Using With Arduino

PTHAT Direct Serial/I2C Connection.

The PTHAT has been designed primarily to fit and work with the Raspberry Pi, it can also be used with other MCUs such as the Arduino Boards.

We have several diagrams below showing how to connect the PTHAT with various popular Arduino boards via Serial or I2C. At the moment the firmware only supports Serial communications but the I2C may be used for future firmware updates or for developers that wish to use it.

Arduino UNO

Arduino MEGA

Arduino Leonardo

Connecting Serial/I2C Board to Arduino

You can also connect the Arduino boards to the PTHAT using the Serial/I2C Board that can be found on the Stand Alone usage page.

If using the Serial/I2C board you will notice that you only have to supply 5 Volts and also need to set the jumpers to choose Serial communications or I2C.

Arduino UNO

Serial

I2C

Arduino MEGA

Serial

I2C

Arduino Leonardo

Serial

I2C

Closer look at the PCB's

PTHAT Mainboard

£55/Ex VAT

Single Channel Main Board.
JTAG Programmer.
Set of Mounting Spacers and Bolts.

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PTHAT Add on Board

£45/Ex VAT

Expansion Add on Board.
Increases the PTHAT to 4 channels.
Extra I/O Functionality.
Set of Mounting Spacers.

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PTHAT Full Package

£90/Ex VAT

Single Channel Main Board.
Expansion Add on Board.
Increases the PTHAT to 4 channels.
Extra I/O Functionality.
JTAG Programmer.
Set of Mounting Spacers and Bolts.
Save £10 with this Package

Buy Now

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	WW=Milliseconds WM=Microseconds	Set Wait Delay in either Milliseconds or Microseconds
Byte 6-9	0-9999	Delay in ms so 1000ms=1 second delay Delay is us so 1000us=0.001 of a second
Byte 10	*	End of Command

Byte	Setting	Description
Byte 1	Z
Byte 2-5	0000
Byte 6	*	End of Command

Byte	Setting	Description
Byte 1	H
Byte 2-5	0000
Byte 6	*	End of Command

Byte	Setting	Description
Byte 1	N	Sends a Reset to the PTHAT
Byte 2	*	End of Command

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	FW	Request Firmware
Byte 6	*	End of Command

X Pause Received	Y Pause Received	Z Pause Received	E Pause Received	Pause All Received	X Resume Received	Y Resume Received	Z Resume Received	E Resume Received	All Resume Received
RI00PX*	RI00PY*	RI00PZ*	RI00PE*	RI00PA*	CI00PX*	CI00PY*	CI00PZ*	CI00PE*	CI00PA*
DI00PX* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00PY* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00PZ* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00PE* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00PX to E* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*
(D)=Direction of motor travel	(D)=Direction of motor travel	(D)=Direction of motor travel	(D)=Direction of motor travel	(D)=Direction of motor travel
Result=0000000000-4294967295	Result=0000000000-4294967295	Result=0000000000-4294967295	Result=0000000000-4294967295	Result=0000000000-4294967295

X set Received	Y set Received	Z set Received	E set Received	X set Completed	Y set Completed	Z set Completed	E set Completed
RI00JX*	RI00JY*	RI00JZ*	RI00JE*	CI00JX*	CI00JY*	CI00JZ*	CI00JE*
DI00JX* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00JY* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00JZ* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00JE* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*
(D)=Direction of motor travel	(D)=Direction of motor travel	(D)=Direction of motor travel	(D)=Direction of motor travel
Result=0000000000-4294967295	Result=0000000000-4294967295	Result=0000000000-4294967295	Result=0000000000-4294967295

X Pulse Count Received Result	Y Pulse Count Received Result	Z Pulse Count Received Result	E Pulse Count Received Result	X Pulse Count Completed	Y Pulse Count Completed	Z Pulse Count Completed	E Pulse Count Completed
RI00XP*	RI00YP*	RI00ZP*	RI00EP*	CI00XP*	CI00YP*	CI00ZP*	CI00EP*
XP(D)XResult	YP(D)YResult	ZP(D)ZResult	EP(D)EResult
(D)=Direction of X motor travel	(D)=Direction of Y motor travel	(D)=Direction of Z motor travel	(D)=Direction of E motor travel
XResult=0000000000-4294967295	YResult=0000000000-4294967295	ZResult=0000000000-4294967295	EResult=0000000000-4294967295

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	KX= Set Limit Switch X KY= Set Limit Switch Y KZ= Set Limit Switch Z KE= Set Limit Switch E KS= Set Emergency Stop	Set Limit Switch or Emergency Stop Enable/Disable
Byte 6	0=Disable 1=Enable	Switches selected Limit Switch to Enable/Disable
Byte 7	*	End of Command

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	PX= Pause/Resume X-Axis PY= Pause/Resume Y-Axis PZ= Pause/Resume Z-Axis PE= Pause/Resume E-Axis PA= Pause/Resume All	Sets which Axis is to be Paused/Resumed
Byte 6	0-1	Sends back pulse count from Axis if set to 1 with: PA=X-Axis PX=X-Axis PY=Y-Axis PZ=Z-Axis PE=E-Axis
Byte 7	0-1	Sends back pulse count from Axis if set to 1 with: PA=Y-Axis Set to 0 for PX, PY,PZ,PE
Byte 8	0-1>	Sends back pulse count from Axis if set to 1 with: PA=Z-Axis Set to 0 for PX, PY,PZ,PE
Byte 9	0-1	Sends back pulse count from Axis if set to 1 with: PA=E-Axis Set to 0 for PX, PY,PZ,PE
Byte 6	*	End of Command