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6 Appendix 99 6 Appendix 99 6 Appendix This section contains the full schematics, board design and microcontrol- ler firmware for the intelligent LEGO compatible sensors. The schematics and the circuit board were drawn with Eagle 5.0 and the board was fab- ricated with in-house photo lithography and etching. The firmware was written in ANSI C using the compiler MicroC Rev. 5.0. Programming of the ATTiny261 controllers was done with a mikroElektronika - EasyAVR5 development board. Additionally the building instruction plan for the LEGO framework is included and also available as interactive HTML inter- face. The model was built in LEGO Digital Designer 4.6.3. Furthermore, the CAD design of the sample sledge done in SolidWorks 2012 is attached. 6.1 Intelligent Sensor Schematics R. Moser, Plastic Tests Plastics, BestMasters, DOI 10.1007/978-3-658-10530-3, © Springer Fachmedien Wiesbaden 2015 100 1 2 3 4 5 6 78 +5V Supply +9V 1N4148 A D2 A U$5 HEATSINK J1 +5V 3 F1 D1 2 1 JP1 IN OUT 2 1A, F, 5x20mm UF2002 1 + C1 + C2 C4 GND C5 + C3 +9V Jack IC1 470u/35V 10u/63V 330n/50V NCP7805TG 100n/50V 10u/63V Supply Switch Supply GND B B +9V +9V +2V5 Reference 1V5 Caliper Supply X1-1 IO 2V5_REF 1V5_Caliper GND 150R/5% 1k2/5% X1-2 DCOK +9V Supply LED1 3mm/green +5V R7 +5V R9 X1-3 D3 +9V_NXT +9V 1N4148 R5 1k02/0,1% 150R/5% C7 R8 C6 C T1 R4 180R/5% U$1 1 C BC547C TL431 1u/50V 1u/50V 23 D4 BZX79-5V1 1k/5% R2 R6 1k/0,1% R3 D5 D6 R1 820R/5% GND 470R/5% 1N4148 1N4148 GND GND GND GND GND D D 1.1 Moser 2013 Tag Name Richard Moser Bearb. 08.02. MoR Gepr. Benennung zu Gerät Supply, Reference, DCOK 6 Appendix E zu Anlage Zeichnungs-Nr. E LEGOSchem.sch Rev Änderungs-Nr. Tag Name LEGOSchem Blatt 1/3 11.02.2013 13:31:38 1 2 3 4 5 6 78 6 Appendix 1 2 3 4 5 6 78 +5V +5V IO A JP3 A 1V5_Caliper 1 R17 4k7/5% R20 4k7/5% 2 CALIPER_CLK 150R/5% 150R/5% 3 CALIPER_DATA T4 CALIPER_DATA_TINY T5 CALIPER_CLK_TINY 4 BC547C R18 BC547C R21 4k7/5% 4k7/5% Caliper_Interface CALIPER_DATA CALIPER_CLK GND R16 R19 I2C Interface to NXT 2.0 GND GND B B J3 JP4 R12 R13 20 19 18 17 16 15 14 13 12 11 1 1 +5V 2 2 82k/5% 82k/5% R14 Dil20 Socket 3 3 SCL_1 S1 4 4 150R/5% 4k7/5% R10 B3F-1020 5 5 IC6 R15 6 6 1 2 3 4 5 6 7 8 9 31 SDA_1 10 IC2 I2C 150R/5% 24 GND 10 PIN_I2C SDA_NXT_1 (ADC10/RESET)PB7 9 SCL_NXT_1 (ADC9/INT0/T0)PB6 CALIPER_CLK_TINY 8 (ADC8/XTAL2)PB5 7 (ADC7/XTAL1)PB4 4 (OC1B)PB3 CALIPER_DATA_TINY 3 (SCK/SCL/OC1B)PB2 SCL_1 2 C (MISO/DO/OC1A)PB1 C 1 (MOSI/DI/SDA/OC1A)PB0 SDA_1 11 R22 (ADC6/AIN1)PA7 +5V +5V 12 (ADC5/AIN0)PA6 5 13 330R/5% Direct Connection to NXT 2.0 VCC (ADC4)PA5 14 (ADC3)PA4 15 17 LED2 3mm/blue AVCC (AREF)PA3 100n/50V 100n/50V 18 C11 (ADC2)PA2 6 5 4 3 2 1 NXT_AIN J2 6 19 GND (ADC1)PA1 C9 C10 16 20 100n/50V GND (ADC0)PA0 FORCE_AIN 1 2 3 4 5 6 TINY26LP JP5 GND GNDGND GND GND GND GND D PIN_AIN D SIG2 SIG2 GND GND GND VRES 100n/50V 1.1 Moser 2013 Tag Name VREG Richard Moser ID C8 Bearb. ID 08.02. MoR +5V +5V Gepr. Benennung +5V zu Gerät SIG1 FORCE_AIN Stress-Strain SIG1 Measurement U$6 VERNIER_ANALOG_ADAPTER E zu Anlage Zeichnungs-Nr. E LEGOSchem.sch Rev Änderungs-Nr. Tag Name LEGOSchem Blatt 2/3 11.02.2013 13:31:38 1 2 3 4 5 6 78 101 102 1 2 3 4 5 6 78 I2C Interface to NXT 2.0 +5V 8 Selectable if on one sensor cable or on seperate cables A 3 IC4A A 2V5_REF 1 +5V +5V GND 2 100n/50V LM358N +5V SCL_NXT_1 4 IC9 IC8 C17 1 8 1 8 100n/50V J4 JP7 2 7 2 7 1 1 R30 R31 GND GNDT2 3 6 3 6 C19 2 2 82k/5% 82k/5% R23 4k02/0,1% R32 BC547 4545+5V 3 3 SCL_2 IC4B 5 10R/5% GND 4 4 150R/5% 7 5 5 R33 6 3 6 6 SDA_2 R26 10kR/5% 12 34 56 100n/50V LM358N +V I2C 150R/5% IC5 JP2 C16 R53 1 RG PIN_I2C R24 C15 1k02/0,1% 2 1n/50V 1 47n/50V 6 AIN+ SDA_NXT_1 REF B C18 8 B GND GND 10k/5% JP6 10k/5% RG AD623N R55 -V 5 20 19 18 17 16 15 14 13 12 11 R25 R54 2 +5V 47k/5% Dil20 Socket 47 S2 GND 4k7/5% R29 B3F-1020 GND IC7 2V5_REF 1 2 3 4 5 6 7 8 9 31 10 IC3 24 10 GND (ADC10/RESET)PB7 9 (ADC9/INT0/T0)PB6 CALIPER_CLK_TINY 8 (ADC8/XTAL2)PB5 RANGE_100K 7 (ADC7/XTAL1)PB4 RANGE_1M 4 (OC1B)PB3 CALIPER_DATA_TINY R40 16R9/0,1% R41 22R1/0,1% R42 221R/0,1% 3 (SCK/SCL/OC1B)PB2 SCL_2 C 2 C (MISO/DO/OC1A)PB1 1 U$2G$1 U$2G$2 U$3G$1 (MOSI/DI/SDA/OC1A)PB0 SDA_2 FDS9926 FDS9926 FDS9926 10R/5% 10R/5% 10R/5% R34 11 RANGE_10R RANGE_100R RANGE_1K (ADC6/AIN1)PA7 +5V +5V 12 R28 R35 R36 (ADC5/AIN0)PA6 5 13 330R/5% R47 R48 R49 VCC (ADC4)PA5 14 2V5_REF GND GND GND (ADC3)PA4 15 17 LED3 3mm/blue AVCC (AREF)PA3 330R/5% 330R/5% 330R/5% 100n/50V 100n/50V 18 C14 (ADC2)PA2 6 19 GND (ADC1)PA1 3mm/blue 3mm/blue LED5 3mm/blue LED6 LED7 C12 C13 16 20 100n/50V GND (ADC0)PA0 GND GND GND TINY26LP AIN+ RANGE_1K RANGE_10K GND GNDGND GND RANGE_10R GND GND 2V5_REF D RANGE_100R D R43 2k21/0,1% R44 22k1/0,1% R45 221k/0,1% 1.1 Moser 2013 Tag Name U$3G$2 U$4G$1 U$4G$2 Richard Moser Bearb. 10R/5% FDS9926 10R/5% FDS9926 10R/5% FDS9926 08.02. MoR RANGE_10K RANGE_100K RANGE_1M Gepr. Benennung R37 R38 R39 R50 R51 R52 zu Gerät GND GND GND Resistance-Strain Measurement 330R/5% 330R/5% 330R/5% 6 Appendix zu Anlage 3mm/blue 3mm/blue 3mm/blue E LED8 LED9 LED10 Zeichnungs-Nr. E GND GND GND LEGOSchem.sch Rev Änderungs-Nr. Tag Name LEGOSchem Blatt 3/3 11.02.2013 13:31:38 1 2 3 4 5 6 78 6 Appendix 103 1 2 3 45 A A S2 LED10 LED9 LED8 LED7 LED6 LED5 1 2 LED3 JP7 C12 R34 34 R30 R32 R31 B R33 B IC7 R29 R15 IC3 JP2 R51 R52 R49 R50 R47 R48 R14 R12 J4 R13 JP4 C13 C14 R10 R44 R45 R42 R43 R40 R41 C19 R55 4 3 IC5IC8 R38 R39 R36 R37 R28 R35 R54 2 1 C9 R53 J3 C18 S1 T2 IC6 JP6 2 R26 R22 31 R24 IC2 R25 C15 R23 U$1 C C16 C11 C T4 R6 C10 U$6LED2 R7 R5 J2 C7 R21 T5R18 C17 IC9 IC4 R20 R17 U$5 R19 JP5 R16 C8 D5 R8 D6 C6 JP3 R9 D A15,2mm D C1 IC1 C4 IO- C2 1 D1 C5 X1 D2 2 LED1 C3 3 R2 JP1 J1 R4 T1 R1 E D4 R3 E F1 D3 F F G Scale: 1:1 G 1.1 Moser 2013 Tag Name Bearb. 08.02. MoR Richard Moser Gepr. Benennung zu Gerät Stress/Resistance-Strain Measurement for LEGO NXT2.0 H zu Anlage Zeichnungs-Nr. H LEGOSchem.brd Mounting Diagram Rev Änderungs-Nr. Tag Name LEGOSchem Blatt >SHEET11.02.2013 14:29:59 1 2 3 45 104 6 Appendix 1 2 3 45 A A B B U$4 U$3 U$2 C C D D E E F F G Scale: 1:1 G 1.1 Moser 2013 Tag Name Bearb. 08.02. MoR Richard Moser Gepr. Benennung zu Gerät Stress/Resistance-Strain Measurement for LEGO NXT2.0 H zu Anlage Zeichnungs-Nr. H LEGOSchem.brd Mounting Diagram Bottom Rev Änderungs-Nr. Tag Name LEGOSchem Blatt >SHEETnicht gespeichert! 1 2 3 45 6 Appendix 105 1 2 3 45 A A B B C C D D E E F F G Scale: 1:1 G 1.1 Moser 2013 Tag Name LAYER-STACK Bearb. Richard Moser 01-16 08.02. MoR 01-20 Gepr. Benennung zu Gerät Stress/Resistance-Strain Measurement for LEGO NXT2.0 H zu Anlage Zeichnungs-Nr. H LEGOSchem.brd Drill Diagram Rev Änderungs-Nr. Tag Name LEGOSchem Blatt >SHEETnicht gespeichert! 1 2 3 45 106 6 Appendix 1 2 3 45 A A B B C C (C) 2013 Richard Moser NXT2.0 Mindstorms for LEGO Resistance-Strain Stess-Strain, D D E E F F G Scale: 1:1 G 1.1 Moser 2013 Tag Name Bearb. 08.02. MoR Richard Moser Gepr. Benennung zu Gerät Stress/Resistance-Strain Measurement for LEGO NXT2.0 H zu Anlage Zeichnungs-Nr. H LEGOSchem.brd Bottom Layer Rev Änderungs-Nr. Tag Name LEGOSchem Blatt >SHEETnicht gespeichert! 1 2 3 45 6 Appendix 107 1 2 3 45 A A B B C C D D E E F F G Scale: 1:1 G 1.1 Moser 2013 Tag Name Bearb.
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