From: fredm@media.mit.edu (Fred G Martin)
Subject: Mini Board general information
Organization: MIT Media Laboratory
Date: Thu, 21 Jan 1993 22:01:42 GMT

		    MINI BOARD GENERAL INFORMATION

This short document is an introduction to the Mini Board.  This
information is posted to the Internet newsgroup "comp.robotics"
periodically or upon request, or may be mailed to individual who
specifically requested information.  This document may be distributed
without restriction.

The Mini Board is a miniature microprocessor-based controller board
designed for control of small robotic devices.  It may be used for any
number of applications that require sensing with analog and digital
electronic sensors and/or control of DC and stepper motors.  It may
programmed to operate "stand-alone" (i.e, running a program
autonomously from its internal memory) or attached via an RS-232
serial line to provide sensing and control capability to a desktop
computer.

The Mini Board was designed at the MIT Media Laboratory.  The PC board
design, electronic schematic, related software, and documentation are
are copyrighted but may be distributed and used freely.  This means
that you may use the Mini Board for any application you like without
having to pay anyone for its design, but you must leave the copyright
information intact if you re-distribute boards and/or plans.

The remainder of this note provides the following additional
information:

1.  An introduction to the Mini Board:  its functionality, hardware
design, and available software.

2.  How to obtain documentation, software, and PC board artwork for
the Mini Board. 

3.  How to obtain physical boards.


For more information, please contact Fred Martin at
fredm@media.mit.edu. 


			1.  THE MINI BOARD 2.0

	 A miniature controller board for small mobile robots

The MINI BOARD 2.0 is a complete embedded computer board for robotic
applications.  It can directly power four DC motors and receive inputs
from numerous sensors.  Its miniature size (smaller than a business
card) makes it suited well for mobile applications as well as other
embedded control.

It can be programmed in 6811 assembler code or C for stand-alone
operation, or it can serve as a serial-line based controller operated
by a desktop PC.

  * overall dimensions: 3.3" by 1.86", smaller than a business card.
    If desired, an off-board serial connector can be used, allowing an
    additional .6" of board length can be chopped off. 

  * nearly all parts can be purchased from Digikey (including all
    connectors and switches).  Extensive use of resistor packs 
    minimizes component count.

  * uses Motorola 68hc811e2 microprocessor with 2048 bytes of
    internal, electrically erasable PROM and 256 bytes of RAM.

  * four motor drivers for bidirectional control of small DC motors
    (up to 600 mA current, 36 volts each motor).

  * eight analog inputs; eight digital inputs or outputs; several
    timer and counter I/O pins, all broken out to convenient header
    ports. 

  * on-board 5v regulator allows board to be powered by any DC power
    source from 5.6 to 36 volts.

  * RS-232 compatible RJ-11 port for communication/program download
    between host PC.

  * two modular high speed serial jacks, allowing networks of multiple
    MB 2.0's to be constructed using common 4-wire phone cable.
    Multiple-mastering bus protocols supported.

  * optional battery level monitoring using voltage divider from
    supply voltage before regulation.

  * XIRQ line broken out to a pad:  when this line is given 12.5v,
    an 'hc711e9 chip with 12K of EPROM can be programmed in place.

  * MS-DOS, Macintosh, and Unix software provided for downloading
    programs to board.  6811 monitor program provided for recording
    changes in sensor state, controlling motors and interacting with
    other board features over serial line.

  * C/assembler libraries provided for code development using
    Dunfield Development Systems' Micro-C compiler.


2.  MINI BOARD DOCUMENTATION, SOFTWARE, AND PC BOARD ARTWORK

Full documentation for the Mini Board is available via anonymous FTP
to "cherupakha.media.mit.edu" (Internet 18.85.0.47).  Go to
"pub/miniboard" directory and begin by reading the README file located
there.  ** You will need a PostScript printer to print out the
documentation files **; if you do not have access to a PostScript
printer, please write to the author for information about obtaining a
hard copy of the documentation.

Software for the MS-DOS, Macintosh, and Unix platforms is also
provided on the FTP server.  The provided software includes a 6811
assembler and a program for downloading assembled programs to the Mini
Board.  If you are interested in using the Micro-C environment, you
must buy Micro-C from Dunfield Development Systems (which has no
affiliation with MIT).  Information on doing this accompanies the Mini
Board documentation.

PC board artwork files, produced by Douglas Electronic's "Professional
Layout" program for the Macintosh, are on-line the FTP server.  For
more information about using this format, see the information on the
server.  If people have the need for Gerber format files, please write
to me.

People who don't have access to anonymous FTP can do FTP-by-mail,
provided as a public service by DEC.  Send a message containing the
single word "help" to "ftpmail@decwrl.dec.com" for instructions.  You
probably will want to start your queries by retrieving the file named
"allfiles.ftp", which is at the top-level directory of our FTP server.
This file is a recursive directory listing of all files on the server.


3.  OBTAINING PHYSICAL PC BOARDS.

An individual unaffiliated with MIT has availed himself to job of
coordinating fabrication and distribution of the Mini Board printed
circuit board.  If you are interested in obtaining a copy or copies of
the board, please send e-mail to Gregory Ratcliff at
gratclif@magnus.acs.ohio-state.edu.

You can also send him an order directly.  At the time of this writing,
the cost is US$6 per board.  Make checks out to Gregory Ratcliff and
mail them to him at 1763 Hess Boulevard, Columbus, Ohio 43212; call
him at (614) 487-0694 for more information.

Please understand that Greg is selling you the blank board ONLY.  You
must order parts yourself.  In the past, a number of individuals have
coordinated group parts orders for the net community.  In general
people are very appreciative of others providing this service, so if
you are interested in a number of kits for yourself, you may consider
coordinating a group order to push unit parts costs down!


   -----------------------end of document--------------------------
 ---------------------Thu Jan 21 16:51:14 1993----------------------

-- 
Fred Martin | fredm@media.mit.edu | (617) 253-7143 | 20 Ames St. Rm. E15-301
Epistemology and Learning Group, MIT Media Lab     | Cambridge, MA 02139 USA