Lego Interface Board Released v0.3

Lego
Interface
board
0.3
General Interface to
Lego NXT Motors & Sensors
Gary L Fernandes
Seattle University
Lego Interface Breadboard (LIB)
Lego Interface Breadboard
Revision History
Revision
Date
Rev 0.1
2/11/2001
Rev 0.2
2/23/2011
Rev 0.3
3/11/2011
Description
Created:
Updated everything.
Updated Altera Expansion Header info, Cleaned up everything.
Person
Gary L Fernandes, fernandg@seattleu.edu
Gary
Gary
Best viewing with =>Office 2007

Table of Contents
1.
2.
3.
Lego Interface Board Formats of Use ............................................................................................................................. 4

Lego Interface Breadboard Proto 1................................................................................................................................. 5
Altera Expansion Header to Lego Interface Board Header ............................................................................................. 6
Altera Expansion Header JP2 (GPIO_1) .......................................................................................................................... 6
4. Xilinx Expansion Header to Lego Interface Board Header .............................................................................................. 8
5. PIC Board to Lego Interface Board Header ..................................................................................................................... 8
6. Code Examples and Tutorials Download Links................................................................................................................ 9
7. Lego Interface Board Details ......................................................................................................................................... 10
Motor Driver - TI SN754410 Driver ................................................................................................................................... 10
Function Table Motor 1 ................................................................................................................................................ 10
Function Table Motor 2 ................................................................................................................................................ 10
SN754410 Absolute Maximum Ratings......................................................................................................................... 11
Complete Datasheet ..................................................................................................................................................... 11
Breadboard Test DIP Switches ...................................................................................................................................... 11
Pulse Width Modulation Introduction .............................................................................................................................. 12
Sound Sensor Circuit ......................................................................................................................................................... 14
Touch Sensor ..................................................................................................................................................................... 15
Lego Touch Sensor Schematic ....................................................................................................................................... 15
Example 1: Touch Sensor Switch Bounce When Pressed ............................................................................................. 16
Touch Sensor Debounce Circuit .................................................................................................................................... 18
Light Sensor ....................................................................................................................................................................... 22
Light Sensor Function Table .......................................................................................................................................... 22
Lego Light Sensor Schematic ......................................................................................................................................... 22
Piezo Speaker .................................................................................................................................................................... 23
8. Robot Applications ........................................................................................................................................................ 24
WARNING
Vc must be > 6 < 9.5 Vdc
Set proper power supply voltage BEFORE connecting the Lego Interface
Board.
To avoid damage to Lego products to not change or disturb circuits or
operate without proper instruction, supervision, or EE knowhow.
If a wire or component has come loose please have a supervisor repair
before connecting power.
1. Lego Interface Board Formats of Use

The Lego Interface Board (LIB) provides an easy interface to motors, touch sensors, light sensor, breadboard sound
sensor and a piezo speaker. Extended cable lengths are also available for tethered applications.
Altera, Xilinx, or other development kits
Microcontrollers or other Breadboard Circuits
Robot Applications
Example Youtube Robot Apps
2. Lego Interface Breadboard Proto 1.
Optional Power Switch

Banana jack Va to Vb
(useful for testing)
Vc
GND
6 - 9.5VDC
Light Sensor Adjust

Sound Sensor Adjust
Microphone
Light Sensor Detect LED

Sound Sensor Detect LED
Motor Test DIP Switches

For normal operation all
switchs must be set to OFF
(Open) position
Lego Light Sensor Port

Lego Motor Port 1
Lego Motor Port 2

Lego Touch Sensor Port 1
Lego Touch Sensor Port 2
Header1
Use this
header cable to interface

to microcontrollers or
Altera/Xilinx boards
3. Altera Expansion Header to Lego Interface Board Header

Altera
Expansion Header
JP2 (GPIO_1)
JP2 Pin
No.
Signal
Name
Lego Interface Board

Header1
FPGA Pin
No.
Header1
Pin No.
Signal
Type
Input
Output
Bi
Signal Name
Description
GPIO_1[0]
PIN_K25
Input
1,2EN
Motor Driver
See Motor Driver Function Table
GPIO_1[2]
PIN_M22
Input
1A
GPIO_1[4]
PIN_M19
Input
2A
GPIO_1[6]
PIN_N20
Input
3,4EN
GPIO_1[8]
PIN_M24
Input
3A
11
VCC5
11
N.C.
13
GPIO_1[10] PIN_N24
13
Input
4A
15
GPIO_1[12] PIN_R25
15
17
GPIO_1[14] PIN_R20
17
19
GPIO_1[16] PIN_T23
19
21
GPIO_1[18] PIN_T25
21
23
GPIO_1[20] PIN_T21
23
25
GPIO_1[22] PIN_U26
25
27
GPIO_1[24] PIN_U23
27
29
VCC33
29
31
GPIO_1[26] PIN_R19
31
N.C.
TACHOA0
From Motor 1 not wired at this time.
33
GPIO_1[28] PIN_U20
33
N.C.
TACHOA1
35
GPIO_1[30] PIN_V26
35
N.C.
TACHOA2
37
GPIO_1[32] PIN_V24
37
N.C.
TACHOA3
39
GPIO_1[34] PIN_W25
39
GPIO_1[1]
PIN_K26
Output
SDETECT
Sound Sensor Circuit

Non-debounced comparator output.
When a sound is detected output goes
HIGH. Normal LOW
GPIO_1[3]
PIN_M23
Output
DEBSDETECT

Debounced comparator output signal.
When a sound is detected output goes
HIGH for 5-20 ms. Normal LOW
GPIO_1[5]
PIN_M20
Input
DIGICI0
Light Sensor
Input to Lego Light Sensor.
HIGH = Enable Lego Light Sensor.
LOW = Disable Lego Light Sensor.
GPIO_1[7]
PIN_M21
Output
LDETECT
Light Sensor
Debounced Signal.
When reflected light is detected LDETECT
goes LOW. Normal HIGH.
Sensitivity is adjustable by POT.
10
GPIO_1[9]
PIN_M25
N.C
N.C.
ADC_C0
Light Sensor Analog

Not wired at this time.
Analog Output from Lego Light Sensor.
Open Collector Output.
12
GND
--
12
GND
GND
Digital GND
14
GPIO_1[11] PIN_P24
14
Output
TOUCHSEN1
Touch Sensor 1
Non-debounced Signal.
HIGH = Sensor Switch Open. LOW =
Sensor Switch Closed.
16
GPIO_1[13] PIN_R24
16
Output
DEBTOUCHSEN1 Touch Sensor 1

Debounced Signal.
LOW = Sensor Switch Open. HIGH =
18
GPIO_1[15] PIN_T22
18
Output
TOUCHSEN2
20
GPIO_1[17] PIN_T24
20
Output
DEBTOUCHSEN2 Touch Sensor 2

Debounced Signal.
LOW = Sensor Switch Open. HIGH =
22
GPIO_1[19] PIN_T18
22
Touch Sensor 2
HIGH = Sensor Switch Open. LOW =

24
GPIO_1[21] PIN_T20
24
26
GPIO_1[23] PIN_U25
26
28
GPIO_1[25] PIN_U24
28
30
GND
30
32
GPIO_1[27] PIN_T19
32
34
GPIO_1[29] PIN_U21
34
36
GPIO_1[31] PIN_V25
36
38
GPIO_1[33] PIN_V23
38
40
GPIO_1[35] PIN_W23
40
--
Input
BUZZ1
Piezo Speaker
Signal BUZZ1 is connected to a terminal 1
on a piezo element. Terminal 2 is tied to
Vc.
GND
GND
Digital GND
4. Xilinx Expansion Header to Lego Interface Board Header

No information.
5. PIC Board to Lego Interface Board Header

No information.
6. Code Examples and Tutorials Download Links

Altera DE2
Interface Projects
Lego Touch Sensor
Lego Light Sensor
Sound Sensor
Piezo Speaker
SN754410 Motor Driver
General Projects
Interface Projects
Bug Pen
Name of Code/Tutorial
Download Link
http://www.seattleu.edu/scieng/ece/projects.html
Name of Code/Tutorial
Download Link
7. Lego Interface Board Details

Motor Driver - TI SN754410 Driver
HEADER1
Pin No.
Signal
Type
1
Input
3
Input
5
Input
1,2EN
0
1
1
1
1
1
1
1
1
Function Table Motor 1

INPUTS
OUTPUTS
MOTOR FUNCTION
1A
2
1Y
2Y
OFF
OFF
COAST
0
0
LOW
LOW
BRAKE
1
1
HIGH
HIGH
BRAKE
1
0
HIGH
LOW
FORWARD (FULL SPEED)
0
1
LOW
HIGH
REVERSE (FULL SPEED
PULSE WIDE MODULATION (PWM) Try using a frequency of 100Hz with chip SN754410
PWM
0
PWM
LOW
FORWARD, SPEED = DUTY CYCLE
0
PWM
LOW
PWM
REVERSE, SPEED = DUTY CYCLE
PWM
1
PWM
LOW
FORWARD, SPEED = INVERSE DUTY CYCLE
1
PWM
LOW
PWM
REVERSE, SPEED = INVERSE DUTY CYCLE
Header1
Pin No.
Signal
Type
7
Input
9
Input
13
3,4EN
Datasheet http://focus.ti.com/lit/ds/symlink/sn754410.pdf
MOTOR 1 CONTROL
SN754410 SN754410 PIN FUNCTION
PIN NAME
Pin No.
1,2EN
1
ENABLE MOTOR DRIVER OUTPUTS 1 & 2
1A
2
INPUT 1
1Y
3
DC MOTOR OUTPUT 1
2A
7
INPUT 2
2Y
6
DC MOTOR OUTPUT 2
Breadboard motor driver circuit includes 10K pulldown resistor on all SN754410 inputs
Input
MOTOR 2 CONTROL
SN754410 SN754410 PIN FUNCTION
PIN NAME
Pin No.
3,4EN
9
ENABLE MOTOR DRIVER OUTPUTS 3 & 4
3A
10
INPUT 3
3Y
11
DC MOTOR OUTPUT 3
4A
15
INPUT 4
4Y
14
DC MOTOR OUTPUT 4
Breadboard motor driver circuit includes 10K pulldown resistor on all SN754410 inputs
INPUTS
3A
4A
Function Table Motor 2

OUTPUTS
3Y
4Y
Same as Function Table Motor 1 respectively
MOTOR FUNCTION
SN754410 Absolute Maximum Ratings

Complete Datasheet http://focus.ti.com/lit/ds/symlink/sn754410.pdf
Motor Supply Voltage
Vcc2
36 V
Digital Supply Voltage
Vcc1
36V
Motor Output Current
OUTxx
*1.1 A (Continuous)
Logic Input Voltage
xEN, xA
36 V
* This data is from the TI datasheet. Do not expect to meet these value using a breadboard circuit!
The SN754410 is a favorite hobby chip used, probable because it is one of the rare chips still in production that come in
a thru-hole package. Only good for hobby stuff. Very inefficient when used as a motor driver
Breadboard Test DIP Switches

The Lego Interface board includes a DIP switch for testing motors.
Be sure all switches are in the OFF (OPEN) position when interfacing with other boards.
DIP SWITCH
SN754410 SIGNAL
OFF = OPEN
ON = CLOSED
1,2EN
1A
2A
3,4EN
3A
4A
LOW
10K Pulldown
LOW
10K Pulldown
LOW
10K Pulldown
LOW
10K Pulldown
LOW
10K Pulldown
LOW
10K Pulldown
HIGH
1K Pullup
HIGH
1K Pullup
HIGH
1K Pullup
HIGH
1K Pullup
HIGH
1K Pullup
HIGH
1K Pullup
Note
LOW = DISABLE MODE,
HIGH = ENABLE DEVICE
LOW = DISABLE MODE,

HIGH = ENABLE DEVICE
Pulse Width Modulation Introduction

Figure 2a shows a PWM signal at a 10% duty cycle. That is, the signal is ON for 10% of the period and OFF the other 90%.
Figures 2b and 2c show PWM outputs at 50% and 90% duty cycles, respectively. The longer the signal is ON compared to
the OFF periods, results in higher power supplied to the motor.
Figure 2a
Figure 2b
Figure 2c
The duty cycle is defined as the percentage of digital high to digital low signals present during a PWM period.
Common modulating frequencies range from 1 kHz to 200 kHz with real motor drivers.
PWM can be produced by common microcontrollers or even a 555 timer circuit.

http://www.eetimes.com/discussion/beginner-s-corner/4023833/Introduction-to-Pulse-Width-Modulation
Header1

Board circuit consists of a LM324 comparator and MIC.
Datasheet: http://www.national.com/ds/LM/LM124.pdf
Header1
Pin No.
Signal
Type
LM324
Signal Name
LM324
Pin No.
Description
Note
Input
Output
Bi
Output
SDETECT
Output
DEBSDETECT
Non-debounced comparator output.

When a sound is detected output goes HIGH.
Comparator
Output,
Normal LOW
Debounced comparator output signal.

When a sound is detected output goes HIGH for 5-20
ms
Comparator
Output,
Normal LOW
POT 1 allows for sensitivity adjustment

LED 1 flashes ON when a sound is detected
This circuit is meant for simple clap trigger event applications
Header1
Touch Sensor (TS) 1

Circuit uses a 74HC14 Schmitt Inverter to debounce signal from sensor. See circuit.
Header1
Pin No.
Signal
Type
TS Signal Name
74HC14 Pin
No.
Description
Note
Direct from
Sensor
HIGH = Sensor Switch Open.
LOW = Sensor Switch Closed.
10K Pullup
Debounced Signal.
LOW = Sensor Switch Open.
HIGH = Sensor Switch Closed.
Schmitt Inverter
Output.
Normal LOW
Input
Output
Bi
14
Output
TOUCHSEN1
16
Output
DEBTOUCHSEN1
Touch Sensor (TS) 2

Header1
Pin No.
Signal
Type
TS Signal Name
74HC14 Pin
No.
Description
Note
Direct from
Sensor
HIGH = Sensor Switch Open.
LOW = Sensor Switch Closed.
10K Pullup
Debounced Signal.
LOW = Sensor Switch Open.
HIGH = Sensor Switch Closed.
Schmitt Inverter
Output.
Normal LOW
Input
Output
Bi
18
Output
TOUCHSEN2
20
Output
DEBTOUCHSEN2
Lego Touch Sensor Schematic
Example 1: Touch Sensor Switch Bounce When Pressed

(1 ms per division zoom-in capture) Yellow = TOUCHSENx
Example 2: Switch Bounce When Pressed. Yellow = TOUCHSENx
Example 1: Switch Bounce When Released. Yellow = TOUCHSENx
Example 2: Switch Bounce When Released. Yellow = TOUCHSENx

Touch Sensor Debounce Circuit
Touch Sensor Pressed & Released

Non-debounced signal TOUCHSENx (Yellow) and debounced signal DEBTOUCHSENx (Green)
(5 ms per division zoom-out capture)
This is typically what you should expect.
Switch Pressed & Released: No Capacitor C1: Yellow = TOUCHSENx, Green = DEBTOUCHSENx
Switch Pressed: No Capacitor C1: Yellow = TOUCHSENx, Green = DEBTOUCHSENx
Switch Released: No Capacitor C1: Yellow = TOUCHSENx, Green = DEBTOUCHSENx
Switch Pressed: With Capacitor C1: Yellow = TOUCHSENx, Green = DEBTOUCHSENx
Switch Released: With Capacitor C1: Yellow = TOUCHSENx, Green = DEBTOUCHSENx
Switch Pressed & Released

This is what to expect on TOUCHSENx (Yellow) & DEBTOUCHSENx (Green)
Header1
Light Sensor
Circuit consists of a LM324 comparator to convert the Lego light sensors analog signal to digital bit
Header1
Pin No.
Signal
Type
Signal
Name
Description
Note
Input
Output
Bi
Input
DIGICI0
Input to Lego Light Sensor.

LOW = Disable Lego Light Sensor (Turns Output LED OFF)
HIGH = Enable Lego Light Sensor (Turns Output LED ON)
10K Pulldown
Output
LDETECT
Debounced Signal.
When reflected light is detected LDETECT goes LOW.
Normal HIGH.
Sensitivity is adjustable by POT2. You may need to adjust
POT2 for different colors and glossy-flat finishes.
LED 2 is ON when light has crossed threshold
Output from
Comparator
INPUTS
DIGICI0
LOW
HIGH
HIGH
Light Sensor Function Table

CONDITION
REFLECTION
DONT CARE
NO
YES
Lego Light Sensor Schematic
OUTPUT
LDETECT
HIGH
HIGH
LOW
Header1
Header1
Pin No.
Piezo Speaker
Signal
Type
Signal
Name
Description
BUZZ1
Signal BUZZ1 is connected to the negative terminal on the

LIB piezo element. The positive terminal is tied to Vc.
LIB Note
Input
Output
Bi
26
Input
Continued below
Piezo buzzers require an

oscillating frequency in the
audible range in order to
generate sound similar to a
speaker but with much higher
impedance, hence does not
require much current.
8. Robot Applications
Controlled by breadboard
microcontroller or Altera
Board.
Six D size batteries provide

power to both the Altera
DE2 and motors-sensors.
Best to use NiMH batteries.
Always monitor battery
voltage before use under
load condition.
Extended cable lengths are also available for tethered applications.
Altera DE2 interfaced to Lego products: http://www.youtube.com/watch?v=sIWRuqNM3Xc

iphone controlled Lego : http://www.youtube.com/watch?v=7pIS69teEvw&feature=related

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Lego Interface Breadboard

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Lego Interface Board Formats of Use ............................................................................................................................. 4

Lego Interface Breadboard

Lego Interface Breadboard

1. Lego Interface Board Formats of Use

Altera, Xilinx, or other development kits

Microcontrollers or other Breadboard Circuits

Lego Interface Breadboard

2. Lego Interface Breadboard Proto 1.

Optional Power Switch

Light Sensor Adjust

Light Sensor Detect LED

Motor Test DIP Switches

Lego Light Sensor Port

Lego Motor Port 2

Lego Touch Sensor Port 2

header cable to interface

Lego Interface Breadboard

3. Altera Expansion Header to Lego Interface Board Header