Circuit Documentation

Summary

This document provides a detailed overview of a circuit designed to control a robot using an Arduino UNO, CNC Shield V3, stepper motors, and various sensors. The circuit includes connections for motor drivers, an ultrasonic sensor, an accelerometer/gyroscope, and a pushbutton. The Arduino UNO is programmed to control the robot's movements based on sensor inputs.

Component List

1. NEMA23 Stepper Motor

   • Pins: A+, A-, B+, B-
   • Description: High-torque stepper motor used for precise control of the robot's movements.

2. A988 Driver

   • Pins: VMOT, GND, 2B, 2A, 1A, 1B, VDD, EN, MS1, MS2, MS3, RST, SLP, STEP, DIR
   • Description: Stepper motor driver used to control the NEMA23 stepper motors.

3. Arduino UNO

   • Pins: UNUSED, IOREF, Reset, 3.3V, 5V, GND, Vin, A0, A1, A2, A3, A4, A5, SCL, SDA, AREF, D13, D12, D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1, D0
   • Description: Microcontroller used to control the entire circuit and execute the embedded code.

4. CNC Shield V3 Engraving Machine Expansion Board

   • Pins: EN, GND, x.Step, DIR, Y.Step, Z.Step, A.Step, 5V, COM, V+, End Stop X-, End Stop Z+, End Stop Z-, End Stop Y+, End Stop Y-, SpnEN, SpnDir, CoolEn, Abort, Hold, Resume, E-Stop, Y.Motor A+, Y.Motor A-, Y.Motor B+, Y.Motor B-, RST, SDA, SCL, RX, TX, 3V3, X.Motor A+, X.Motor A-, X.Motor B+, X.Motor B-, Z.Motor A+, Z.Motor A-, Z.Motor B+, Z.Motor B-, A.Motor A+, A.Motor A-, A.Motor B+, A.Motor B-, Enable, MS1, MS2, MS3, RESET, Sleep, Step, Direction, VDD, 1B, 1A, 2A, 2B, VMOT, M0, M1, M2, d12, A Drive Step and Direction, Z Drive Module Setp D4, Y Drive Module Setp D3, X Drive Module Setp D2, Set X Drive Module Dir D5, Set Y Drive Module Dir D6, Set Z Drive Module DIR d7, D13
   • Description: Expansion board used to interface the Arduino UNO with stepper motor drivers and other components.

5. HC-SR04 Ultrasonic Sensor

   • Pins: VCC, TRIG, ECHO, GND
   • Description: Ultrasonic sensor used to measure distance to obstacles.

6. MPU6050 Accelerometer + Gyroscope (Wokwi Compatible)

   • Pins: INT, AD0, XCL, XDA, SDA, SCL, GND, VCC
   • Description: Sensor used to measure acceleration and angular velocity.

7. A4988 Stepper Motor Driver (Red)

   • Pins: ENABLE, MS1, MS2, MS3, RESET, SLEEP, STEP, DIR, VMOT, GND, 2B, 2A, 1A, 1B, VDD
   • Description: Stepper motor driver used to control the NEMA23 stepper motors.

8. Resistor

   • Pins: pin1, pin2
   • Description: 200 Ohms resistor used for current limiting.

9. Pushbutton

   • Pins: Pin 3 (out), Pin 4 (out), Pin 1 (in), Pin 2 (in)
   • Description: Pushbutton used for user input.

10. 12v Battery

    • Pins: -, +
    • Description: Power source for the circuit.

Wiring Details

NEMA23 Stepper Motor

• A+ connected to Y.Motor A+ on CNC Shield V3
• A- connected to Y.Motor A- on CNC Shield V3
• B+ connected to Y.Motor B+ on CNC Shield V3
• B- connected to Y.Motor B- on CNC Shield V3

A988 Driver

• VMOT connected to power supply
• GND connected to ground
• 2B connected to stepper motor
• 2A connected to stepper motor
• 1A connected to stepper motor
• 1B connected to stepper motor
• VDD connected to 5V
• EN connected to enable pin
• MS1 connected to microstepping pin
• MS2 connected to microstepping pin
• MS3 connected to microstepping pin
• RST connected to reset pin
• SLP connected to sleep pin
• STEP connected to step pin
• DIR connected to direction pin

Arduino UNO

• D2 connected to PUL1_PIN (Stepper Motor 1 Pulse)
• D5 connected to DIR1_PIN (Stepper Motor 1 Direction)
• D3 connected to PUL2_PIN (Stepper Motor 2 Pulse)
• D6 connected to DIR2_PIN (Stepper Motor 2 Direction)
• D4 connected to BUTTON_PIN (Pushbutton)

CNC Shield V3 Engraving Machine Expansion Board

• EN connected to GND
• COM connected to - on 12v Battery
• V+ connected to + on 12v Battery
• GND connected to GND on HC-SR04 Ultrasonic Sensor
• SpnEN connected to ECHO on HC-SR04 Ultrasonic Sensor
• SpnDir connected to TRIG on HC-SR04 Ultrasonic Sensor
• CoolEn connected to pin1 on Resistor and Pin 2 (in) on Pushbutton
• 5V connected to Pin 1 (in) on Pushbutton and VCC on HC-SR04 Ultrasonic Sensor
• SDA connected to SDA on MPU6050 Accelerometer + Gyroscope
• SCL connected to SCL on MPU6050 Accelerometer + Gyroscope
• GND connected to GND on MPU6050 Accelerometer + Gyroscope
• VDD connected to VCC on MPU6050 Accelerometer + Gyroscope

HC-SR04 Ultrasonic Sensor

• GND connected to GND on CNC Shield V3
• ECHO connected to SpnEN on CNC Shield V3
• TRIG connected to SpnDir on CNC Shield V3
• VCC connected to 5V on CNC Shield V3

MPU6050 Accelerometer + Gyroscope

• SDA connected to SDA on CNC Shield V3
• SCL connected to SCL on CNC Shield V3
• GND connected to GND on CNC Shield V3
• VCC connected to VDD on CNC Shield V3

Resistor

• pin1 connected to CoolEn on CNC Shield V3 and Pin 2 (in) on Pushbutton
• pin2 connected to GND on CNC Shield V3

Pushbutton

• Pin 1 (in) connected to 5V on CNC Shield V3
• Pin 2 (in) connected to CoolEn on CNC Shield V3 and pin1 on Resistor

12v Battery

• - connected to COM on CNC Shield V3
• + connected to V+ on CNC Shield V3

Code Documentation

/*
 * @Author: MacKhoi Hoang
 * @Date: 12-19-24 
 * @Description: SciOly Robot Tour
 * HISTORY:
 * VERSION  1.1-  Initial release the robot with step motor, using CNC Shield V3.0 + A4988 motor drive
 */

#include <SoftwareSerial.h>
#include <avr/wdt.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include "Serial.h"
#include "LED.h"
#include "ULTRASONIC.h"
#include "MotorControl.h"
#include "Key.h"
#include "MPU6050_getdata.h"

#define PUL1_PIN    2
#define DIR1_PIN    5
#define PUL2_PIN    3