PM2 PES Board, Hardware and Driver Documentation

Michael Wüthrich	Szarek Maciej	Peter Michael
[email protected]	[email protected]	[email protected]
TE 301	TE 302	TE 307

Course Setup

In order to be able to complete the course, one must first register on the following platforms and obtain the appropriate tools. All the information needed to start the course can be found in General Info.

This document covers all the information about:

Hardware

During the course, we will use the Nucleo-F446RE board from ST in combination with the PES board designed and developed at ZHAW. The basic hardware kid that students receive includes a variety of sensors and actuators for practical applications.

IMPORTANT NOTE:

When working with hardware (connecting, reconnecting etc.), it is recommended that all power sources are disconnected. This is a general safety measurement! So for us, the Nucleo is disconnected and the PES Board Power Switch is OFF when ever we change someting at the hardware setup.

The USB cable should only be connected to the computer after the power switch has been switched on.

Various Nucleo boards, PES Borads and even laptops have been damaged in the past.

Nucleo F446RE

The Nucleo-F446RE is a microcontroller development board featuring the STM32F446RET6 microcontroller from STMicroelectronics. It provides a versatile platform for prototyping and developing embedded systems, offering a wide range of peripherals, connectivity options, and compatibility with the Arduino and ST Morpho ecosystems.

STM32F446RE Documentation

Nucleo F446RE Overview

Arm MBed provides a dedicated platform with essential information about the development board. Here you can find technical specifications and the pinmap.

Mbed ST-Nucleo-F446RE

PES Board

The PES Board is a hardware board with additional sensors, devices and power electronics to work in combination with the Nucleo F446RE. It provides multiple pinouts for:

3 DC-Motor (brushed)
4 Servos (these occupy the 4 DI/O if used)
4 DI/O, 3.3V (5V tolerant)
4 AI/O, 3.3V (5V tolerant)
3 Encoder-Counter
9-axis IMU (accelerometer, gyroscope, magnetometer)

IMPORTANT NOTE:

Using the PES Board with power ON and hardware running while connected to your computer/laptop happens at your own risk. There was a case where the students laptop was damaged in the past.

The voltage of the DO (servos) is set via the switch behind the charging socket: 3.3 V or 5 V

Motor encoder soldering can be wrong. Do not assume that if you plug in one motor and everything works you can then also use the same connections with different motor. You have to make sure that the physical rotation is according to your assumption and that a positive input leads to a positive change of increments.

Depending on the PES Board version DCMotor M3 rotation direction might be inverted.

Depending on the PES Board version the Pin map might differ.

The kit includes two sets of 6V battery packs, which can be connected in series to provide 12 volts. The battery packs need to be connected to the back of the PES Board. The picture below illustrates the proper battery connection required to get a total voltage of 12V.

Battery Packs

The batteries enables the board to be powered independently of the connection to the computer/laptop, eliminating the need for a connection via the Mini USB cable. The board continues to receive a stable 5V supply while offering the option to use a 12V supply for the power electronics of the motors. To activate the external battery power, switch the slider on the PES Board to the ON position.

Single battery pack - if you are using a single battery pack, the remaining pins need to be bridged. If only 6 V is used, this must be parameterised accordingly in the firmware when parameterising motion controller class.

Charging bateries - the battery packs are only charged when the PES Board circuit breaker is set to OFF.

Pheripherals

PES Board pheripherals

PDF: pes_board_peripherals.pdf

Pin-Mapping

PDF: pes_board_pin_mapping.pdf

Hardware Kit

2x Battery pack 6v / 2300mAh with charger
1x Servo – REELY S-0090
1x Servo – FUTABA S3001
1x LED green with resistor 2200/600mW/1%
1x Distance sensor SHARP GP2YOA41 analog 300mm with cable
1x DC Motor POLOLU (different gear ratios) D = 20 mm/ l = 43 mm/ 12V with encoder POLOLU 2.7 – 18V
1x Mechanical Button
1x Ultrasonic sensor GROVE ULTRASONIC RANGER V2.0 with cable

Hardware Tutorials

The following links contain the hardware tutorials. The documents contain specifications and technical information about the hardware and information about how to use the hardware. The tutorials cover the software drivers, specific calibration procedures, controlling actuators and retrieving measurements from the sensors.

Tips

Tips that you might find useful can be found in the document Tips. Here you can find information about:

Workshops

The following links contain the workshops instructions:

Weblinks

Some General Links

Git and GitHub Tutorial for Beginners from 32:40 about Github: https://www.youtube.com/watch?v=tRZGeaHPoaw
C++ step by step tutorials: https://www.w3schools.com/cpp/default.asp
Detailed explanation of C++ programming language: https://cplusplus.com/
C++ data types: https://www.tutorialspoint.com/cplusplus/cpp_data_types.htm
Printf format convention: https://cplusplus.com/reference/cstdio/printf/
Flowchart diagram maker: https://app.diagrams.net/

Hardware Links

C++ Online Compiler and Example Projects (at your own risk : - ))

Online C++ Compiler

Online C++ Compiler: https://www.onlinegdb.com/online_c++_compiler

C/C++ for Visual Studio Code

C/C++ for Visual Studio Code: https://code.visualstudio.com/docs/languages/cpp

The following links are kind of older projects, but they might help you to get started with C++ in Visual Studio Code.

Example Projects:
- Windows: https://github.com/pichim/chirp
- Windows using WSL: https://github.com/pichim/mag_calib

vega-128 / pm2_pes_board_example Goto Github PK

pm2_pes_board_example's Introduction