Romi v8.3 serial key or number

The Orangutan LV-168 attached to a 3-AA battery holder.

Baby Orangutan B with included header pins soldered in for breadboard installation.

Arduino is a popular, open-source prototyping platform that makes it easy for people with little electronics experience to get into the world of microcontrollers and embedded programming. The Arduino environment consists of an open-source integrated development environment (IDE) and compiler, software libraries, and programmable hardware boards. This document explains how to program our Orangutan SV-xx8, Orangutan LV-168, Baby Orangutan B, and 3pi robot from the Arduino IDE. The Orangutans and the 3pi robot have a substantial degree of overlap with Arduinos because they use the same ATmega328P and ATmega168 processors found on official Arduinos. Our Orangutan robot controllers can therefore be an attractive alternative to official Arduino hardware for those already familiar with the Arduino environment. Also, the Arduino IDE can be a beginner-friendly and cross-platform alternative to Atmel Studio for those looking to get started with Orangutans.

The Orangutans and 3pi robot offer integrated hardware that Arduinos do not, such as on-board dual motor drivers. This makes them well suited for applications involving control of small- to medium-sized robots. The Orangutan SV-xx8, Orangutan LV-168, and 3pi robot also have integrated pushbuttons, a piezo buzzer, and a removable LCD, all of which are additional features not found on official Arduinos.

With a simple installation of some files in your sketchbook directory, it becomes possible to program our Orangutans and 3pi robot using the Arduino IDE and libraries. This guide will step you through the process of reconfiguring the Arduino IDE, and it will provide a series of custom libraries that will make it easy for you to interface with all of the Orangutan’s/3pi’s onboard hardware.

One key difference between standard Arduino boards and the Orangutan robot controllers is that most Arduinos come with integrated USB-to-serial adapters, which allow you to connect them to your computer and program them through pre-loaded bootloaders, while Orangutans lack integrated USB-to-serial adapters. As such, for the Orangutan SV-xx8, LV-168 and 3pi robot, we recommend you program the Orangutans or 3pi robot using an AVR ISP (referred to as ICSP in the Arduino world) programmer such as our USB AVR Programmer. By taking this approach and leaving off the bootloader, the AVR’s hardware serial port is free for other uses, and you gain an extra 512 bytes of program space. You also avoid the bootloader delay when you power up or reset the board.

Pololu USB AVR programmer with included six-pin ISP cable.

Note: This document applies only to the 3pi robot and Orangutan SV-xx8, Orangutan LV-168, and Baby Orangutan B robot controllers. For simplicity, the latter three devices will be referred to from this point on as “Orangutans”, unless a distinction needs to be made between specific Orangutan models. This document does apply to the original Orangutan, Baby Orangutan, Orangutan X2, or Orangutan SVP robot controllers.

In our standard Orangutan and 3pi documentation, we use the same convention that Atmel uses in its ATmega168/328 datasheet, referring to pins by their associated ports. For example, pin PD7 is pin 7 of port D. This convention is used because each port is controlled by its own AVR registers, and the bits of these registers correspond to individual pins.

The Arduino insulates the user from this level of detail, referring to the I/O pins as digital pins 0 to 13 and analog inputs 0 to 7. Note that this terminology can be a bit misleading since analog inputs 0 to 5 can also be used as general purpose digital I/O pins (referred to as digital pins 14 to 19).

You can visit http://www.arduino.cc/en/Hacking/PinMapping168 to see exactly how the mega168/328 pins are mapped to Arduino pins. Note that this page shows a 28-pin DIP package chip while the Orangutans carry smaller 32-pin MLF packages that contain two additional dedicated analog inputs: ADC6 and ADC7. In the Arduino environment, these pins become arduino analog inputs 6 and 7, respectively. The following diagram comes from the page linked above:

Orangutan SV-168 bottom view with dimensions (Arduino pin mapping).

Orangutan LV-168 bottom view with dimensions (Arduino pin mapping).

Pin Assignment Table Sorted by Function

Pin Assignment Table Sorted by Pin

Pin Assignment Table Sorted by Function

Pin Assignment Table Sorted by Pin

General features of the Pololu 3pi robot, top view.

Labeled bottom view of the Pololu 3pi robot.

Specific features of the Pololu 3pi robot, top view.

Pin Assignment Table Sorted by Function

Pin Assignment Table Sorted by Pin

The configuration instructions in this section explain how to alter the Arduino IDE so that it programs your Orangutan or 3pi robot using the correct settings via our USB AVR Programmer, and provides a series of libraries that can help you interface with onboard hardware on your device.

1. Go to http://www.arduino.cc/en/Main/Software and download the latest Arduino software for your platform (Arduino 1.6.11 as of this writing).
2. Download the Pololu Orangutan and 3pi Robot add-on for the Arduino IDE (111k zip).
3. Copy the libpololu-arduino folder from the ZIP file into the “hardware” subfolder of your Arduino sketchbook location. The Arduino sketchbook location is typically in your Documents folder in a subfolder named “Arduino”. You can see the sketchbook location in the Arduino IDE Preferences dialog, which is available from the File menu.
   
   For example, if you are using Windows and you have not changed the sketchbook location, the “libpololu-arduino” folder should be copied to:
   
   C:\Users\<username>\Documents\Arduino\hardware\libpololu-arduino
   
   If the “Arduino” or “hardware” folders do not exist yet, you will have to create them.

After installing the add-on and restarting the Arduino IDE, you should see several new features inside the Arduino IDE:

• You should see entries for the Orangutans in the Board menu.
• You should see an entry for the Pololu USB AVR Programmer in the Programmer menu.
• If you select one of the Orangutan entries in the Board menu, then you should see several new entries in the “Examples” menu, like “OrangutanMotors” and “OrangutanLCD”.

If you do not see these new features, then the add-on was probably not installed correctly and you should retry the installation instructions above and restart the Arduino IDE.

Older versions of the download are provided here for compatibility with older Arduino environments. (Please note that some of these older downloads only provide the libraries, not the hardware add-on).

Now it’s time to take the Arduino IDE for a spin. Our first goal will be to load a simple LED-blinking sketch (Arduino program) onto our Orangutan or 3pi.

Open the Arduino IDE and create the following sketch:

Copy the above code into a new, blank sketch.

Select one of our specially-created boards using the Tools > Board menu:

Select the programmer:

If you are using a Pololu USB AVR Programmer, select “Pololu USB AVR Programmer” in the Programmer menu. Otherwise, consult the documentation of your programmer to find out which option to select.

Select the programmer’s serial port:

If you are using a Pololu USB AVR Programmer, make sure you have installed the proper drivers (see the programmer’s user’s guide) and have connected it to your computer. Once this is done, you should be able to see its COM port listed under the Tools > Serial Port menu. If you are using Windows and do not know which COM port your programmer is on, you can determine this by bringing up your computer’s Device Manager and expanding the Ports (COM & LPT) list. The programmer provides two virtual serial ports, and the correct port to use is the one named “Pololu USB AVR Programmer Programming Port”.

Program your Orangutan or 3pi with the sketch:

Make sure your Orangutan or 3pi is connected to power and turned on. The power LED on the board should be on.

Connect your programmer to the Orangutan or 3pi via its six-pin ISP header, making sure that pin 1 of the programmer lines up with pin 1 of the target’s programming header. The Orangutan SV-xx8, Orangutan LV-168, and 3pi each have a shrouded header that will enforce correct pin orientation, but the Baby Orangutan B does not. Pin 1 on the Baby Orangutan is marked by a copper arrow on the PCB and pin 1 on our USB AVR Programmer is marked by a raised plastic triangle on the IDC connector.

With the programmer connected to both your computer and your Orangutan or 3pi, click the Upload button (circled in the screen capture below) or press Ctrl+U to compile the sketch and upload it to your target device. The status bar at the bottom of the window will read “Done uploading.” when the upload is complete. If everything has worked correctly, you should now see the target’s red user LED blinking on and off every second. Please note that if you are using a 3pi and have not yet soldered in the optional through-hole LEDs, you will need to look at the underside of the robot to see the flashing LED.

Note: Because the Orangutans were not designed as official Arduino boards, and run at 20 MHz instead of 16 Mhz, not all existing Arduino library code will be directly compatible with them. Also, Orangutan-specific libraries might conflict with existing Arduino libraries if the two are competing for the same hardware peripherals (e.g. two libraries that try to use Timer1 in different ways will not be compatible).

Overview

This section provides a series of Orangutan-specific libraries that will allow you to easily interface with the Orangutan/3pi hardware from the Arduino environment. It is important to note that the Baby Orangutan B is a hardware subset of the larger Orangutan SV-xx8 and LV-168, and these Orangutans are (almost) a hardware subset of the 3pi robot. What this means is that any library code that works on the Baby Orangutan B will also work on the Orangutan and 3pi robot, and (almost) any library code that works on the Orangutan will also work on the 3pi. The following subsections contain detailed documentation of each Orangutan Arduino library. All of the libraries that apply to the Orangutan will work for the corresponding hardware on the 3pi robot.

The only library class for which it is meaningful to have multiple instances is PololuQTRSensors. All the other classes consist entirely of static methods, so it does not make sense to instantiate them multiple times. The only library classes that need to be explicitly initialized before they are used are PololuQTRSensors and Pololu3pi, since these objects are initialized with user-specified parameters. None of the remaining Orangutan library objects needs to be explicitly initialized in your setup() function as initialization is automatically performed when needed.

As of version 101215, the C versions of the library functions are also available for use in your Arduino programs. This means that there are three possible ways for you to call library methods:

Usage examples

Most libraries come with at least one example sketch that demonstrates how the library can be used. To load an example sketch, open the Arduino IDE and go to File > Examples > Orangutan____.

The Pololu3pi library comes with several detailed line-following and maze-solving example sketches that can be loaded using File > Examples > Pololu3pi.

If you cannot find these examples in the Examples menu, make sure that you have followed the installation instructions in Section 3 and try restarting the Arduino IDE.

Overview

This library provides a set of methods that can be used to read analog voltage inputs, as well as functions specifically designed to read the value of the trimmer potentiometer (on the 3pi robot, Orangutan SV-xx8, Orangutan LV-168, and Baby Orangutan B), the battery voltage level in millivolts (3pi robot, SV-xx8), and the value of the temperature sensor in tenths of a degree F or C (on the Orangutan LV-168 only). This library gives you more control than existing Arduino analog input functions.

You do not need to initialize your OrangutanAnalog object before use. All initialization is performed automatically when needed.

All of the methods in this class are static; you should never have more than one instance of an OrangutanAnalog object in your sketch.

OrangutanAnalog Methods

Complete documentation of this library’s methods can be found in Section 2 of the Pololu AVR Library Command Reference.

Usage Examples

This library comes with two example sketches that you can load by going to File > Examples > OrangutanAnalog. The example sketches that come with the OrangutanMotors library also make limited use of this library.

1. OrangutanAnalogExample

Demonstrates how you can use the methods in this library to read the analog voltage of the trimmer potentiometer in the background while the rest of your code executes. If the ADC is free, the program starts a conversion on the TRIMPOT analog input (channel 7), and then it proceeds to execute the rest of the code in loop() while the ADC hardware works. Polling of the isConverting() method allows the program to determine when the conversion is complete and to update its notion of the trimpot value accordingly. Feedback is given via the red user LED, whose brightness is made to scale with the trimpot position.

2. OrangutanAnalogExample2

Intended for use on the Orangutan LV-168. Note that it will run on the 3pi robot and Orangutan SV-xx8, but the displayed temperature will be incorrect as the analog input connected to the temperature sensor on the Orangutan LV-168 is connected to 2/3rds of the battery voltage on the 3pi and to 1/3rd of the battery voltage on the Orangutan SV-xx8. It displays on the LCD the trimmer potentiometer output in millivolts and the temperature sensor output in degrees Fahrenheit. If you hold a finger on the underside of the Orangutan LV-168’s PCB near the center of the board, you should see the temperature reading slowly start to rise. Be careful not to zap the board with electrostatic discharge if you try this!

Overview

This library allows you to easily control the piezo buzzer on the 3pi robot, Orangutan SV-xx8, and Orangutan LV-168. It gives you the option of playing either a note or a frequency for a specified duration at a specified volume, or you can use the play() method to play an entire melody in the background. Buzzer control is achieved using one of the Timer1 PWM outputs, and duration timing is performed using a Timer1 overflow interrupt, so this library will conflict with any other libraries that rely on or reconfigure Timer1. For example, the Arduino function analogWrite() will not work on the Timer1 PWM output pins once you have started to use this library in your sketch.

The benefit to this approach is that you can play notes on the buzzer while leaving the CPU mostly free to execute the rest of your code. This means you can have a melody playing in the background while your Orangutan or 3pi does its main task. You can poll the isPlaying() method to determine when the buzzer is finished playing.

You do not need to initialize your OrangutanBuzzer object before use. All initialization is performed automatically when needed.

All of the methods in this class are static; you should never have more than one instance of an OrangutanBuzzer object in your sketch.

OrangutanBuzzer Methods

Complete documentation of this library’s methods can be found in Section 3 of the Pololu AVR Library Command Reference.

Usage Examples

This library comes with three example sketches that you can load by going to File > Examples > OrangutanBuzzer.

1. OrangutanBuzzerExample

Demonstrates one way to use this library’s playNote() method to play a simple melody stored in RAM. It should immediately start playing the melody, and you can use the top user pushbutton to stop and replay the melody. The example is structured so that you can add your own code to loop() and the melody will still play normally in the background, assuming your code executes quickly enough to avoid inserting delays between the notes. You can use this same technique to play melodies that have been stored in EEPROM (the mega168 has enough room in EEPROM to store 170 notes).

2. OrangutanBuzzerExample2

Demonstrates how you can use this library’s play() method to start a melody playing. Once started, the melody will play all the way to the end with no further action required from your code, and the rest of your program will execute as normal while the melody plays in the background. The play() method is driven entirely by the Timer1 overflow interrupt. The top user pushbutton will play a fugue by Bach from program memory, the middle user pushbutton will quietly play the C major scale up and back down from RAM, and the bottom user pushbutton will stop any melody that is currently playing or play a single note if the buzzer is currently inactive.

3. OrangutanBuzzerExample3

Demonstrates the use of this library’s playMode() and playCheck() methods. In this example, automatic play mode is used to allow the melody to keep playing while it blinks the red user LED. Then the mode is switched to play-check mode during a phase where we are trying to accurately measure time. There are three #define macros that allow you to run this example in different ways and observe the result. Please see the comments at the top of the sketch for more detailed information.

Overview

This library gives you the ability to control the 8×2 character LCD on the 3pi robot, Orangutan SV-xx8, and Orangutan LV-168. It implements the standard 4-bit HD44780 protocol, and it uses the busy-wait-flag feature to avoid the unnecessarily long delays present in other 4-bit LCD Arduino libraries. This comprehensive library is meant to offer as much LCD control as possible, so it most likely gives you more methods than you need. You can comment out unneeded methods (e.g. showCursor()) in OrangutanLCD.cpp to make this library smaller. If you do this, remember to delete OrangutanLCD.o so and restart the Arduino IDE so that the library will be recompiled.

This library is designed to gracefully handle alternate use of the four LCD data lines. It will change their data direction registers and output states only when needed for an LCD command, after which it will immediately restore the registers to their previous states. This allows the LCD data lines to function as pushbutton inputs and an LED driver on the Orangutan and 3pi.

You do not need to initialize your OrangutanLCD object before use. All initialization is performed automatically when needed.

All of the methods in this class are static; you should never have more than one instance of an OrangutanLCD object in your sketch.

OrangutanLCD Methods

Complete documentation of this library’s methods can be found in Section 5 of the Pololu AVR Library Command Reference.

Usage Examples

This library comes with two example sketches that you can load by going to File > Examples > OrangutanLCD. Note that most of the other libraries have example sketches that use the LCD, so please see these for more OrangutanLCD usage examples.

1. OrangutanLCDExample

Demonstrates shifting the contents of the display by moving the word “Hello” around the two lines of the LCD.

1. OrangutanLCDExample2

Demonstrates creating and displaying custom characters on the LCD. The following picture shows an example of custom characters, using them to display a bar graph of sensor readings and a smiley face:

Overview

This library allows you to easily control the LED(s) on the 3pi robot, Orangutan SV-xx8, Orangutan LV-168, and Baby Orangutan B. On the Orangutan SV-xx8 and LV-168, there are two user LEDs are on the top side of the PCB with the red LED on the bottom left and the green LED on the top right. On the 3pi, there are two user LEDs on the bottom side of the PCB with the red LED on the right (when looking at the bottom) and the green LED on the left. Additional LEDs included with the 3pi may be soldered in on the top side (in parallel with the surface-mount LEDs on the underside) for easier viewing. The Baby Orangutan has a single red LED and no green LED.

Note that the red LED is on the same pin as the UART0 serial transmitter (PD1), so if you are using UART0 for serial transmission then the red LED commands will not work, and you will see the red LED blink briefly whenever data is transmitted on UART0. Note that the green LED is on the same pin as an LCD control pin; the green LED will blink briefly whenever data is sent to the LCD, but the two functions will otherwise not interfere with each other.

You do not need to initialize your OrangutanLEDs object before use. All initialization is performed automatically when needed.

All of the methods in this class are static; you should never have more than one instance of an OrangutanLEDs object in your sketch.

OrangutanLEDs Methods

Complete documentation of this library’s methods can be found in Section 6 of the Pololu AVR Library Command Reference.

Usage Examples

This library comes with an example sketch that you can load by going to File > Examples > OrangutanLEDs.

1. OrangutanLEDExample

Alternately blinks the red and green LEDs on the Orangutan SV-xx8, Orangutan LV-168, or 3pi robot. If you run this program on the Baby Orangutan B, you will only see the red user LED blink, but you can connect an external LED to pin PD7 (Arduino pin 7) if you want to see the second LED blink. If you do this, don’t forget to include a current-limiting resistor!

Overview

This library gives you the ability to control the motor drivers on the 3pi robot, Orangutan SV-xx8, Orangutan LV-168, and Baby Orangutan B. It accomplishes this by using the four hardware PWM outputs from timers Timer0 and Timer2, so this library will conflict with any other libraries that rely on or reconfigure Timer0 or Timer2.

Because the Arduino environment relies on Timer0 for timing functions like millis() and delay(), this library cannot reconfigure the timers; consequently, the PWM outputs are limited to a frequency of 1.25 kHz in the Arduino environment. In many cases, this will result in an audible motor whine. To avoid this problem, you can instead program in C or C++ with the Pololu AVR Library, which allows you to use the motor drivers at higher PWM frequencies.

You do not need to initialize your OrangutanMotors object before use. All initialization is performed automatically when needed.

All of the methods in this class are static; you should never have more than one instance of an OrangutanMotors object in your sketch.

OrangutanMotors Methods

Complete documentation of this library’s methods can be found in Section 7 of the Pololu AVR Library Command Reference.

Usage Examples

This library comes with two example sketches that you can load by going to File > Examples > OrangutanMotors.

1. OrangutanMotorExample

Demonstrates controlling the motors using the trimmer potentiometer and uses the red LED for feedback.

2. OrangutanMotorExample2

Demonstrates controlling the motors using the trimmer potentiometer, but it uses the LCD for most of the feedback, so it will not fully work on the Baby Orangutan.

Overview

This library allows you to easily interface with the three user pushbuttons on the 3pi robot, Orangutan SV-xx8, and Orangutan LV-168 by either polling for the state of specific buttons or by waiting for press/release events on specifiable buttons. The waitFor____() methods in this library automatically take care of button debouncing.

You do not need to initialize your OrangutanPushbuttons object before use. All initialization is performed automatically when needed.

All of the methods in this class are static; you should never have more than one instance of an OrangutanPushbuttons object in your sketch.

OrangutanPushbuttons Methods

Complete documentation of this library’s methods can be found in Section 9 of the Pololu AVR Library Command Reference.

Usage Examples

This library comes with an example sketch that you can load by going to File > Examples > OrangutanPushbuttons.

1. OrangutanPushbuttonExample

Demonstrates interfacing with the user pushbuttons. It will wait for you to push either the top button or the bottom button, at which point it will display on the LCD which button was pressed. It will also detect when that button is subsequently released and display that to the LCD.

Overview

This library allows you to easily interface with the five infrared reflectance sensors on the 3pi robot. Note that in order to use this library, you must also include PololuQTRSensors.h in your sketch. You should have something like the following at the top of your sketch:

Unlike the other Orangutan libraries, you must explicitly call the init() method to initialize your Pololu3pi object before using it.

All of the methods in this class are static; you should never have more than one instance of a Pololu3pi object in your sketch.

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