iRobot 4812 Users Manual

Getting Started with a PC

Install WinAVR from the Command Module product CD

iRobot® Create Accessories

iRobot

Command Module

QUICK START GUIDE

Power 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

Set the USB serial port to COM9 (open the Proper ties for the por t 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

Create 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

Connect the Command Module to iRobot Create and connect the

USB cable from your PC to the Command Module

Virtual Wall

IR transmitter conveniently placed at robot eye-level. Can be used as an invisible wall or beacon

iRobot Rechargeable Battery

Rechargeable battery and charger for the iRobot Create

Home Base

Recharges the iRobot rechargeable batter y while in iRobot Create. Also contains 3 IR transmitters

Standard Remote

Allows you to control iRobot Create from a distance

An easy step-by-step guide and reference card for using

the iRobot Command Module with your iRobot Create.

SAVE 15%

on accessories.

See back for details.

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.

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

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.

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 Inter face 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.

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.

What’s included:

iRobot Command Module

USB Cable

iRobot Command Module CD that includes:

• WinAVR install

• USB Driver install

• Example programs

• Atmel AVR ATmega168 microcontroller data sheet

For more details on your iRobot Command Module and to download the Owner’s Manual, visit

www.irobot.com/create.

Anatomy

Top Left ePort

Soft Button

Reset

iRobot Create Connector

(under the Command Module)

LED 1

LED 2

Top Center ePort

Cargo Bay ePor t

Hold Down Screws

Power LED

Power Switch

USB Indicator

USB

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

Pin# Description

1 Analog Input 7 ADC7

2 Digital I/O (Port C pin 3) or Analog Input 4

3 Digital I/O (Port B pin 3) PB3

4 Regulated 5V voltage (when iRobot

Create is on)

5 iRobot Create Battery Ground

6 Not Connected NC

7 iRobot Create Battery Voltage

(when iRobot Create is on)

8 Not Connected

9 Low Side Driver 0

Name

PC3/ADC4

Vcc

Gnd

Vpwr

LD0

Top Center ePort

Description

Pin#

1 Digital I/O (Port C pin 5) or Analog Input 5 PC5/ADC5

2 Digital I/O (Port C pin 1) or Analog Input 1 PC1/ADC1

3 Digital I/O (Por t B pin 1) PB1

4 Regulated 5V voltage (when iRobot

Create is on)

5 iRobot Create Batter y Ground Gnd

6 Not Connected NC

7 iRobot Create Battery Voltage

(when iRobot Create is on)

8 Not Connected NC

9 Low Side Driver 0 LD0

Name

Vcc

Vpwr

Top Right ePort

Pin# Description

1 Analog Input 6

2 Digital I/O (Port C pin 2) or Analog Input 2

3 Digital I/O (Port B pin 2) PB2

4 Regulated 5V voltage (when iRobot

Create is on)

5 iRobot Create Battery Ground

6 Not Connected

7 iRobot Create Battery Voltage

(when iRobot Create is on)

8 Not Connected NC

9 Low Side Driver 0 LD0

Name

ADC6

PC2/ADC2

Vcc

Gnd

Vpwr

Cargo Bay ePort

Pin# Description Name

1 Digital I/O (Port C pin 4) or Analog Input 4

2 Digital I/O (Port C pin 0) or Analog Input 0 PC0/ADC0

3 Digital I/O (Port B pin 0) PB0

4 Regulated 5V voltage (when iRobot

Create is on)

5 iRobot Create Battery Ground Gnd

6 Not Connected NC

7 iRobot Create Battery Voltage

(when iRobot Create is on)

8 Low Side Driver 1 LD1

9 Low Side Driver 2 LD2

PC4/ADC4

Vcc

Vpwr

Processor I/O Pins

The Command Module’s Atmel AVR ATmega 168 microcontroller has 23 I/O pins, arranged into 3 por ts (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.

Pin Name Description Location

PB0 Digital I/O Cargo Bay ePor t pin 3

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 por t.

PB5 iRobot Create Power Detect. High if iRobot Create

PB6 Clock line Internal Use only

PB7 Clock line Internal Use only

PC0 Digital I/O or Analog Input Cargo Bay ePor t pin 2

PC1 Digital I/O or Analog Input Top Center ePort pin 2

PC2 Digital I/O or Analog Input Top Right ePort pin 2

PC3 Digital I/O or Analog Input Top Left ePort pin 2

PC4 Digital I/O or Analog Input Cargo Bay ePor t 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

0 = iRobot Create

is on.

System Requirements:

Windows XP USB connection

*Support for additional operating systems may be available at www.irobot.com/create.

Internal

iRobot Create connector pins 10-13