Data Sheet

Core Spartan Documentation Modern Robotics, Inc

Version 3.0.3 Page 5

2. Description

The following document is a guide for the use and implementation of the Core Spartan

Controller and all Core Sensor functions. The Core Spartan Controller is the control center

that runs user code and handles all the data produced by the Core Sensors.

The Core Spartan Controller is easy to connect, control, and program your robot with the

use of the Arduino IDE. The Core Spartan Controller is designed to control Core Sensors,

servos and motors, using a USB-A to USB Mini-B cable to interface with the computer. The

Core Spartan Library must be installed on your computer to have access to all the available

functions that are used in controlling the Core Spartan Controller and its sensors. The

board’s primary use is with the Spartan Robot; however, it can be used as a standalone

microcontroller. There are twelve digital ports, four analog ports and four I2C ports for use

with external sensors. The Core Spartan Controller also supports DC motors and servos by

providing two motor ports and four servo ports. The Core Spartan Controller can be

a 6V 2200mAh NiMH rechargeable battery that can power the board, sensors, servos and

motors.

The Core Sensors are designed and optimized for use with the Core Spartan Controller. The

sensors come in two different forms, Three-Wire and Four-Wire configurations. All Four-

Wire sensors are I2C sensors and must connect to one of the I2C ports on the board. The

Three-Wire sensors are split between analog and digital. The analog sensors return values

from 0 to 255 where the digital sensors return either a 0 or a 1. All of the sensors have an

initialization function, also known as a constructor, i.e. CORE_PCB(), which must be called at

the beginning of your code in order to use the sensor. When using any sensor and its

accompanying library, the pinMode() function should never be used as some sensors

change or hold the mode as input/output at certain times to function correctly. All mode

initializations are automatically done when the sensor constructor is called. The sensors are

compatible with the 8mm grid on the Matrix Robotics and Spartan Robotics kits.

For more information on the use and implementation of the Core Spartan Controller and

Core Sensors please refer to the examples folder in Arduino File ► Examples ►

CoreSpartanController or you can visit us at http://www.modernroboticsinc.com/Spartan.