Arduino

This repository contains the Arduino code for the autonomous scooter. Currently there are two boards on the scooter, one Uno and one Mega. The code for the Uno is in Arduino_Uno and the code for the Mega is in Arduino_Mega. In the near future these two codes will be combined so we can use just the Mega board. IMU_test and Ultrasonic contains test codes for the IMU and the ultrasonic sensors respectively, but at the current stage of the scooter neither of those codes ar being used right now.

Pin Out List for electronic hardware on the scooter

For left incremental encoder next to the left rear wheel:

Green wire (Output A): Pin 2 on the Arduino Mega 2560

White wire (Output B): Pin 3 on the Arduino Mega 2560

Yellow wire (Output Z): Pin 18 on the Arduino Mega 2560

Red wire to VCC

Black wire to GND

For right incremental encoder next to the right rear wheel:

Green wire (Output A): Pin 19 on the Arduino Mega 2560

White wire (Output B): Pin 20 on the Arduino Mega 2560

Yellow wire (Output Z): Pin 21 on the Arduino Mega 2560

Red wire to VCC

Black wire to GND

All the numbered pins shown above are used for digital interrupts.

For the Absolute Encoder:

Pin 1 on EMS22A (Digital Input) connects to GND

Pin 2 on EMS22A (Clock) connects to pin 26 on Arduino Mega 2560

Pin 3 on EMS22A (GND) connects to GND

Pin 4 on EMS22A (Digital Output) connects to pin 28 on Arduino Mega 2560

Pin 5 on EMS22A (VCC) connects to VCC

Pin 6 on EMS22A (Chip Select) connects to pin 24 on Arduino Mega 2560

Arduino Uno pin 6 outputs the clocking signal that triggers the Digital Output pin on EMS22A to send out bits of data. One reading corresponds to 10 bits of data, plus another 6 bits for checking purposes. Arduino Uno pin 8 outputs a pulse signal to enable the absolute encoder to output a new reading every byte.

For the front Motor Controller:

PWM pin goes to Pin 6 on the Arduino Mega

DIR pin goes the Pin 7 on the Arduino Mega

For the rear Motor Controller:

PWN pin goes to Pin 9 on the Arduino Mega

DIR pin foes the PIn 8 on the Arduino Mega