OOBOT40 FEATURES power jumper + voltage reg + heat sink . 4 bumper switch inputs + reset switch . piezo + ground buss EMI filter . . power input + charger input physically separate logic and motor ground busses reduce EMI 10 digital I/O, or + up to 7 A/D + proto area + program EEPROM + I²C buss 8 digital I/O, or + up to 8 servos + up to 3 hi-current drivers + external servo power MAX232 with 2 serial channels + additional RS-232 headers + compatibility with serial LCDs 4 h-bridges + motor headers + external motor power + motor EMI filters . . Size: 3.9" x 3.0" RS-232 connector . OOPic . 4 LEDs .

For technical details on the pcb, see here: BOT40 Controller.

Configurability. The OOBOT40 is highly-configurable. The proto area, second MAX232 channel, LEDs, and high-current driver channels can be configured to best suit particular user applications. Wires seen in the picture represent this configurability. See below regards high-current driver configurations.

OOPic Compatibility. The OOBOT40 Controller Board is compatible with both old and new versions of the OOPic controller chip, in 40-pin DIP package. The Oricom BOT40 Controller alone can be purchased by people already having the older version OOPics.

OOPic Pinout on OOBOT40 Board The figure on the right shows how the physical pins on the OOPic chip correspond to operational functions in the software. This includes which pins correspond to which OOPic I/O lines and groups, as well as which connect to the hardware on the OOBOT40 pcb - such as the EEPROM (U2) and (2) h-bridge chips (U3, U4). U3 input lines IN1 - IN4 drive motor outputs M1 - M4, and U4 input lines IN1 - IN4 drive motor outputs M5 - M8.

Motor Control Program Example. See the next page for an example program for controlling motors using the h-bridges on the OOBOT40 board: dc2motors.txt

The High-Current Driver area of the OOBOT40 Controller Board is very versatile, and can accommodate both NPN and PNP bipolar transistors, as well as both n-channel and p-channel MOSFETs. Driver power can be supplied either from the +5v buss (jumper J10), or from an external source (jumper J11 to +S buss). The pcb contains 3 identical driver layouts. Heavy pcb traces can carry up to 5 Amp. The diagram on the right shows the different ways this area can be wired up.

The last circuit, the P-MOSFET pullup driver, is especially useful for switching on-off power to large external 5v loads.