Wiring of a DB-01
Should I read this page?
In short: if you buy a finished DB-01 from me, then no. If you want to assemble all or part of your DB-01 yourself, edit or expand it, you should read the following page and deal with it.
I designed the DB-01 in such a way that you can build it as easily as possible. Here you will find circuit diagrams and notes on cabling.
Main MCU (Arduino MEGA2560 R3)
That is the basic MCU. No matter which modules you want to equip your DB-01 with, this module is always necessary. For example, for moving the legs.
You can find the wiring in the table.
| SCL | |
| SDA | |
| AREF | |
| GND | |
| 13 | |
| 12 | |
| 11 | |
| 10 | |
| 9 | |
| 8 | |
| 7 | |
| 6 | |
| 5 | |
| 4 | |
| 3 | |
| 2 | |
| 1 (TX) | |
| 0 (RX) | |
| 14 (TX3) | |
| 15 (RX3) | |
| 16 (TX2) | |
| 17 (RX2) | |
| 18 (TX1) | |
| 19 (RX1) | |
| 20 (SDA) | |
| 21 (SCL) | |
| 5V | |
| 5V | |
| 22 | Servo 1 (leg 1, motor 1) |
| 23 | Servo 2 (leg 1, motor 2) |
| 24 | Servo 3 (leg 1, motor 3) |
| 25 | Servo 4 (leg 2, motor 1) |
| 26 | Servo 5 (leg 2, motor 2) |
| 27 | Servo 6 (leg 2, motor 3) |
| 28 | Servo 7 (leg 3, motor 1) |
| 29 | Servo 8 (leg 3, motor 2) |
| 30 | Servo 9 (leg 3, motor 3) |
| 31 | Servo 10 (leg 4, motor 3) |
| 32 | Servo 11 (leg 4, motor 2) |
| 33 | Servo 12 (leg 4, motor 1) |
| 34 | Servo 13 (leg 5, motor 3) |
| 35 | Servo 14 (leg 5, motor 2) |
| 36 | Servo 15 (leg 5, motor 1) |
| 37 | Servo 16 (leg 6, motor 3) |
| 38 | Servo 17 (leg 6, motor 2) |
| 39 | Servo 18 (leg 6, motor 1) |
| 40 | |
| 42 | |
| 42 | |
| 43 | |
| 44 | |
| 45 | |
| 46 | |
| 47 | |
| 48 | |
| 49 | |
| 50 | |
| 51 | |
| 52 | |
| 53 | |
| GND | |
| GND | |
| A15 | |
| A14 | |
| A13 | |
| A12 | |
| A11 | |
| A10 | |
| A9 | |
| A8 | |
| A7 | Battery voltage |
| A6 | AREF voltage |
| A5 | |
| A4 | |
| A3 | |
| A2 | |
| A1 | |
| A0 | |
| VIN | |
| GND | |
| GND | |
| 5V | |
| 3.3V | |
| Reset | |
| IOREF | |
Power supply
The various electronic components of a DB-01 require different voltages. A DB-01 works with 12, 9, 7.4, 5 and 3.3 volts. A voltage converter reduces the 14.8 volts of the batteries to the required voltage.
Accordingly, 5 voltage converters are necessary to cover all voltage ranges.
Each voltage range has its own ring line to which the respective components are connected. Basically every current ring is constructed in the same way. The only difference is the number of outlets and their connectors.
SPI hub
Several components such as MCUs or sensors communicate with one another with the help of SPI. All SPI devices must be connected to one another accordingly. The SPI hub provides sufficient connections for MISO, MOSI, SCK and a common ground. The slave selects can also be routed via the hub.
