This is our first instructables tutorial achieved by Mohsine Taarji , Anvesh Loka , Avinash Singh. Our project is about Controlling iRobot create by using MSP430fr6989 Microcontroller . Basically, iRobot is a re-programmable device. You can do any robotic project by using iRobot. In this tutorial, we will explain our project till we get to the final product which is controlling the irobot wirelessly with an mobile app that we developed.
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Step 1: Introduction
iRobot Create is manufactured by iRobot.The company builds robots such as military and police robots, such as the PackBot along with autonomous home vacuum cleaner (Roomba), the Scooba that scrubs and cleans hard floors.founded in 1990 by three MIT graduates. First released in 2002 and patented in 2005. It is re-programmable device and you can add any task you want by using serial communication and opcodes. Now the newest model in market is iRobot Roomba 980.The iRobot Create consists Omnidirectional IR Receiver, Cargo Bay Connector, serial Port, Charging Socket.To communicate with Microcontroller or PC iRobot must be connected to the external Mini-DIN connector or the Cargo Bay Connector on Create. These connectors provide two-way, serial communication at TTL (0 – 5V) levels.
Step 2: Components
• iRobot Create
• MSP430FR6989 Microcontroller
• Ultrasonic Sensor
• Connecting Wires
• Power Bank(Power Supply 5V-1A)
Step 3: Interfacing MSP430fr6989 to IRobot Create
Interfacing MSP430fr6989 to iRobot create DB25 Connector
In this part we took Tx , Rx and GND from MSP430 and we connect it to RX , Tx , and GND, which are pins 1, 2 and 25 of iROBOT DB25 connector respectively. For this part used the Tx and Rx of the back channel of the iROBOT because regular serial communications pins are not working. Even we checked with a bluetooth module.
Interfacing MSP430fr6989 to iRobot create Mini Din Connector
In this part we took Tx , Rx and GND from MSP430 and we connect it to RX , Tx , and GND which are pins 4, 3 and 6 of iROBOT DB25 connector . for this part used the Tx and Rx of the back channel of the iROBOT because regular serial communications pins are not working. Even we checked with a bluetooth module.
The working of iRobot with both connectors is very simple. what you have to do is connect the tx and rx of both Connector to rx and tx of MSP430FR6989 microcontroller. After that upload your code and ON the irobot create. Once the connection is established, the green led of iRobot will be off and you can hear a beep sound. Now the iRobot will move autonomously.
Step 4: Interfacing MSP430fr6989 to IRobot Create Through Serial Communication
For the serial communication , we connected our msp430 to a laptop. we gave serial commands by using laptop through USB cable . We used 2 for backward movement, 8 for forward movement, 6 turning right, 4 turning left,0 for song and L for led.
Step 5: Interfacing Ultrasonic Sensor to IRobot
We connected the ultrasonic sensor trig and echo pins to msp430 P4.3 and P9.2 respectively. If ultrasonic detect the distance 50cm or less, it will stop and sing a jingle bells songs.
Step 6: Interfacing MSP to IRobot Through Bluetooth
•We have to use 2 boards because, TheBaud rate is different for different devices
1.HC-06 at 9600 Bauds bits per second
2.iRobot works with 57600 or 19200 Bauds bits per second.
Connect HC-06 to TX and RX of 1st Board and Common VCC and Common GND. Connect GPIO 31-35 from first board to same 31-35 pins of 2nd board. Connect Tx, Rx & Common GND of second board to DB-25 connector.
•Mobile App sends serial data to Bluetooth module.
•Bluetooth Module sends data to 1st MSP
•MSP turns on corresponding Pins HIGH as OUTPUT which are connected as input to 2nd MSP.
•2nd MSP read the input pins and sends the corresponding OPCODES to iRobot.
Step 7: CODE:
Step 8: Thanks
You are on right place for your project and you're done. Thanks for the Instructables for this developer board, and if you like our project please vote us.
Thanks for watching!!!
Participated in the
Make it Move Contest 2016