to devices. This is
an ideal module for robots to PC or robots to robots communication. This Zigbee
wireless device can be directly connected to the serial port (at 3.3 V level) of your
microcontroller. By using a logic level translator it can also be interfaced to 5V logic
(TTL) devices having serial interface. This module supports data rates of up to
115kbps. These modules use the IEEE 802.15.4 networking protocol for fast point –
to - multipoint or peer – to - peer networking. They are designed for high-throughput
applications requiring low latency and predictable communication timing
Gyroscope Accelerometer Sensor

The MPU-6050 devices combine a 3-axis gyroscope and a 3-axis accelerometer on
the same silicon die, together with an onboard Digital Motion Processor™ (DMP™),
which processes complex 6-axis Motion Fusion algorithms. The device can access
external magnetometers or other sensors through an auxiliary master I²C bus,
allowing the devices to gather a full set of sensor data without intervention from the
system processor.
For more detail study

http://42bots.com/tutorials/arduino-uno-and-the-invensense-mpu-6050-6dof-imu/
http://playground.arduino.cc/Main/MPU-6050
9
Board Configuration and Parts name
PCB Details:
10
· Motor Block:
Motor Operation:
The motor circuit is composed to drive 1 motor in right and left simultaneously. So it
can move forward, backward, left and right by controlling both motors. Atmega328P
can control the motor operation with help of Motor drive IC L293DE. A and B pins
give ‘10’ or ‘01’ value to decide forward and backward movement of motor and
Atmega328P signal is delivered to drive the motor. This circuit configuration can
control the motor
Configuration Table of Pins:
J13-Phonex Pin Port pin Arduino Pin Description
Number
1 PD5 Digital 5 Right Motor Plus
2 PD6 Digital 6 Right Motor Minus
3 PD7 Digital 7 Left Motor Plus
4 PB0 Digital 8 Left Motor Minus
· UltraSonic Block:
Ultrasonic Sensor Operation
A short ultrasonic pulse is transmitted at the time 0, reflected by an object. The senor
receives this signal and converts it to an electric signal. The next pulse can be
transmitted when the echo is faded away. This time period is called cycle period. The
recommend cycle period should be no less than 50ms. If a 10μs width trigger pulse is
sent to the signal pin, the Ultrasonic module will output eight 40kHz ultrasonic signal
and detect the echo back. The measured distance is proportional to the echo pulse
width and can be calculated by the formula above. If no obstacle is detected, the
output pin will give a 38ms high level signal.
Configuration Table of Pins:
J12-UltraSonic Port pin Arduino Pin Description
Pin Number
1 - - +5VDC
2 PB5 Digital 13 Trig
3 PB4 Digital 12 Echo
4 - - GND
11
· Zigbee Block:
Zigbee Operation:
The motor circuit is composed to drive 1 motor in right and left simultaneously. So it
can move forward, backward, left and right by controlling both motors. Atmega328P
can control the motor operation with help of Motor drive IC L293DE. A and B pins
give ‘10’ or ‘01’ value to decide forward and backward movement of motor and
Atmega328P signal is delivered to drive the motor. This circuit configuration can
control the motor
Pin Number Port pin Arduino Pin Description
1 - - +3.3V
2 PD0 TXD Zigbee TXD
3 PD1 RXD Zigbee RXD
4 - - NC
5 - Reset Zigbee
6 to 20 - GND
· Gyroscope Accelerometer Sensor Block:

Gyerosenson Operation:
The MPU-6050 devices combine a 3-axis gyroscope and a 3-axis accelerometer on
the same silicon die, together with an onboard Digital Motion Processor™ (DMP™),
which processes complex 6-axis Motion Fusion algorithms. The device can access
external magnetometers or other sensors through an auxiliary master I²C bus,
allowing the devices to gather a full set of sensor data without intervention from the
system processor.
Reading the raw values for the accelerometer and gyro is easy. The sleep mode has to
be disabled, and then the registers for the accelerometer and gyro can be read. But the
sensor also contains a 1024 byte FIFO buffer. The sensor values can be programmed
to be placed in the FIFO buffer. And the buffer can be read by the Microcontroller.
The FIFO buffer is used together with the interrupt signal. If the MPU-6050 places
data in the FIFO buffer, it signals the Microcontroller. with the interrupt signal so the
Microcontroller. knows that there is data in the FIFO buffer waiting to be read.
A little more complicated is the ability to control a second I2C-device. The MPU-
6050 always acts as a slave to the Arduino with the SDA and SCL pins connected to
the I2C-bus.
But beside the normal I2C-bus, it has it's own I2C controller to be a master on a
second (sub)-I2C-bus. It uses the pins AUX_DA and AUX_CL for that second (sub)-
I2C-bus. It can control, for example, a magnetometer. The values of the
magnetometer can be passed on to the Microcontroller. Things get really complex
with the "DMP". The sensor has a "Digital Motion Processor" (DMP), also called a
"Digital Motion Processing Unit". This DMP can be programmed with firmware and
12
is able to do complex calculations with the sensor values. The DMP ("Digital Motion
Processor") can do fast calculations directly on the chip. This reduces the load for the
microcontroller (like the Arduino). The DMP is even able to do calculations with the
sensor values of another chip, for example a magnetometer connected to the second
(sub)-I2C-bus.
J10-Pin Number Port Arduino Pin Description
1 - - +5V
2 - - GND
3 PC5 A4 (I2C SDA) SCL
4 PC4 A5 (I2C SCL) - SDA
5 to 7 - - NC
8 PD2 D2 Digital2/interrupt0
13
How to Install and Use Arduino IDE to Program the Nvisduino Board
1. Installation of Arduino Ide And Drivers
● First, open the CD, find the Arduino IDE Software Setup and open it.
● Click on I agree.
● Do not unckeck any of the Checkbox. Now, Click on Next.
14
● Browse the location where you need to save and then Click on Install.
● Following Dialogue box will Appear.
15
● If this dialogue box appears, Click on Continue Anyway.
● Installation Complete. Click on Close.
● Now, Install the FT232 Drivers following the link in the given CD.
- Software->FT232 Drivers->FT232 Driver_ Setup.exe
16
● Install “FT232 Driver_Setup.exe” on your PC/Laptop before using Nvis
22DM.
· Connect the Board. Now, Power up your Arduino by connecting your Arduino
board to your computer with A to B USB cable .You should see the an LED
labed ‘PWR’ light up.
· The power source is selected with a jumper given on the board, a small piece of
plastic that fits onto two of the three pins between the USB and power jacks.
Check that it's on the two pins closest to the USB port.
· Now, Right clock on My Computer and click on "Manage".
· Following window will appear.
17
· Now, click on Device Manager-->Right Click on Ports(COM & LPT)-->Right

click on the “USB Serial Port(COMxx) -->Update Driver.
Note : If there is no COM & LPT section, look under ‘Other Devices’ for ‘Unknown
Device’ and follow the same steps.
Also, Remeber the COM PORT Number on which Nvisduino is conected if more
devices are connected to your system as it will be used while updating the program on
the board.
18
19
· Now, Click Next on the following Window.
· Click Finish. Your Drivers have been updated.
20
Programming using arduino IDE.
After following the appropriate steps for software install, we are now ready to test
your first program with the Nvisduino board!
Launch Arduino IDE.
· Click on Examples-->Basics-->Blink. (We are here Demonstrating the process

to use the IDE on the predefined sketch of Blink, You can chose any Example)
Note :The Arduino programmer comes with a ton of example sketches preloaded.
This is great because even if you have never programmed anything in your life, you
can load one of these sketches and get the Nvisduino to do something.
21
· Now, Select the type of board you are using. For Nvisduino, select the following
board-->Arduino Diecimilia or Duemilanove w/Atmega168
22
· Now, Select the Serial Port on which Arduino is connected. If you are not able
to recognize the PORT Number. Unplug it and connect it again.
· Verify the Program.
23
· Update it on the Board.
· The Program automatically runs as soon as it is uploaded.

LED on Pin 13 starts Blinking.
How To Make Your Own Program On Arduino IDE
· Launch the Arduino IDE.
· Make the appropriate settings of the Board chosen and Serial Port as explained
above in this pdf.
· Click on File --> New.
· Click on Sketch --> Import Library --> Import the required library for your
program from the following list.
Note : If "Import Library" option does not contain the library which you want, you
may download it from various sources. And then include it in it ":C/Program
files/Arduino/Library".
You may also create your own library, which must includes all the definitions and
functions to be used.
This will insert one or more "#include" statements at the top of the sketch and
compile the library with your sketch. Because libraries are uploaded to the board with
your sketch, they increase the amount of space it takes up. If a sketch no longer needs
a library, simply delete its "#include" statements from the top of your code.
24
· Arduino IDE already contains the predefined functions and keyword to be used
by the programmer. Thus, go through the libraries ":C/Progran
files/Arduino/Libraries" for the functions and keyword to be used in your
program according to your need.
For example,
· Void setup() : In the setup function, we set initial conditions of variables when
necessary, and run any preliminary code that we only want to run once. This is
where serial communication is initiated, which is required for running the serial
monitor.
· Void loop() : This is the main routine of the sketch. This is not only where your
main code goes, but it will be executed over and over, so long as the sketch
continues to run.
· Void delay() : a delay of 1 ms is defined.
· Serial. begin(9600) : It opens serial port, sets data rate to 9600 bps .
· Functions like digital Write(), digital Read(), pin Mode() etc are used.
25
Experiment 1
Objective:
To study the basic robotic theory.
Apparatus Required: SIMTEL Robotic dongle.
Procedure:
Follow the instruction of Simtel Robotic .
Precautions:
· Follow the instruction Simtel Robotic.
26
Experiment 2
Objective:
To study the Board Configuration and pin configuration
Procedure:
Atmega 328P Pin Mapping
27
Experiment 3
Objective:
To study the programming on Arduino (ATmega328P) Processor
Procedure:
Note: Supply (from battery or adapter) should be disconnected during all connections.
Step2. Goto to File/Example/Basic/Blink as shown below
28
Step3: Replace the LED digital pin 13 to 5 and delay as 100 to 300 millisecond as
shown below
29
Step4: Select Com-port Goto Tool>Port and select appropriate com port as shown
below
Step5: Select Board Goto Tool>Boards”Arduino/Genuino UNO” as shown below
30
Step5. Select Programmer Goto Tool>Programmer'USBasp>” USBasp” as shown
below
Step6. For uploading file press red circle tab.
31
Step7:- File upload done
Precautions:
· Switch off the power switch after performing the experiment.
32
Experiment 4
Objective:
To study control DC Motor
Procedure:
● Open Code Nvis 3302ARD Code in Arduino. CD/Code/DC Motor Demo
● Connect USB PCB to Nvis 3302ARD Board and USB B type Cable also With
PC
● Click Software upload file. when file upload done Remove USB Cable
● Put battery toggle Switch ON
Output:
Nvis 3302ARD Move Forward 1st than Return to place after that is Spin clock and
Anti clock wise
**If you want to stop the experiment then press Reset switch.
Precautions:
33
Experiment 5
Objective:
To study Ultrasonic Sensor
Procedure:
· Open Code Nvis 3302ARD Ultrasonic code in Arduino. from CD/Code/Ultras
sonic Demo
· Connect USB PCB to Nvis 3302ARD Board and USB B type Cable also With
PC
· Connect Ultra sonic Sensor at J12
· Click Software upload file. when file upload done. Remove USB Cable
· Put battery toggle Switch ON
Output:
Nvis 3302ARD RoboCar Moving Forward .When any object come front on it.
RoboCar change his path.
* If you want to stop the experiment then press Reset switch.
Precautions:
34
Experiment 6
Objective:
To study Zigbee Interface with robot control
Procedure:
· Open Code Nvis 3302ARD code in Arduino from CD/Code/Zigbee Control
· Connect USB PCB to Nvis 3302ARD Board and USB B type Cable also With
PC
· Connect Zigbee Module on ZIGBEE
· Click Software upload file when file upload done. Remove USB Cable
Output:
· Nvis 3302ARD control wireless Zigbee Coordinator with PC based Software.
· Its control Single or Multiple RoboCar
Precautions:
35
Experiment 7
Objective:
To study Gyreosensor with accelerometer
Procedure:
· Open Code Nvis 3302ARD code in Arduino. from
CD/Code/GyeroAccelorometer
· Connect USB PCB to Nvis 3302ARD Board and USB B-type Cable also With
PC
· Connect Gyreosensor with accelerometer on J10
· Click Software upload file. when file upload done. Remove USB Cable
Output:
Observe the movement of RoboCar
Precautions:
36
Warranty
1. We guarantee this product against all manufacturing defects for 24 months from
the date of sale by us or through our dealers.
2. The guarantee will become void, if
a. The product is not operated as per the instruction given in the Learning
Material.
b. The agreed payment terms and other conditions of sale are not followed.
c. The customer resells the instrument to another party.
d. Any attempt is made to service and modify the instrument.
3. The non-working of the product is to be communicated to us immediately giving
full details of the complaints and defects noticed specifically mentioning the
type, serial number of the product and date of purchase etc.
4. The repair work will be carried out, provided the product is dispatched securely
packed and insured. The transportation charges shall be borne by the customer.
List of Accessories
1. DC Adapter 9V ........................................................................................ 1 No.
2. Software CD + Learning Material CD ...................................................... 1 No.
Optional Accessories
3. AVR USB Programmer ............................................................................ 1 No.
37

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Nvis 3302ARD RoboCar

· Wireless Zigbee RoboCar control

Gyroscope Accelerometer Sensor

For more detail study

· Gyroscope Accelerometer Sensor Block:

J10-Pin Number Port Arduino Pin Description

3 PC5 A4 (I2C SDA) SCL

4 PC4 A5 (I2C SCL) - SDA

● Do not unckeck any of the Checkbox. Now, Click on Next.

● Following Dialogue box will Appear.

● Installation Complete. Click on Close.

· Now, click on Device Manager-->Right Click on Ports(COM & LPT)-->Right

· Now, Click Next on the following Window.

· Click Finish. Your Drivers have been updated.

· Click on Examples-->Basics-->Blink. (We are here Demonstrating the process

· Verify the Program.

· The Program automatically runs as soon as it is uploaded.

Step5: Select Board Goto Tool>Boards”Arduino/Genuino UNO” as shown below

Step6. For uploading file press red circle tab.

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