Getting Started with a PC 1 Install WinAVR from the Command Module product CD 2 Power on iRobot Create, plug the Command Module into the robots Cargo Bay Connector, and connect the USB cable from your PC to the Command Module. 3 Install the USB drivers (there are 2 that need to be installed) using the Found New Hardware Wizard or the installation executable on the Command Module product CD 4 Set the USB serial port to COM9 (open the Properties for the port from the Device Manager and change the com port using the Advanced button in the Port Settings tab) Creating and Loading a New Project 1 Open WinAVR 2 Create a new project and add the source files (e.g. input.c, oi.h and makefile from the input example program on the product CD) 3 Compile the project using Tools->[WinAVR] Make All 4 Connect the Command Module to iRobot Create and connect the USB cable from your PC to the Command Module 5 Press Reset on the Command Module 6 Download the project using Tools->[WinAVR] Program For the full set of instructions on setting up and using your Command Module visit www.irobot.com/create to download the Command Module Owners Manual. iRobot CreateTM Accessories register your irobot Command Module today and SaVe 15% on all accessories.*
iRobot Command Module QuiCk Start Guide An easy step-by-step guide and reference card for using the iRobot Command Module with your iRobot Create.TM SAVE 15%
on accessories. See back for details. Virtual Wall IR transmitter conveniently placed at robot eye-level. Can be used as an invisible wall or beacon irobot rechargeable Battery Rechargeable battery and charger for the iRobot Create Home BaseTM Recharges the iRobot rechargeable battery while in iRobot Create. Also contains 3 IR transmitters Standard remote Allows you to control iRobot Create from a distance For more accessories and ordering information go to www.irobot.com or call 800.727.9077.
*See registration card for details. Availability subject to change. Shipping and handling not included. 2006 iRobot Corporation. All rights reserved. iRobot and Virtual Wall are registered trademarks of iRobot Corporation. Home Base and Create are trademarks of iRobot Corporation. U.S. Pat. Nos. 6,594,844 6,690,134, and 6,809,490. Other patents pending. 429.06 www.irobot.com Introduction With the iRobot Command Module, you can control iRobot Create with programs you write in C or C++. And when you add custom hardware to the Command Module and iRobot Create, you can invent almost any kind of robot you want. The Command Module plugs into iRobot Creates Cargo Bay connector and screws down for a secure connection. Its four DB-9 expansion ports (ePorts) make adding your own sensors, lights, and motors inexpensive and easy. For more detail, download the Command Module Owners Manual at www.irobot.com/create. With the programs you write, you can control iRobot Creates motors, lights, and songs and read its sensors using the robots Open Interface serial protocol (details are in the iRobot Create Owners Manual and online at www.irobot.com/create). You can also control and read your own custom sensors, buttons, LEDs, and motors when you connect them to the Command Modules expansion ports. Once you write your programs, they are easy to download to the Command Modules microcontroller. Start with one of the example programs; expand and change it as you wish. For more information on writing software for the Command Module see the Software Reference chapter in the Command Module Owners Manual and the Open Interface reference guide. Whats included:
iRobot Command Module USB Cable iRobot Command Module CD that includes:
WinAVR install USB Driver install Example programs Atmel AVR ATmega168 microcontroller data sheet For more details on your iRobot Command Module and to download the Owners Manual, visit www.irobot.com/create. Anatomy LED 1 LED 2 Top Left ePort Soft Button Reset iRobot Create Connector
(under the Command Module) Hold Down Screws Power LED Power Switch USB Indicator USB Top Center ePort Cargo Bay ePort Top Right ePort The tables below show the signal connections for the each of the ePorts. The four ePorts have similar electrical connections, allowing add-on modules to be installed in different ePorts depending upon your needs. top Left ePort Pin# description 1 Analog Input 7 top right ePort Pin# description 1 Analog Input 6 Name ADC7 Name ADC6 Digital I/O (Port C pin 3) or Analog Input 4 PC3/ADC4 Digital I/O (Port C pin 2) or Analog Input 2 PC2/ADC2 2 3 4 5 6 7 8 Digital I/O (Port B pin 3) Regulated 5V voltage (when iRobot Create is on) iRobot Create Battery Ground Not Connected iRobot Create Battery Voltage
(when iRobot Create is on) Not Connected Low Side Driver 0 9 top Center ePort Pin# description 1 Digital I/O (Port C pin 5) or Analog Input 5 PB3 Vcc Gnd NC Vpwr NC LD0 2 3 4 5 6 7 8 9 Digital I/O (Port B pin 2) Regulated 5V voltage (when iRobot Create is on) iRobot Create Battery Ground Not Connected iRobot Create Battery Voltage
(when iRobot Create is on) Not Connected Low Side Driver 0 Cargo Bay ePort Pin# description 1 Digital I/O (Port C pin 4) or Analog Input 4 Name PC5/ADC5 2 3 4 5 6 7 8 9 Digital I/O (Port C pin 1) or Analog Input 1 PC1/ADC1 Digital I/O (Port B pin 1) Regulated 5V voltage (when iRobot Create is on) iRobot Create Battery Ground Not Connected iRobot Create Battery Voltage
(when iRobot Create is on) Not Connected Low Side Driver 0 PB1 Vcc Gnd NC Vpwr NC LD0 2 3 4 5 6 7 8 9 Digital I/O (Port C pin 0) or Analog Input 0 Digital I/O (Port B pin 0) Regulated 5V voltage (when iRobot Create is on) iRobot Create Battery Ground Not Connected iRobot Create Battery Voltage
(when iRobot Create is on) Low Side Driver 1 Low Side Driver 2 PB2 Vcc Gnd NC Vpwr NC LD0 Name PC4/ADC4 PC0/ADC0 PB0 Vcc Gnd NC Vpwr LD1 LD2 Processor i/O Pins The Command Modules Atmel AVR ATmega 168 microcontroller has 23 I/O pins, arranged into 3 ports (B, C and D), plus 2 additional analog input pins. The table below gives a description of each pin along with the location of the hardware to which it is connected. For information on how to control and read from these pins, see the Command Module Owners Manual. Pin Name PB0 description Digital I/O Digital I/O Digital I/O Digital I/O Serial port connector select. 1 = USB port. 0 = iRobot Create Location Cargo Bay ePort pin 3 Top Center ePort pin 3 Top Right ePort pin 2 Top Left ePort pin 3 Internal iRobot Create Power Detect. High if iRobot Create is on. iRobot Create connector pins 10-13 Clock line Clock line Digital I/O or Analog Input Digital I/O or Analog Input Digital I/O or Analog Input Digital I/O or Analog Input Digital I/O or Analog Input Digital I/O or Analog Input Reset Line Serial Rx Serial Tx iRobot Create Device Detect Input USB Detect Command Module Soft Button Command Module LED 1 Command Module LED 2 Internal Use only Internal Use only Cargo Bay ePort pin 2 Top Center ePort pin 2 Top Right ePort pin 2 Top Left ePort pin 2 Cargo Bay ePort pin 1 Top Center ePort pin 2 Internal Use only iRobot Create connector pin 2 or USB iRobot Create connector pin 1 or USB iRobot Create connector pin 15 USB port Left button Left green LED Right green LED iRobot Create Power Toggle (on rising edge) iRobot Create connector pin 3 PB1 PB2 PB3 PB4 PB5 PB6 PB7 PC0 PC1 PC2 PC3 PC4 PC5 PC6 PD0 PD1 PD2 PD3 PD4 PD5 PD6 PD7 ADC6 ADC7 Analog Input Analog Input Top Right ePort pin 1 Top Left ePort pin 1 System requirements:
Windows XP*
USB connection
*Support for additional operating systems may be available at www.irobot.com/create.