Atmel ATmega16A
15 MHz
16 kByte Flash
1 kByte SRAM
512 Byte EEPROM
16 kByte Flash
1 kByte SRAM
512 Byte EEPROM
Upgradeable to
ATmega1284
128 kByte Flash
16 kByte SRAM
4 kByte EEPROM
16 kByte SRAM
4 kByte EEPROM
Odometry
2 sensors
with calibration
with calibration
Power Unit
2 motors
with 25:1 transmission
with 25:1 transmission
LEDs
4 free programmable LEDs
3 function LEDs
3 function LEDs
Feeler sensors
2 × 2 tactile sensors with feeler function
USB connection
Integrated USB programmer
with own microcontroller
ATtiny44A
with own microcontroller
ATtiny44A
Line following sensor
2 IR LEDs and
3 IR phototransistors
3 IR phototransistors
Extension ports
2 × A+D
1 × A+A
1 × I²C
1 × UART
1 × A+A
1 × I²C
1 × UART
Technic Details:
| Main CPU | Atmel ATmega16A, 16 kByte flash, 15 MHz |
| Controller for programming via USB | Atmel ATtiny44A, 4 kByte flash, 15 MHz |
| Sensors | 2 feelers with 4 buttons |
| Actuating elements | 2 motors with 25:1 transmission |
| Odometry | 2 IR sensors to measure the speed of the wheels |
| Line detector | 3 phototransistors with 2 IR LEDs on a separate board |
| Power supply | 4 AAA Micro rechargeable batteries (AAA, not included in delivery) 4,8 V on-board voltage, integrated USB charger |
| Status information | 4 LEDs, free programmable |
| Function information | 3 LEDs: power, programming and charging |
| Dimensions (L × B × H) | 160 mm × 128 mm × 49 mm (without feeler and half sphere) |
| Weight | 265 g (with batteries) |
