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In this document, we'll take a close look at the heart of the Experiential Robotics Platform (XRP) Kit, the XRP Controller. This document outlines all of the parts on this board you'll interact with while building and using the XRP Kit.
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In this document, we'll take a close look at the heart of the Experiential Robotics Platform (XRP) Kit - Beta, the XRP Controller - Beta. This document outlines all of the parts on this board you'll interact with while building and using the XRP Kit - Beta.
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## Controller Board Overview
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## XRP Controller - Beta Overview
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Let's take a broad look at the major components on the XRP Controller. The photo below points them out along with their names:
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Let's take a broad look at the major components on the XRP Controller - Beta. The photo below points them out along with their names:
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<figuremarkdown>
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[{ width="400"}](./assets/img/XRP_Controller-Overview.jpg"Click to enlarge")
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[{ width="400"}](./assets/img/XRP_Controller-Overview.jpg"Click to enlarge")
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<figcaption>Having trouble seeing the detail in the image? Click on it for a larger view.</figcaption>
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</figure>
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You'll notice that along with the arrows showing the name of some of the smaller components, the board uses what's called silkscreen to label all the connectors, buttons, LEDs and other parts you'll interact with while building and using the XRP Robotics Kit.
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You'll notice that along with the arrows showing the name of some of the smaller components, the board uses what's called silkscreen to label all the connectors, buttons, LEDs and other parts you'll interact with while building and using the XRP Kit - Beta.
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## Raspberry Pi Pico W
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The Raspberry Pi Pico W microcontroller acts as the brain of this board. It combines a RP2040 processor with a wireless module for both 2.4GHz 802.11n wireless LAN and Bluetooth<sup>™</sup> 5.2. The RP2040 communicates with the motor controllers, IMU and other components to control the robotics kit's behavior. The photo below highlights the Pico W on the Controller Board:
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The Raspberry Pi Pico W microcontroller acts as the brain of this board. It combines a RP2040 processor with a wireless module for both 2.4GHz 802.11n wireless LAN and Bluetooth<sup>™</sup> 5.2. The RP2040 communicates with the motor controllers, IMU and other components to control the robotics kit's behavior. The photo below highlights the Pico W on the Controller board:
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<figuremarkdown>
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[{ width="400"}](./assets/img/XRP_Controller-PicoW.jpg"Click to enlarge")
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## DRV8835 Motor Drivers
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The pair of DRV8835 H-Bridge motor drivers from Texas Instruments<sup>™</sup> on the XRP Controller Board control the direction and speed of the Robotics Kit's motors.
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The pair of DRV8835 H-Bridge motor drivers from Texas Instruments<sup>™</sup> on the XRP Controller - Beta control the direction and speed of the Robotics Kit's motors.
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<figuremarkdown>
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[{ width="400"}](./assets/img/XRP_Controller-Motor_Drivers.jpg"Click to enlarge")
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</figure>
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The term H-bridge comes from how this circuit design looks on a schematic diagram. It has four internal switches that control whether the motor spins Clockwise (CW), Counter Clockwise (CCW), Coasts (no drive power), and Stops. When going through the XRP Kit curriculum you'll learn how to program the robot to tell the motor drivers to control the motors' speed and direction.
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The term H-bridge comes from how this circuit design looks on a schematic diagram. It has four internal switches that control whether the motor spins Clockwise (CW), Counter Clockwise (CCW), Coasts (no drive power), and Stops. When going through the XRP Kit - Beta curriculum you'll learn how to program the robot to tell the motor drivers to control the motors' speed and direction.
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## LSM6DSO 6-Dof IMU
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### Barrel Jack Connector
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The barrel jack connector is the primary power input for the entire XRP Kit. This connector mates with the cable from the XRP Kit's battery pack for battery-powered operation. Take note that the maximum safe voltage that can be applied to this connector is <b>11V</b> and the minimum to run the system is <b>5V</b>. The 4-AA battery pack included with the kit supplies a maximum of <b>6V</b> so most users will have no issues exceeding the max voltage.
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The barrel jack connector is the primary power input for the entire XRP Kit - Beta. This connector mates with the cable from the XRP Kit - Beta's battery pack for battery-powered operation. Take note that the maximum safe voltage that can be applied to this connector is <b>11V</b> and the minimum to run the system is <b>5V</b>. The 4-AA battery pack included with the kit supplies a maximum of <b>6V</b> so most users will have no issues exceeding the max voltage.
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### Pico W USB-Connector
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The Pico W has a Micro-USB connector that can be used to power the Controller Board with <b>5V</b> from a USB cable. It also is the primary interface you'll use to initially set up the Pico W with a computer and program the Pico W over a USB cable.
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The Pico W has a Micro-USB connector that can be used to power the controller board with <b>5V</b> from a USB cable. It also is the primary interface you'll use to initially set up the Pico W with a computer and program the Pico W over a USB cable.
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### Power Switch
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The power switch highlighted above controls the voltage input to the Controller Board. This two-way switch turns the kit's power on and off. You can use this to turn the robot off while keeping the battery pack plugged in. The switch does not affect the Pico W's power when a USB cable is plugged in.
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The power switch highlighted above controls the voltage input to the controller Board. This two-way switch turns the kit's power on and off. You can use this to turn the robot off while keeping the battery pack plugged in. The switch does not affect the Pico W's power when a USB cable is plugged in.
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## Motor Connectors
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The Controller Board has four six-pin connectors labeled <b>Motor L</b>, <b>Motor R</b>, <b>Motor 3</b>, and <b>Motor 4</b> and two three-pin connectors labeled <b>Servo 1</b> and <b>Servo 2</b>.
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The controller board has four six-pin connectors labeled <b>Motor L</b>, <b>Motor R</b>, <b>Motor 3</b>, and <b>Motor 4</b> and two three-pin connectors labeled <b>Servo 1</b> and <b>Servo 2</b>.
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<figuremarkdown>
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[{width="400"}](./assets/img/XRP_Controller-Motor_Connectors_All.jpg)
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</figure>
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### DC Motor Connectors
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The DC Motor connectors are where you'll plug in the left and right motors while assembling the kit. These connectors include the power connections for the motor as well as the encoders on the motors. The board routes these connections through the motor drivers to GPIO pins on the Pico W. You'll use these pins to monitor how many rotations the motor completes and use that data to determine how far the robot has traveled. Refer to the Pinout table at the end of this document for the specific GPIO pins each motor connects to on the Pico W. The Controller Board has two extra motor connectors for expansion projects using more than two motors.
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The DC Motor connectors are where you'll plug in the left and right motors while assembling the kit. These connectors include the power connections for the motor as well as the encoders on the motors. The board routes these connections through the motor drivers to GPIO pins on the Pico W. You'll use these pins to monitor how many rotations the motor completes and use that data to determine how far the robot has traveled. Refer to the Pinout table at the end of this document for the specific GPIO pins each motor connects to on the Pico W. The controller board has two extra motor connectors for expansion projects using more than two motors.
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### Servo Motor Connectors
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The two three-pin connectors on either side of the board labeled Servo 1 and Servo 2 mate with servo motors. You'll use the Servo 2 connector to hook up the servo included in the XRP kit. Servo 1 connector is an extra one for expansion projects. These connectors have power pins (<b>5V</b> and Ground) and a signal pin to control the motion of the servo motor. Servo motors use a communication method called pulse width modulation (PWM) that tells the motor to move and with some motors, where to move to. If you're interested in learning more about how servo motors work, you may want to check out SparkFun's [Servos Explained](https://www.sparkfun.com/servos) page for information and tutorials on how to use them.
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The two three-pin connectors on either side of the board labeled Servo 1 and Servo 2 mate with servo motors. You'll use the Servo 2 connector to hook up the servo included in the XRP Kit - Beta. Servo 1 connector is an extra one for expansion projects. These connectors have power pins (<b>5V</b> and Ground) and a signal pin to control the motion of the servo motor. Servo motors use a communication method called pulse width modulation (PWM) that tells the motor to move and with some motors, where to move to. If you're interested in learning more about how servo motors work, you may want to check out SparkFun's [Servos Explained](https://www.sparkfun.com/servos) page for information and tutorials on how to use them.
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## Expansion Connectors
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The Controller Board has four four-pin connectors labeled (from left to right when looking at the labels upright) <b>Line</b>, <b>Extra</b>, <b>Qwiic</b>, and <b>Range</b>. Their labels indicate their use as well as which GPIO pins they connect to on the Pico W. These connectors provide an easy plug-in connection for the line follower and distance sensor as well as two extra connectors for expansion projects. These connectors are polarized meaning they only work when connected properly but they are keyed and there is only one way to plug a cable into them.
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The controller board has four four-pin connectors labeled (from left to right when looking at the labels upright) <b>Line</b>, <b>Extra</b>, <b>Qwiic</b>, and <b>Range</b>. Their labels indicate their use as well as which GPIO pins they connect to on the Pico W. These connectors provide an easy plug-in connection for the line follower and distance sensor as well as two extra connectors for expansion projects. These connectors are polarized meaning they only work when connected properly but they are keyed and there is only one way to plug a cable into them.
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<figuremarkdown>
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[{width="400"}](./assets/img/XRP_Controller-Qwiic.jpg)
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### Qwiic Connector
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The Qwiic connector works with SparkFun's [Qwiic ecosystem](https://www.sparkfun.com/qwiic) of sensors that communicate over I<sup>2</sup>C. This is a two-wire communication protocol that works with a large variety of sensors and other electronics. With this, you can customize the XRP Kit to add things like environmental sensing, OLED screens, data logging, and more!
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The Qwiic connector works with SparkFun's [Qwiic ecosystem](https://www.sparkfun.com/qwiic) of sensors that communicate over I<sup>2</sup>C. This is a two-wire communication protocol that works with a large variety of sensors and other electronics. With this, you can customize the XRP Kit - Beta to add things like environmental sensing, OLED screens, data logging, and more!
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### Extra Connector
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The Extra connector has pins for both power and ground as well as pins that connect to the Pico W's GPIO28 and GPIO22. Note, these pins are <i>shared</i> with other functionality on the XRP Controller Board. GPIO28 is shared with the VIN Measure pin which lets you measure the voltage level on VIN so you can monitor the remaining battery charge. GPIO22 is shared with the User Button. Both pins' primary functions can be disabled with the solder jumpers, refer to the Solder Jumpers section below for more information.
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The Extra connector has pins for both power and ground as well as pins that connect to the Pico W's GPIO28 and GPIO22. Note, these pins are <i>shared</i> with other functionality on the XRP Controller - Beta. GPIO28 is shared with the VIN Measure pin which lets you measure the voltage level on VIN so you can monitor the remaining battery charge. GPIO22 is shared with the User Button. Both pins' primary functions can be disabled with the solder jumpers, refer to the Solder Jumpers section below for more information.
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## Buttons
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The Controller Board has three push buttons labeled <b>USER</b>, <b>RESET</b>, and <b>BOOTSEL</b> (on the Pico W). The USER button connects to GPIO22 on the Pico W which allows it to be programmed for various purposes. The RESET button does just what its name suggests and resets the entire board when pressed. This can help to reboot the robot or to restart a sequence you want the Robotics Kit to perform. Holding the BOOTSEL button either when plugging in a USB cable or when pressing the RESET button sets the Pico W to behave as a mass storage device when connected to a computer for uploading firmware.
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The XRP Controller - Beta has three push buttons labeled <b>USER</b>, <b>RESET</b>, and <b>BOOTSEL</b> (on the Pico W). The USER button connects to GPIO22 on the Pico W which allows it to be programmed for various purposes. The RESET button does just what its name suggests and resets the entire board when pressed. This can help to reboot the robot or to restart a sequence you want the Robotics Kit to perform. Holding the BOOTSEL button either when plugging in a USB cable or when pressing the RESET button sets the Pico W to behave as a mass storage device when connected to a computer for uploading firmware.
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!!! warning Advanced Users Only
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These solder jumpers can change the behavior of the board in a lasting way. Using these requires extra tools not included in the XRP
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Kit along with knowledge of how to use and interact with solder jumpers. We recommend that only advanced users adjust and change the solder jumpers. If you'd like to learn more about how to use solder jumpers, check out SparkFun's [How to Work with Jumper Pads and PCB Traces](https://learn.sparkfun.com/tutorials/how-to-work-with-jumper-pads-and-pcb-traces) tutorial.
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Kit - Beta along with knowledge of how to use and interact with solder jumpers. We recommend that only advanced users adjust and change the solder jumpers. If you'd like to learn more about how to use solder jumpers, check out SparkFun's [How to Work with Jumper Pads and PCB Traces](https://learn.sparkfun.com/tutorials/how-to-work-with-jumper-pads-and-pcb-traces) tutorial.
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Lastly, this Controller Board has nine solder jumpers. A solder jumper provides a customization option for advanced users to control the behavior of the pins and components they connect to. The solder jumpers on this board are labeled (from top-to-bottom when looking at the photo below): <b>VIN_MEAS</b>, <b>MOT_MODE_R/4</b>, <b>MOT_MODE_L/3</b>, <b>USER_BTN</b>, <b>I2C</b>, <b>IMU_ADR</b>, <b>SYS</b>, <b>MOT</b>, and <b>VUSB</b>.
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Lastly, the XRP Controller - Beta has nine solder jumpers. A solder jumper provides a customization option for advanced users to control the behavior of the pins and components they connect to. The solder jumpers on this board are labeled (from top-to-bottom when looking at the photo below): <b>VIN_MEAS</b>, <b>MOT_MODE_R/4</b>, <b>MOT_MODE_L/3</b>, <b>USER_BTN</b>, <b>I2C</b>, <b>IMU_ADR</b>, <b>SYS</b>, <b>MOT</b>, and <b>VUSB</b>.
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