3. Configuring the Arduino Environment

The configuration instructions in this section explain how to alter the Arduino IDE so that it programs your Orangutan or 3pi robot using the correct settings, using either an AVR ISP programmer that supports the avrispv2 protocol (such as the Pololu USB AVR Programmer) or an Arduino bootloader.

1. Go to http://www.arduino.cc/en/Main/Software and download the latest Arduino software for your platform (Arduino 1.0 as of this writing).

2. Add the following to the end of the boards.txt file in the arduino-1.0/hardware/arduino directory:

   ##############################################################
   
   orangutan48pgm.name=Pololu Baby Orangutan B-48 via Programmer
   
   orangutan48pgm.upload.using=avrispv2
   orangutan48pgm.upload.maximum_size=4096
   
   orangutan48pgm.build.mcu=atmega48
   orangutan48pgm.build.f_cpu=20000000L
   orangutan48pgm.build.core=arduino
   orangutan48pgm.build.variant=standard
   
   ##############################################################
   
   orangutan168pgm.name=Pololu Orangutan or 3pi robot w/ ATmega168 via Programmer
   
   orangutan168pgm.upload.using=avrispv2
   orangutan168pgm.upload.maximum_size=16384
   
   orangutan168pgm.build.mcu=atmega168
   orangutan168pgm.build.f_cpu=20000000L
   orangutan168pgm.build.core=arduino
   orangutan168pgm.build.variant=standard
   
   ##############################################################
   
   orangutan328pgm.name=Pololu Orangutan or 3pi robot w/ ATmega328P via Programmer
   
   orangutan328pgm.upload.using=avrispv2
   orangutan328pgm.upload.maximum_size=32768
   
   orangutan328pgm.build.mcu=atmega328p
   orangutan328pgm.build.f_cpu=20000000L
   orangutan328pgm.build.core=arduino
   orangutan328pgm.build.variant=standard

   This will add three options to the Tools > Board menu of the Arduino IDE.

   If you would rather use a different programmer that does not support the avrispv2 protocol, then change the upload.using lines to match the name of your programmer/protocol, and skip Step 3 (if your programmer is already defined by the Arduino environment) or add the corresponding entry for your programmer in programmers.txt.

   These next two entries are optional, but allow you to use an Arduino bootloader instead of an external programmer:

   ##############################################################
   
   orangutan168.name=Pololu Orangutan or 3pi robot w/ ATmega168 via Bootloader
   
   orangutan168.upload.protocol=arduino
   orangutan168.upload.maximum_size=15872
   orangutan168.upload.speed=144000
   
   orangutan168.bootloader.low_fuses=0xF6
   orangutan168.bootloader.high_fuses=0xDD
   orangutan168.bootloader.extended_fuses=0x04
   orangutan168.bootloader.path=optiboot
   orangutan168.bootloader.file=optiboot_atmega168.hex
   orangutan168.bootloader.unlock_bits=0x3F
   orangutan168.bootloader.lock_bits=0x0F
   
   orangutan168.build.mcu=atmega168
   orangutan168.build.f_cpu=20000000L
   orangutan168.build.core=arduino
   orangutan168.build.variant=standard
   
   ##############################################################
   
   orangutan328.name=Pololu Orangutan or 3pi robot w/ ATmega328P via Bootloader
   
   orangutan328.upload.protocol=arduino
   orangutan328.upload.maximum_size=32256
   orangutan328.upload.speed=144000
   
   orangutan328.bootloader.low_fuses=0xF6
   orangutan328.bootloader.high_fuses=0xDE
   orangutan328.bootloader.extended_fuses=0x05
   orangutan328.bootloader.path=optiboot
   orangutan328.bootloader.file=optiboot_atmega328.hex
   orangutan328.bootloader.unlock_bits=0x3F
   orangutan328.bootloader.lock_bits=0x0F
   
   orangutan328.build.mcu=atmega328p
   orangutan328.build.f_cpu=20000000L
   orangutan328.build.core=arduino
   orangutan328.build.variant=standard

   If you want to use the bootloader, you will still need to use an AVR programmer to initially load the bootloader onto your Orangutan or 3pi, and you will also need to obtain a USB-to-serial adapter or RS-232-to-TTL serial adapter through which the Arduino software can talk to the Arduino bootloader on your device. The Pololu USB AVR Programmer can serve as your AVR ISP programmer and USB-to-serial adapter.

   Note that you will have to either reset the Orangutan/3pi manually when programming it with the bootloader or modify the hardware to allow the DTR control signal to auto-reset the microcontroller.

   Be aware that the Baby Orangutan B-48 has an ATmega48 microcontroller, which lacks a bootloader section, meaning the B-48 version can only be programmed using an ICSP.

3. If you are using an AVR ISP programmer such as our USB AVR Programmer, add the following to the end of the programmers.txt file in the arduino-1.0/hardware/arduino directory:

   avrispv2.name=AVR ISP v2
   avrispv2.communication=serial
   avrispv2.protocol=avrispv2

   This will allow the Arduino IDE to program with the avrispv2 protocol used by our USB AVR Programmer.