Mk. III graphic


User's Guide
Introduction
Features
Requirements
Controller
Chassis
Assembly
Testing
Troubleshooting
Programming
Contests
Extending

Appendix
Hints
Polarized
Resistors
Capacitors
Servos
Batteries

Datasheets


PDXBot
RoboMaxx
Robothon

Buy Robots!
View Cart

Shipping
Privacy

About
Contact
Printable Version

Building the Controller Board

The Controller board is the "brains" of the Mark III robot. It hold the microcontroller along with the associated circuitry necessary for its proper functioning: a power regulator, serial interface, and connection points for the off-board sensors. Most of the work to build the Mark III - and all of the soldering - goes into building the Controller board.

Parts List

Before you begin, remove all the parts from the bag they came in and match them up against the following parts list. It is especially useful to match up the resistors to this list using the color code, then tape those resistors in place on the printed parts list for future use. Don't try this with the integrated circuits, since they are static-sensitive and might be damaged if you do this.

DesignatorMarkingDescription
C11040.1uF axial capacitor 50V Z5U
C21040.1uF axial capacitor 50V Z5U
C31040.1uF axial capacitor 50V Z5U
C41040.1uF axial capacitor 50V Z5U
C51040.1uF axial capacitor 50V Z5U
C61040.1uF axial capacitor 50V Z5U
C71040.1uF axial capacitor 50V Z5U
C8100uF100uF radial aluminum electrolytic capacitor 16V
C9100uF100uF radial aluminum electrolytic capacitor 16V
C101040.1uF axial capacitor 50V Z5U
C111040.1uF axial capacitor 50V Z5U
C121040.1uF axial capacitor 50V Z5U
C1333uF33uF radial aluminum electrolytic capacitor 6.3V
C1433uF33uF radial aluminum electrolytic capacitor 6.3V
D11N41481N4148 Fast Switching Diode
D2 Red T-100 LED
D3 Green T-100 LED
J1 40 pin 100mil pitch dual-row header
J2 100 mil pitch 5-pin header
J3 100 mil pitch 3-pin header
J4 100 mil pitch 3-pin header
J5 2.0mm pitch 3-pin shrouded header
J6 2.0mm pitch 3-pin shrouded header
J7 DB9 Female PCB vertical mount
JP1 6-pin 100 mil pitch dual-row header
R1
   
BRBKRD
1K Ohm 1/8W 5% resistor
R2
   
BRBKGR
1M Ohm 1/8W 5% resistor
R3
   
YEVIRD
4.7K Ohm 1/8W 5% resistor
R4
   
YEVIRD
4.7K Ohm 1/8W 5% resistor
R5
   
VIGRGR
7.5M Ohm 1/8W 5% resistor
R6
   
RDYEGR
2.4M Ohm 1/8W 5% resistor
R7
   
GRBLBK
56 Ohm 1/8W 5% resistor
 
   
GRBLBK
Spare 56 Ohm 1/8W 5% resistor
R8
   
RDRDOR
22 KOhm 1/8W 5% resistor
R9
   
RDRDOR
22 KOhm 1/8W 5% resistor
R10
   
RDRDOR
22 KOhm 1/8W 5% resistor
R11
   
BRBKRD
1K Ohm 1/8W 5% resistor
R12
   
BRBKRD
1K Ohm 1/8W 5% resistor
R13
   
BRBKRD
1K Ohm 1/8W 5% resistor
S1 600 mil 40 pin DIP socket
SW1 DPDT Slide Switch
SW2 6.0mm Tact Switch
T1 Terminal Block 3 positions 3.5mm pitch
U1PIC 16F877 - 20/PPIC16F877 DIP 40
U2MAX667250mA LDO Regulator
U3DS232ADual RS-232 Transmitter/Receiver
U4 Unused
Y1ZTT 20.0MX20.00MHz Resonator w/caps

Schematic and PCB Layout

Assembly instructions

Board The picture on the left shows the top side of the bare printed circuit board (PCB) for the Mark III Controller. This is the side on which the components are placed. Soldering is done on the reverse side of the board. The assembly of the Controller starts with the smallest pieces first, and moves up by size. Working with the smallest components makes the soldering job easier because you can rest the PCB on your workbench to hold the parts in place while you solder. If you did the taller components first, the smaller ones would tend to fall out while you had your PCB inverted for soldering.

The first items to mount are the ten 0.1uF axial capacitors. Capacitors are not very static or heat sensitive, so they are a good place to get used to soldering if you're not completely comfortable. These capacitors are all the same and come attached together in your bag of parts, so they should be easy to identify. In order to mount them, you must first bend the leads (wires) to a ninety-degree angle so that the leads will fit into the holes in the PCB. BendLeads Once the leads are bent, you can insert the capacitors into their locations on the PCB. Do one then test. It may take a few to get the spacing right - but this is the spacing used throughout the board so once you get it everything else will turn out right. It doesn't have to be exact. After inserting each capacitor, spread the leads a bit on the back side of the board to hold the capacitor in place. It makes it easier if you rest the board on something like a roll of box tape - this elevates it off your workbench and lets the leads hang down without obstruction.

Support
Put all ten capacitors in their positions (C1-C7, C10-C12) then turn the board over to expose its bottom for soldering. Solder one leg of each, then turn the board back over and examine to make sure all the capacitors stayed in place and are not "floating" on top of the board.
CapPosition
If one slipped out of position you still fix it at this point by heating up the joint while pushing the capacitor back into place. Don't use your fingers to push - the leads get very hot. Use a small piece of wood or some other insulating material that won't melt. When you're satisfied everything is correct, go back and solder the remaining leads.

After soldering, you should make it a practice to visually inspect each completed joint. Take a good look to make sure the solder fills the hole in the PCB and to make sure that all the leads have been soldered. Once you've looked it over and corrected any problems, clip off the excess leads on the back side of the board so they don't stick out too far.

Clip
First step done!
Caps

Now for the resistors. See Appendix for resistor identification - there are a lot of different values included in this kit. First step is to lay out all the resistors and identify them. Compare against list of materials (insert resistor component list here). Note that you are given one extra 56 Ohm resistor - save this for later. If you have any doubts proceed by the process of elimination. Colors aren't always easy to distinguish on resistor bodies. Again, resistors aren't very sensitive to static or heat so they are a good way to get used to soldering.

Bend the resistors leads exactly the same way you did the capacitor leads. The component bodies are about the same size, and the hole separation on the PCB is the same. Once again, insert all the resistors at once, turn over and tack down one lead, turn over and inspect, make and necessary corrections, then finish soldering. Resistors

Now you've had plenty of practice - 23 components soldered! Time to move on to the harder parts. Next, we're going to put in the Diode at D1. This is the first polarized component on the board. Meaning, unlike the capacitors and resistors we have encountered so far, diodes must be inserted in a particular way - there is a difference between pin 1 and pin 2, and if you insert it the wrong way your board won't work. The appendix discusses polarized components and how to recognize which orientation is the proper one.

Diodes are also static sensitive - electrostatic discharges from touching these components can generate thousands of volts at the lead - enough to damage the component. It is good practice to keep yourself grounded while soldering these. Wrist strap, touching ground, etc. They are also heat sensitive - if you allow the soldering iron to remain on the part for too long, the temperature will damage the part. You have a few seconds - solder the part then move on. If you make a mistake, give it time to cool down before trying to correct it.

Bend the diode leads just like you did for the capacitors and resistors, then insert the diode into the board. The silkscreen on the board shows an outline of the diode, with a triangle and a stripe. The point of the triangle is towards the stripe. The end of the diode with the band around it matches up with the stripe on the silkscreen. See the Appendix for an illustration.

Integrated circuit chips. There are two we are going to solder in this step, the MAX667 Power regulator (U2) and the DS232A serial transmitter/receiver (U3).

Location U4 is reserved for the optional EEPROM. It should be left unstuffed in the default configuration - don't accidentally put the MAX667 in this location! U4 is used to add a serial EEPROM to the Mark III. This EEPROM adds up to 256Kbits of memory to the PIC, for general use. If you choose to use an OOPic instead of a PIC, this EEPROM is mandatory. If you use just a regular PIC, the EEPROM can be useful because the PIC only provides about 300 some odd bytes of RAM storage.

DIPs are polarized and static sensitive. Find pin 1 and make sure that the DIP is oriented properly. Insert into board. The legs of the DIP may be spread too far apart to insert - if so you will need to squeeze them together before you can insert the chip. The easiest way to do this is to insert the legs on one side of the chip halfway, then while holding the chip by the ends apply gentle pressure to simultaneously bend the all legs that are already in the board. Turn board over. Fasten opposite corners with a quick dab of solder then turn back over and check to make sure chips are properly seated.

ICs

A 40-pin socket is provided for the PIC chip; this allows the PIC to be easily removed or replaced and also raises the PIC off the surface of the printed circuit board, making room for some resistors to sit underneath the PIC. The socket has a semi-circular notch cut into one end - align this with the corresponding notch shown on the silkscreen. Just like you did with the integrated circuits in the previous step, use a tiny bit of solder to fasten two opposite corners of the socket, then turn the board over and examine it closely to make sure the socket is properly seated. When you are convinced it is, you can solder the remaining pins. Don't forget to go back and make sure the two original corners you soldered get properly fastened.

Tact switch. This push-button switch is used to reset the PIC. The reset switch only fits in two ways, rotated 180 degrees from each other. Either way will work.

Next we will solder in the two small 3-pin shrouded headers (J5 and J6). Notch facing toward the center of the board. Asymmetric - check to make sure that the outline on the PCB matches up with the header. If the PCB outline sticks out a lot, you probably have it backwards.

Electrolytic capacitors. Check for the "-" pin (called the cathode), labeled on the capacitor body with a broad white stripe. The cathode is also the shorter lead. Make sure it goes in the correct hole. The silkscreen has a "+" next to the square pad, the round pad is where the "-" pin goes. This is very important - if power is applied to an electrolytic capacitor in the wrong orientation it may explode! See the Appendix for an illustration.

Electrolytics

Resonator Y1. Resonator is not polarized, insert it either way.

LEDs. Light Emitting Diodes - everything we discussed re polarization, heat, static applies here as well. The LEDs are inserted so that the short lead goes into the square pad. The square pad is shaded white on the silkscreen.

LEDs

Headers, 40-pin and 6-pin at the same time, then the two 3-pin. Again, tack corners (or just one pin, in the case of the 3-pin headers) then turn over to make sure that it is seated properly before doing the final soldering.

Power jack (the black, three-position terminal block) should be inserted so that the wire receptacles face the outside of the printed circuit board.

I²C header (5-pin white header) oriented so that the back (tension relief) is against the DB9 connector.

Power Switch can be inserted either way.

DB9 Serial connector only fits one way. Be sure to solder the locking standoffs to the PCB - this provides strain relief as well as a good ground.

AlmostDone
Last step is to insert the PIC chip into the socket. Again, the leads of the PIC may be spread too wide to fit directly into the socket. When finished, your Controller Board should look like this picture:
Done
 
webmaster@junun.org