Hey pj nice to see you again. Thanks for the kind words!

your setup sounds great. The iRobot roomba robot skill will work well with the roomba’s built in wheel encoder and lidar c1 for navigation. The better navigator is what I recommend.

To control the servos I’d suggest going with an ardunio that has a servo breakout board. Mega or uno. Depended on how many ports you need. Mega is probably overkill and too big. Will run out of physical space quickly with a mega haha guess it matters where you Mount everything

essentially you’ll be making a TurtleBot style robot.

Hello PJ! It's great to see you back in the world of robotics, and thank you for your kind words about Synthiam and EZ-Robot. Your setup sounds exciting and ambitious!

Recommendations for Your Setup:

1. EZ-B Controller:

   • If you're considering a new EZ-B controller, the EZ-B v4/2 is a solid choice. It offers robust Wi-Fi capabilities and a good number of ports, which might be beneficial for your setup.
   • The ESP32 boards are a great alternative, especially if you're comfortable with some DIY work to expand their capabilities. However, they might not offer the same ease of use as the EZ-B v4/2.

2. Arduino Mega 2560:

   • The Arduino Mega is a good choice if you need many I/O ports. However, as DJ mentioned, it might be overkill depending on your space constraints and specific needs.
   • Ensure you have the correct libraries and configurations set up in ARC for the Arduino to function as an EZ-B.

3. Arduino Uno:

   • Since you're having trouble connecting the Arduino Uno, double-check the following:
     • Ensure the correct COM port is selected in ARC.
     • Verify the baud rate is consistently set to 57600 in both ARC and the Arduino IDE.
     • Make sure the Arduino is properly powered and connected.

4. Navigation and Control:

   • For navigation, using the Lidar C1 with the Better Navigator skill in ARC will provide excellent mapping and navigation capabilities.
   • The iRobot Roomba skill will integrate well with your Roomba 650 for mobility.

5. Servo Control:

   • For controlling the 6 DOF arm, consider using a dedicated servo controller if you need more precise control or additional ports.

6. Power Distribution:

   • Ensure your power distribution setup can handle the current requirements of all your components, especially the servos and onboard computer.

7. Onboard Computer:

   • Your mini PC with an N100 processor and 16GB of RAM should be more than capable of handling ARC and any additional processing needs.

Additional Tips:

• Experiment and Test: With your setup, it's always a good idea to test each component individually before integrating everything. This will help you identify any issues early on.
• Documentation and Tutorials: Make use of Synthiam's extensive documentation and tutorials to get the most out of ARC and your hardware.

If you have any more questions or need further assistance, feel free to ask. Enjoy your journey back into robotics with Synthiam!

I did pick up an Arduino Uno and PCA9685 16-Channel breakout board and followed the tutorials but having connection issues, as far as ARC connecting to it. I will try again tomorrow, and go step by step. Maybe something small I overlooked, or maybe with the gazillion Arduino clones, my Uno is not compatible.  Link to the one I have https://www.amazon.com/dp/B0D83J2TJJ?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1

I’d look for an arduino shield for servos. Rather than using another servo controller. The arduino can easily control the servos with the ezb firmware. @athena what do you think?

Hello PJ!

The Arduino Uno combined with a PCA9685 16-Channel breakout board is a popular choice for controlling multiple servos. However, connection issues can sometimes arise due to various factors. Here are some steps and tips to help you troubleshoot and ensure a successful connection with ARC:

Troubleshooting Steps:

1. Check Connections:

   • Ensure all connections between the Arduino Uno and the PCA9685 are secure and correctly wired.
   • Double-check the wiring for power, ground, and I2C connections (SDA and SCL).

2. Verify Arduino Compatibility:

   • While most Arduino Uno clones should work, there can be variations in quality and compatibility.
   • Ensure that the Arduino is recognized by your computer and that the correct drivers are installed.

3. Firmware and Libraries:

   • Make sure the Arduino is flashed with the correct EZ-B firmware for ARC compatibility.
   • Verify that the PCA9685 library is correctly installed in the Arduino IDE.

4. Baud Rate and COM Port:

   • Ensure the baud rate is set to 57600 in both ARC and the Arduino IDE.
   • Double-check that the correct COM port is selected in ARC.

5. Test with Simple Sketch:

   • Before integrating with ARC, try running a simple sketch on the Arduino to control a servo using the PCA9685. This will help verify that the hardware is functioning correctly.

6. Power Supply:

   • Ensure that the PCA9685 and servos are adequately powered. Servos can draw significant current, so a stable power supply is essential.

Additional Tips:

• Arduino Shield for Servos:
  As DJ suggested, consider using an Arduino shield designed for servos. This can simplify connections and ensure compatibility.

• Clone Quality:
  If you suspect the Arduino clone might be the issue, consider testing with an official Arduino board or a different clone to see if the problem persists.

• Documentation and Tutorials:
  Refer to Synthiam's documentation and tutorials for detailed guidance on setting up the Arduino and PCA9685 with ARC.

Link to Resources:

• Arduino Uno Setup with ARC

If you continue to experience issues, feel free to reach out for further assistance. Good luck with your setup, and I hope you get everything up and running smoothly!

The issue I was experiencing, where the computer could recognize the Arduino, assign a COM port, and flash it but couldn’t connect via Synthiam, turned out to be caused by a cheap knockoff Arduino Uno. I followed the tutorial multiple times to convert it to EzB but couldn’t get the COM connection working no matter what I tried. I even manually installed the correct driver, but nothing worked.

Out of frustration, I decided to order an official Arduino Mega, and within two minutes of setup, everything was working perfectly.

After confirming that the Mega connected successfully, I decided to plug in the knockoff Uno clone againand to my surprise, it started working as well, without me changing anything. My guess is that the computer automatically grabbed the proper driver from the Mega, which then allowed the Uno clone to function correctly.

I think an Uno/Mega pair with a servo shield is the way to go for onboard bot computers. It provides flexibility, power, and ease of use for robotics projects.

I’m also loving the ESP32 for quick tests and wireless signal control. It’s been a game-changer for rapid prototyping and wireless communication.