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Revision: January 26, 2012
Overview
The Digilent Line Sensor Robotic Development Kit (RDK-Line) is an ideal platform for robotic
applications. When used with any of several available Digilent embedded controllers and our
extensive line of peripheral modules (Pmods), countless designs can be implemented, from basic
experiments through more advanced systems.
Included parts:
•
PmodLS1
•
(2) PmodHB5 2A H-bridge motor amplifiers with attachment clips
•
Cerebot MX4cK or Cerebot 32MX4
•
(4) IRROSC
•
rugged metal platform with holes on ½-inch center
•
rugged metal motor mount
•
(2) 1/19 ratio motor/gearbox drives with ABS plastic wheels (1/53 gear ratio motors are
available)
•
rugged plastic wheels and drag button
•
bent bracket
•
Velcro mounting strip
•
AA battery holder (holds four AA batteries)
•
all wiring and assembly hardware included
1300 NE Henley Court, Suite 3
Pullman, WA 99163
(509) 334 6306 Voice | (509) 334 6300 Fax
Functional Description
The rugged steel components have holes on ½-inch centers allowing Digilent circuit boards and other
vendors’ products to be easily attached.
The following tools are recommended for robot assembly:
• regular and small Phillips head screwdrivers
• adjustable wrench
• pliers
• wire stripper
• scissors
Note: The Cerebot MX4cK uses the same ports and jumper positions for this project as the Cerebot
32MX4. You may safely follow all of the pictures while assembling your kit.
Doc: 514-002 page 1 of 9
Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.
Line Sensor Robotic Development Kit Reference Manual
Example Assembly
The following example uses the RDK_LineSensor reference design, available at www.digilentinc.com:
1. Take out the metal platform and place the metal motor mount on the top right side. Attach the
screws accordingly.
2. Attach the motors to the metal motor mount with miniature screws.
www.digilentinc.com page 2 of 9
Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.
Line Sensor Robotic Development Kit Reference Manual
3. Attach the battery holder to the metal platform (below the motor mount) using the sticky
Velcro.
4. Attach the Pmod clips to the metal platform on either side of the battery holder.
5. Attach the drag button to the metal platform, below the battery holder.
www.digilentinc.com page 3 of 9
Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.
Line Sensor Robotic Development Kit Reference Manual
6. Attach the two PmodHB5 modules to the Pmod clips and connect them to the motors
accordingly.
7. Attach the plastic wheels to the motors.
www.digilentinc.com page 4 of 9
Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.
Line Sensor Robotic Development Kit Reference Manual
8. Compare the Cerebot MX4cK board to the picture below. Note that the blue shorts are
attached to each jumper as depicted. Remove the rubber feet from the bottom of the corners
of the Cerebot MX4cK. Attach the standoffs to the board using the corresponding mounting
screws. Mount the Cerebot MX4cK board to the top side of the metal platform. Be careful not
to cross thread screws while mounting the Cerebot MX4cK Board.
Note: The Cerebot 32MX4 can also be used with this procedure.
www.digilentinc.com page 5 of 9
Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.
Line Sensor Robotic Development Kit Reference Manual
9. Connect the two PmodHB5 modules to port JD on the Cerebot MX4cK board using the 2x6
Pin to dual 6 pin cable. Use the marker on the cable connector to ensure that pin placements
are in alignment when connecting the boards.
10. Strip 1/2-inch of insulation from both ends of all red and black 22 gauge power wires.
www.digilentinc.com page 6 of 9
Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.
Line Sensor Robotic Development Kit Reference Manual
11. Route power wires from each PmodHB5 to the J18 power connector on the Cerebot MX4cK
board, noting ground and voltage connections.
12. Attach the power cable from the battery pack to the J14 battery power connector on the
Cerebot MX4cK board.
www.digilentinc.com page 7 of 9
Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.
Line Sensor Robotic Development Kit Reference Manual
13. Attach the angled bracket to the front of the robot development kit along with the longer (4inch) Velcro mounting strip.
14. Cut four ½-inch sections of Velcro from the other 4-inch strip. Attach these ½-inch strips to
each of the four IROS sensors.
15. Connect the PmodLS1 to the top JJ Pmod header.
www.digilentinc.com page 8 of 9
Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.
Line Sensor Robotic Development Kit Reference Manual
16. Attach the four IROS to the bent bracket from left to right using the attached Velcro, and
connect the sensors in the same order, respectively, to each of the headers (S4-S1) on the
PmodLS1.
MPLAB can now be used to program the RDK_LineSensor reference design to the board. For
more information on how to program the Cerebot MX4cK using MPLAB, see the Cerebot MX4cK
LED Demo project at www.digilentinc.com. Note that running the reference design that turns the
motors requires that the power select mode jumper J12 be shorted to External Power. Note that
the recommend surface for running the reference design is a white surface with black tape.
Once the board has been programmed with the reference design, place the robot on the
recommended surface with a black line between the two middle sensors. Turn the board on and
press button 2 to cause the motors to turn and observe the robot follow the black line. Press
button 1 to stop the robot.
www.digilentinc.com page 9 of 9
Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.
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