Personal Rover Project Cerebellum Board User’s Manual
The Cerebellum is intended as the main controller board for the Personal Rover. Built around PIC microcontroller, it provides the following functionality:
• Controls up to 8 hobby servos
• Open loop control of 2 DC motors
• Read from up to 8 analog input lines at 8-bit resolution
• 4 digital I/O lines
• 2 RS232 serial communications ports
• I2C bus master for up to 8 motor controller daughterboards
• ASCII-based serial user interface
• User programmable over PC parallel port
Power
The Cerebellum has a voltage regulator that provides a stable 5V to its logic systems and integrated circuits. This means that more than 5V has to be supplied to the primary power input to provide for the dropout voltage of the regulator. Both the H-bridge and the hobby servos can be powered through either the main power supply or their own independent power supplies. This is selected using jumpers on JP1 and JP2 respectively. The following diagrams and tables show the pin numbering and appropriate jumper connections for JP1, JP2, PWR1, PWR2 and PWR3.
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