6 Wheel Robot-Experiment

Main components of the robot: Micro Controller Board: Arduino Duemilanove Motor Controller: TReX r !rotot"pe #hield $or Arduino Brea%out Board & #ervo' Wirele'' camera Blin%in( )ED !anel' * Xbee Module' & Double +earboxe' * Batterie': ,-6. Micro Controller: Arduino Duemilanove

Xbee Module !roto"pe #hield

Motor Controller:TReX r

Brea%out Board

Wirele'' camera

Blin%in( )ED !anel

#ervo'

Double Gearboxes: The robot i' a''embled /ith three double (ear boxe' $rom Tami"a and 'ix o$$ road tire'The motor'0(earboxe' on each 'ide are connected in parallel- #o that each channel o$ the motor controller TReX r can drive one 'ide o$ the robot-

Motor Controller: Channel 1

Double +earbox

Motor Controller: Channel *

Double +earboxe': 3or noi'e reduction a 2-1u3 capacitor ha' been 'oldered acro'' the terminal' o$ each motor- T/o $errite' are al'o in'erted in the po/er line to the motor controller to reduce the inter$erence o$ the micro controller b" noi'e comin( $rom the motor'-

2-1 u3 capacitor

3errite'

Microcontroller Board: Arduino Duemilanove The micro controller board i' mounted to a protot"pe !CB $or ea'ier handlin(4 a''embl"0di'-a''embl" or movin( to another pro5ect /ithout touchin( the controller- Mountin( the micro controller a' /ell a' the motor controller on protot"pe !CB' al'o allo/' the u'e o$ 'tando$$' and 'tac%in( o$ multiple !CB' /ith di$$erent dimen'ion' on top o$ each other-

Motor Controller: TReX Jr #imilar to the micro controller board4 the motor controller i' mounted to a protot"pe !CBThe TreXX r- $rom !ololu i' a DC motor controller that can control t/o bidirectional motor' and one unidirectional motor- 3or thi' robot the controller i' con$i(ured to drive the three (earboxe' on the le$t and ri(ht 'ide o$ the robot independentl" via the a'"nchronou' 'erial control inter$ace-

Channel *: Motor' Ri(ht

Channel 1: Motor' )e$t

Brea out Board!"rotot#pe "CB:

8 #1

1- 6

7- 11

6C1 1*4 1&

91-9*

$chematics of the brea out board sho%n on a Bread Board:

8 #1

C& 7 ; : C* & , 12 11

6C1 D1

1 C1 )ED1 R1

9*

R* 1* R& 1& D*

91

Main components of the brea out board: C1: C*: C&: 6C1: 914 9* D14 D*: #1: 1- 1&: R1: R*4 R&: )ED1: 1- 6: 7- 11: #1: 8: 12<3 electrol"t- capacitor 12<3 electrol"t- capacitor 2-1<3 ceramic cap;. .olta(e re(ulator4 u'ed a' po/er 'uppl" o$ 'ervo' *=8222 tran'i'tor4driver tran'i'tor' $or terminal' > 1*4 1&?4 in thi' application u'ed to '/itch )ED !anel' on0o$$*=:221 or *=:228 Main '/itch Terminal' >a' available? 1@A re'i'tor **2A re'i'tor )ED >color a' available? Terminal' $or up to 6 'ervo'Terminal' to connect other load' to the batter" Main '/itchMain terminal' to connect the po/er 'uppl"0batter"-

$oft%are!"ro&rammin&: The Arduino 'o$t/are ha' been in'talled on a de'%top computer a' /ell a' on a net boo% $or mobile applicationComputer and robot are communicatin( via t/o Xbee module' and the #erial Monitor o$ the arduino 'o$t/areBlin%in( o$ the )ED !anel' i' realiBed b" callin( a $unction at the be(innin( and at the end o$ the main pro(ram loop- The )ED' to((le bet/een C= and C33 each time thi' $unction i' called- The pro(ram i' about 72m' lon(4 thi' create' the blin%in( e$$ectThe /irele'' camera i' mounted on t/o 'ervo'- The camera can '/itch bet/een pan mode or $ixed mode4 pointin( $or/ard4 /hen drivin(-#/itchin( bet/een mode' i' done b" pre''in( e %e" on the %e"board3or/ard0bac%/ard drivin( and turnin( o$ the robot i' al'o handled via the %e"board o$ the connected computerDetail' can be $ound in the attached li'tin( o$ the pro(ram code-

References!Resources: TReX Jr: http:00///-pololu-com0catalo(0product0868 http:00///-pololu-com0$ile02 1*0TReX rDCommand'Dv1-*-pd$ http:00///-pololu-com0doc'0pd$02 ;0TReXD r-pd$ Arduino Main "a&e: http:00///-arduino-cc0 Arduino 'orum: http:00arduino-cc0$orum0 (ther Arduino resources: http:00///-lad"ada-net0learn0arduino0index-html http:00///-ada$ruit-com0index-phpEmainDpa(eFtutorial' 'rit)in&: "CB Desi&n!Bread board: http:00$ritBin(-or(0