lego interface board released v0.3
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Lego Interface board 0.3
Gary L Fernandes
Seattle University
Lego Interface Breadboard (LIB)
General Interface to Lego NXT Motors & Sensors
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Lego Interface Breadboard
Revision History
Revision Date Description Person
Rev 0.1 2/11/2001 Created: Gary L Fernandes, fernandg@seattleu.edu
Rev 0.2 2/23/2011 Updated everything. Gary
Rev 0.3 3/11/2011 Updated Altera Expansion Header info, Cleaned up everything. Gary
Best viewing with =>Office 2007
Table of Contents 1. Lego Interface Board Formats of Use ............................................................................................................................. 4 2. Lego Interface Breadboard Proto 1................................................................................................................................. 5 3. Altera Expansion Header to Lego Interface Board Header ............................................................................................. 6
Altera Expansion Header JP2 (GPIO_1) .......................................................................................................................... 6 4. Xilinx Expansion Header to Lego Interface Board Header .............................................................................................. 8 5. PIC Board to Lego Interface Board Header ..................................................................................................................... 8 6. Code Examples and Tutorials Download Links ................................................................................................................ 9 7. Lego Interface Board Details ......................................................................................................................................... 10
Motor Driver - TI SN754410 Driver ................................................................................................................................... 10 Function Table Motor 1 ................................................................................................................................................ 10 Function Table Motor 2 ................................................................................................................................................ 10 SN754410 Absolute Maximum Ratings ......................................................................................................................... 11 Complete Datasheet ..................................................................................................................................................... 11 Breadboard Test DIP Switches ...................................................................................................................................... 11
Pulse Width Modulation Introduction .............................................................................................................................. 12 Sound Sensor Circuit ......................................................................................................................................................... 14 Touch Sensor ..................................................................................................................................................................... 15
Lego Touch Sensor Schematic ....................................................................................................................................... 15 Example 1: Touch Sensor Switch Bounce When Pressed ............................................................................................. 16 Touch Sensor Debounce Circuit .................................................................................................................................... 18
Light Sensor ....................................................................................................................................................................... 22 Light Sensor Function Table .......................................................................................................................................... 22 Lego Light Sensor Schematic ......................................................................................................................................... 22
Piezo Speaker .................................................................................................................................................................... 23 8. Robot Applications ........................................................................................................................................................ 24
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Lego Interface Breadboard
WARNING Vc must be > 6 < 9.5 Vdc
Set proper power supply voltage BEFORE connecting the Lego Interface
Board.
To avoid damage to Lego products to not change or disturb circuits or
operate without proper instruction, supervision, or EE knowhow.
If a wire or component has come loose please have a supervisor repair
before connecting power.
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Lego Interface Breadboard
1. Lego Interface Board Formats of Use The Lego Interface Board (LIB) provides an easy interface to motors, touch sensors, light sensor, breadboard sound
sensor and a piezo speaker. Extended cable lengths are also available for tethered applications.
Altera, Xilinx, or other development kits Microcontrollers or other Breadboard Circuits
Robot Applications
Example Youtube Robot Apps
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Lego Interface Breadboard
2. Lego Interface Breadboard Proto 1.
Vc 6 - 9.5VDC
Light Sensor Adjust
Sound Sensor Adjust
Light Sensor Detect LED
Sound Sensor Detect LED
Lego Light Sensor Port
Lego Touch Sensor Port 1
Lego Touch Sensor Port 2
Lego Motor Port 1
Lego Motor Port 2
Motor Test DIP Switches
For normal operation all
switchs must be set to OFF
(Open) position
Optional Power Switch Banana jack Va to Vb
(useful for testing)
Header1 Use this header cable to interface
to microcontrollers or
Altera/Xilinx boards
GND
Microphone
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Lego Interface Breadboard
3. Altera Expansion Header to Lego Interface Board Header
Altera Expansion Header
JP2 (GPIO_1)
Lego Interface Board
Header1
JP2 Pin No.
Signal Name
FPGA Pin No.
Header1 Pin No.
Signal Type
Input Output
Bi
Signal Name Description
1 GPIO_1[0] PIN_K25 1 Input 1,2EN Motor Driver See Motor Driver Function Table
3 GPIO_1[2] PIN_M22 3 Input 1A See Motor Driver Function Table
5 GPIO_1[4] PIN_M19 5 Input 2A See Motor Driver Function Table
7 GPIO_1[6] PIN_N20 7 Input 3,4EN See Motor Driver Function Table
9 GPIO_1[8] PIN_M24 9 Input 3A See Motor Driver Function Table
11 VCC5 11 N.C.
13 GPIO_1[10] PIN_N24 13 Input 4A See Motor Driver Function Table
15 GPIO_1[12] PIN_R25 15
17 GPIO_1[14] PIN_R20 17
19 GPIO_1[16] PIN_T23 19
21 GPIO_1[18] PIN_T25 21
23 GPIO_1[20] PIN_T21 23
25 GPIO_1[22] PIN_U26 25
27 GPIO_1[24] PIN_U23 27
29 VCC33 29
31 GPIO_1[26] PIN_R19 31 N.C. TACHOA0 From Motor 1 not wired at this time.
33 GPIO_1[28] PIN_U20 33 N.C. TACHOA1 From Motor 1 not wired at this time.
35 GPIO_1[30] PIN_V26 35 N.C. TACHOA2 From Motor 2 not wired at this time.
37 GPIO_1[32] PIN_V24 37 N.C. TACHOA3 From Motor 2 not wired at this time.
39 GPIO_1[34] PIN_W25 39
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Lego Interface Breadboard
2 GPIO_1[1] PIN_K26 2 Output SDETECT Sound Sensor Circuit Non-debounced comparator output. When a sound is detected output goes HIGH. Normal LOW
4 GPIO_1[3] PIN_M23 4 Output DEBSDETECT Sound Sensor Circuit Debounced comparator output signal. When a sound is detected output goes HIGH for 5-20 ms. Normal LOW
6 GPIO_1[5] PIN_M20 6 Input DIGICI0 Light Sensor Input to Lego Light Sensor. HIGH = Enable Lego Light Sensor. LOW = Disable Lego Light Sensor.
8 GPIO_1[7] PIN_M21 8 Output LDETECT Light Sensor Debounced Signal. When reflected light is detected LDETECT goes LOW. Normal HIGH. Sensitivity is adjustable by POT.
10 GPIO_1[9] PIN_M25 N.C N.C. ADC_C0 Light Sensor Analog Not wired at this time. Analog Output from Lego Light Sensor. Open Collector Output.
12 GND -- 12 GND GND Digital GND
14 GPIO_1[11] PIN_P24 14 Output TOUCHSEN1 Touch Sensor 1 Non-debounced Signal. HIGH = Sensor Switch Open. LOW = Sensor Switch Closed.
16 GPIO_1[13] PIN_R24 16 Output DEBTOUCHSEN1 Touch Sensor 1 Debounced Signal. LOW = Sensor Switch Open. HIGH = Sensor Switch Closed.
18 GPIO_1[15] PIN_T22 18 Output TOUCHSEN2 Touch Sensor 2 Non-debounced Signal. HIGH = Sensor Switch Open. LOW = Sensor Switch Closed.
20 GPIO_1[17] PIN_T24 20 Output DEBTOUCHSEN2 Touch Sensor 2 Debounced Signal. LOW = Sensor Switch Open. HIGH = Sensor Switch Closed.
22 GPIO_1[19] PIN_T18 22
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Lego Interface Breadboard
24 GPIO_1[21] PIN_T20 24
26 GPIO_1[23] PIN_U25 26 Input BUZZ1 Piezo Speaker Signal BUZZ1 is connected to a terminal 1 on a piezo element. Terminal 2 is tied to Vc.
28 GPIO_1[25] PIN_U24 28
30 GND -- 30 GND GND Digital GND
32 GPIO_1[27] PIN_T19 32
34 GPIO_1[29] PIN_U21 34
36 GPIO_1[31] PIN_V25 36
38 GPIO_1[33] PIN_V23 38
40 GPIO_1[35] PIN_W23 40
4. Xilinx Expansion Header to Lego Interface Board Header No information.
5. PIC Board to Lego Interface Board Header No information.
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Lego Interface Breadboard
6. Code Examples and Tutorials Download Links
Altera DE2
Interface Projects Name of Code/Tutorial Download Link
Lego Touch Sensor http://www.seattleu.edu/scieng/ece/projects.html
Lego Light Sensor http://www.seattleu.edu/scieng/ece/projects.html
Sound Sensor http://www.seattleu.edu/scieng/ece/projects.html
Piezo Speaker http://www.seattleu.edu/scieng/ece/projects.html
SN754410 Motor Driver http://www.seattleu.edu/scieng/ece/projects.html
General Projects
Interface Projects Name of Code/Tutorial Download Link
Bug Pen http://www.seattleu.edu/scieng/ece/projects.html
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Lego Interface Breadboard
7. Lego Interface Board Details
Motor Driver - TI SN754410 Driver Datasheet http://focus.ti.com/lit/ds/symlink/sn754410.pdf
HEADER1 MOTOR 1 CONTROL
Pin No. Signal Type
SN754410 PIN NAME
SN754410 Pin No.
PIN FUNCTION
1 Input 1,2EN 1 ENABLE MOTOR DRIVER OUTPUTS 1 & 2
3 Input 1A 2 INPUT 1
1Y 3 DC MOTOR OUTPUT 1
5 Input 2A 7 INPUT 2
2Y 6 DC MOTOR OUTPUT 2
Breadboard motor driver circuit includes 10K pulldown resistor on all SN754410 inputs
Function Table Motor 1
INPUTS OUTPUTS MOTOR FUNCTION
1,2EN 1A 2 1Y 2Y
0 - - OFF OFF COAST
1 0 0 LOW LOW BRAKE
1 1 1 HIGH HIGH BRAKE
1 1 0 HIGH LOW FORWARD (FULL SPEED)
1 0 1 LOW HIGH REVERSE (FULL SPEED
PULSE WIDE MODULATION (PWM) Try using a frequency of 100Hz with chip SN754410
1 PWM 0 PWM LOW FORWARD, SPEED = DUTY CYCLE
1 0 PWM LOW PWM REVERSE, SPEED = DUTY CYCLE
1 PWM 1 PWM LOW FORWARD, SPEED = INVERSE DUTY CYCLE
1 1 PWM LOW PWM REVERSE, SPEED = INVERSE DUTY CYCLE
Header1 MOTOR 2 CONTROL
Pin No. Signal Type
SN754410 PIN NAME
SN754410 Pin No.
PIN FUNCTION
7 Input 3,4EN 9 ENABLE MOTOR DRIVER OUTPUTS 3 & 4
9 Input 3A 10 INPUT 3
3Y 11 DC MOTOR OUTPUT 3
13 Input 4A 15 INPUT 4
4Y 14 DC MOTOR OUTPUT 4
Breadboard motor driver circuit includes 10K pulldown resistor on all SN754410 inputs
Function Table Motor 2
INPUTS OUTPUTS MOTOR FUNCTION
3,4EN 3A 4A 3Y 4Y
Same as Function Table Motor 1 respectively
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Lego Interface Breadboard
SN754410 Absolute Maximum Ratings Complete Datasheet http://focus.ti.com/lit/ds/symlink/sn754410.pdf
Motor Supply Voltage Vcc2 36 V
Digital Supply Voltage Vcc1 36V
Motor Output Current OUTxx *1.1 A (Continuous)
Logic Input Voltage xEN, xA 36 V
* This data is from the TI datasheet. Do not expect to meet these value using a breadboard circuit!
The SN754410 is a favorite hobby chip used, probable because it is one of the rare chips still in production that come in
a thru-hole package. Only good for hobby stuff. Very inefficient when used as a motor driver
Breadboard Test DIP Switches
The Lego Interface board includes a DIP switch for testing motors.
Be sure all switches are in the OFF (OPEN) position when interfacing with other boards.
DIP SWITCH SN754410 SIGNAL OFF = OPEN ON = CLOSED Note 1 1,2EN LOW
10K Pulldown HIGH
1K Pullup LOW = DISABLE MODE, HIGH = ENABLE DEVICE
2 1A LOW 10K Pulldown
HIGH 1K Pullup
3 2A LOW 10K Pulldown
HIGH 1K Pullup
4 3,4EN LOW 10K Pulldown
HIGH 1K Pullup
LOW = DISABLE MODE, HIGH = ENABLE DEVICE
5 3A LOW 10K Pulldown
HIGH 1K Pullup
6 4A LOW 10K Pulldown
HIGH 1K Pullup
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Lego Interface Breadboard
Pulse Width Modulation Introduction Figure 2a shows a PWM signal at a 10% duty cycle. That is, the signal is ON for 10% of the period and OFF the other 90%. Figures 2b and 2c show PWM outputs at 50% and 90% duty cycles, respectively. The longer the signal is ON compared to the OFF periods, results in higher power supplied to the motor.
Figure 2a
Figure 2b
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Lego Interface Breadboard
Figure 2c
The duty cycle is defined as the percentage of digital high to digital low signals present during a PWM period.
Common modulating frequencies range from 1 kHz to 200 kHz with real motor drivers.
PWM can be produced by common microcontrollers or even a 555 timer circuit. http://www.eetimes.com/discussion/beginner-s-corner/4023833/Introduction-to-Pulse-Width-Modulation
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Lego Interface Breadboard
Header1 Sound Sensor Circuit Board circuit consists of a LM324 comparator and MIC.
Datasheet: http://www.national.com/ds/LM/LM124.pdf
Header1 Pin No.
Signal Type
Input Output
Bi
LM324 Signal Name
LM324 Pin No.
Description Note
2 Output SDETECT 1 Non-debounced comparator output. When a sound is detected output goes HIGH.
Comparator Output,
Normal LOW
4 Output DEBSDETECT 7 Debounced comparator output signal. When a sound is detected output goes HIGH for 5-20 ms
Comparator Output,
Normal LOW
POT 1 allows for sensitivity adjustment
LED 1 flashes ON when a sound is detected
This circuit is meant for simple clap trigger event applications
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Lego Interface Breadboard
Header1 Touch Sensor (TS) 1 Circuit uses a 74HC14 Schmitt Inverter to debounce signal from sensor. See circuit.
Header1 Pin No.
Signal Type
Input Output
Bi
TS Signal Name 74HC14 Pin No.
Description Note
14 Output TOUCHSEN1 Direct from Sensor
Non-debounced Signal. HIGH = Sensor Switch Open. LOW = Sensor Switch Closed.
10K Pullup
16 Output DEBTOUCHSEN1 6 Debounced Signal. LOW = Sensor Switch Open. HIGH = Sensor Switch Closed.
Schmitt Inverter Output. Normal LOW
Touch Sensor (TS) 2
Header1 Pin No.
Signal Type
Input Output
Bi
TS Signal Name 74HC14 Pin No.
Description Note
18 Output TOUCHSEN2 Direct from Sensor
Non-debounced Signal. HIGH = Sensor Switch Open. LOW = Sensor Switch Closed.
10K Pullup
20 Output DEBTOUCHSEN2 4 Debounced Signal. LOW = Sensor Switch Open. HIGH = Sensor Switch Closed.
Schmitt Inverter Output. Normal LOW
Lego Touch Sensor Schematic
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Lego Interface Breadboard
Example 1: Touch Sensor Switch Bounce When Pressed (1 ms per division zoom-in capture) Yellow = TOUCHSENx
Example 2: Switch Bounce When Pressed. Yellow = TOUCHSENx
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Lego Interface Breadboard
Example 1: Switch Bounce When Released. Yellow = TOUCHSENx
Example 2: Switch Bounce When Released. Yellow = TOUCHSENx
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Lego Interface Breadboard
Touch Sensor Debounce Circuit
Touch Sensor Pressed & Released
Non-debounced signal TOUCHSENx (Yellow) and debounced signal DEBTOUCHSENx (Green) (5 ms per division zoom-out capture)
This is typically what you should expect.
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Lego Interface Breadboard
Switch Pressed & Released: No Capacitor C1: Yellow = TOUCHSENx, Green = DEBTOUCHSENx
Switch Pressed: No Capacitor C1: Yellow = TOUCHSENx, Green = DEBTOUCHSENx
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Lego Interface Breadboard
Switch Released: No Capacitor C1: Yellow = TOUCHSENx, Green = DEBTOUCHSENx
Switch Pressed: With Capacitor C1: Yellow = TOUCHSENx, Green = DEBTOUCHSENx
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Lego Interface Breadboard
Switch Released: With Capacitor C1: Yellow = TOUCHSENx, Green = DEBTOUCHSENx
Switch Pressed & Released
This is what to expect on TOUCHSENx (Yellow) & DEBTOUCHSENx (Green)
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Lego Interface Breadboard
Header1 Light Sensor Circuit consists of a LM324 comparator to convert the Lego light sensors analog signal to digital bit
Header1 Pin No.
Signal Type
Input Output
Bi
Signal Name
Description Note
6 Input DIGICI0 Input to Lego Light Sensor. LOW = Disable Lego Light Sensor (Turns Output LED OFF) HIGH = Enable Lego Light Sensor (Turns Output LED ON)
10K Pulldown
8 Output LDETECT Debounced Signal. When reflected light is detected LDETECT goes LOW. Normal HIGH.
Sensitivity is adjustable by POT2. You may need to adjust POT2 for different colors and glossy-flat finishes.
LED 2 is ON when light has crossed threshold
Output from Comparator
Light Sensor Function Table
INPUTS CONDITION OUTPUT
DIGICI0 REFLECTION LDETECT
LOW DONT CARE HIGH
HIGH NO HIGH
HIGH YES LOW
Lego Light Sensor Schematic
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Lego Interface Breadboard
Header1 Piezo Speaker
Header1 Pin No.
Signal Type
Input Output
Bi
Signal Name
Description LIB Note
26 Input BUZZ1 Signal BUZZ1 is connected to the negative terminal on the LIB piezo element. The positive terminal is tied to Vc.
Piezo buzzers require an oscillating frequency in the audible range in order to generate sound similar to a speaker but with much higher impedance, hence does not require much current.
Continued below
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Lego Interface Breadboard
8. Robot Applications
Controlled by breadboard
microcontroller or Altera
Board.
Six D size batteries provide
power to both the Altera
DE2 and motors-sensors.
Best to use NiMH batteries.
Always monitor battery
voltage before use under
load condition.
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Lego Interface Breadboard
Extended cable lengths are also available for tethered applications.
Altera DE2 interfaced to Lego products: http://www.youtube.com/watch?v=sIWRuqNM3Xc
iphone controlled Lego : http://www.youtube.com/watch?v=7pIS69teEvw&feature=related
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