Datasheet
Table Of Contents
- Contents
- Microbot Overview
- PICAXE Programming System
- Microbot Power Supply
- BOT120 Microbot Contents List
- The Microbric Connector
- Assembly 1 - Motherboard Panel
- Assembly 2 - Battery Box
- Assembly 3 - Motor Housing
- Assembly 4 - Motors
- Assembly 5 - Wheels, Tyres and Rear Skid
- Assembly 6 - Line Tracker
- Assembly 7 - Bumper Switches
- Assembly 8 - Pen Holder, Servo and SRF005 Modules
- Fully Assembled Microbot
- Motor Trouble Shooting
- Programming Software
- Programming Cable
- Download Hard Reset
- PICAXE-20X2 Pin Connections
- PICAXE-20X2 Microbot Pinout Table (Logicator)
- PICAXE-20X2 Microbot Pinout Table (Programming Editor / AXEpad)
- Programming Example 1 - LED Eyes
- Programming Example 2 - Push Button Switch
- Programming Example 3 - Bumper
- Programming Example 4 - Piezo Sounder
- Programming Example 5 - Motors
- Programming Example 6 - Line Tracker Testing
- Programming Example 7 - Line Tracker Program
- BOT121 Microbot Sensors Pack
- Assembly 9 - Infra-red Receiver (IR RX) Module
- Assembly 10 - Infra-red Transmitter (IR TX) Module
- Using the TVR010A Infra-red TV Style Remote
- Programming Example 8 - Infra-red Receiver
- Programming Example 9 - Infra-red Transmitter
- Assembly 11 - LDR Light Sensor Modules
- Programming Example 10 - Testing LDR Light Sensors
- Programming Example 11 - Light Follower
- SRF005 Ultrasonic Range Finder
- Assembly 12 - SRF005 Ultrasonic Range Finder
- Programming Example 12 - Testing SRF005
- Programming Example 13 - Using the SRF005
- BOT123 Servo Upgrade Pack
- Assembly 13 - BOT123 Servo / SRF005 Servo Adapter
- Programming Example 14 - Using Servos
- BOT127 Line Tracker / LED Upgrade Pack
- Appendix 1 - Home Made Sensors
- Appendix 2 - BOT120 Microbot Motherboard Schematic
- Appendix 3 - BOT120 Sensors Schematic
- Appendix 4 - BOT121 Sensors Pack Schematic
- Appendix 5 - BOT123 Servo Pack Schematic
- Appendix 6 - Advanced PIC (Non-PICAXE) Programming
- Appendix 7 - Copyright and Trademarks
- BOT110 Versabot - Microbot's 'big brother!'
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revolution
(c) Copyright Revolution Education Ltd. Web: www.picaxe.co.uk Version 1.1 04/10
BOT120.PMD
BOT120 PICAXE-20X2 MICROBOT
Logicator Only
When using Logicator these combinations can be very simply
generated by clicking the ‘movement’ buttons on the Motors cell
dialog.
Note also the speed selection option:
Fast - always change to fast speed
Slow - always change to slow speed
No change - speed setting is not altered
BASIC Only
When using BASIC these movement combinations can be simplified by
using the ‘forward’, ‘backward’ and ‘halt’ commands on each of the two
motors - motor B is B.7 : B.6 and motor A is B.5 : B.4
; Exampe to Move Microbot Forwards
forward A ; Set Motor A Forward
forward B ; Set Motor B Forward
Speed is controlled by the C.5 pin, when this pin is an input the speed
will be fast, when the pin is an output it will be slow.
input C.5 ; Set Motor Speed Fast
output C.5 ; Set Motor Speed Low
When the Microbot program first starts the C.5 pin will be set as an input
and the initial motor speed will be fast.
Motor Current Sense (advanced feature)
There is a Motor Current Sense input from the motor drive circuitry to
the C.7 pin (ADC channel 3). Using a ‘readadc’ command on analogue
channel 3 will return a value which is proportionate to the current drawn
by the motors; the higher the current draw, the higher the reading.
In advanced programs the Motor Current Sense can be read and used to
determine when the motors are struggling or have stalled. A program
may then take appropriate action when that occurs.
Note that when a motor starts it will draw much higher current than
when it is up to speed and running unhindered. This is known as ‘in-rush
current’. When starting a motor you will likely need to leave a short
period before reading the Motor Current Sense level to avoid the turn-on
in-rush current being misinterpreted as a motor stall.
Microbot
Right
Motor (B)
Left
Motor (A)
Halt Halt B Halt A
Forward Forward B Forward A
Backward Forward B Backward A
Turn Left Backward B Backward A
Turn Right Backward B Forward A
Veer Left
Forward
Forward B Halt A
Veer Left
Backward
Halt B Backward A
Veer Right
Forward
Halt B Forward A
Veer Right
Backward
Backward B Halt A