PROGRESS REPORT FOR THE MONTH OF OCTOBER AND NOVEMBER 2017

EE RESARCH PROJECTS

PREPARED BY: SEAN PATRICK AGAN ANDREY RICH GARIN

RONALD BRION ABUBAKR DIMASANGKA

I. Hardware Components

As was planned, the month of October 2017 will be allotted for the planning of the
hardware and material acquisition of the mobile robot platform.

A. Material Acquisition

Unfortunately, as for material acquisition due to financial issues, we were not able to
acquire all of the needed materials but at least 70% of them was purchased and are now in or
possession. Some are obtained locally and some are from online electrical and electronic shops.
Also to lessen the problem regarding the budget, we tried to scrapped components from our
previous projects.

Figure 1 Acquired Materials

B. Planning the Hardware

While waiting to obtain all of the needed materials, we tried to design the motor
controller. As was proposed, L293d IC will be the motor driver of the mobile robot. This IC allows
DC motor to drive on either direction.
PROGRESS REPORT FOR THE MONTH OF OCTOBER AND NOVEMBER 2017
EE RESARCH PROJECTS

PREPARED BY: SEAN PATRICK AGAN ANDREY RICH GARIN

RONALD BRION ABUBAKR DIMASANGKA

As shown below in Figure 2, L293D is a 16-pin IC which can control a set of two DC motors
simultaneously in any direction. It means that it is possible to control two DC motor with a single
L293D IC.

Figure 2 Schematic Diagram of the Motor Driver Using L293D

It works on the concept of H-bridge. H-bridge is a circuit which allows the voltage to be
flown in either direction. It is known that the voltage need to change its direction for being able
to rotate the motor in clockwise or anticlockwise direction. The L293d is simplest and inexpensive
for low current motors. Hence H-bridge IC are ideal for driving a DC motor.

There are two Enable pins on l293d. Pin 1 and pin 9, for being able to drive the motor, the
pin 1 and 9 need to be high. For driving the motor with left H-bridge, enable pin 1 must be set to
high. For driving the right H-Bridge, pin 9 must be set to high. If anyone of the either pin1 or pin9
goes low then the motor in the corresponding section will suspend working.
PROGRESS REPORT FOR THE MONTH OF OCTOBER AND NOVEMBER 2017
EE RESARCH PROJECTS

PREPARED BY: SEAN PATRICK AGAN ANDREY RICH GARIN

RONALD BRION ABUBAKR DIMASANGKA

Instead of using a universal PCB, we’ll utilizing a presynthized PCB for etching purposes of
the motor driver. To design the circuit, we used EAGLECAD.

Figure 3 EagleCad Board Design of the Motor Driver Using L293D

II. Software Components

Base on or Gantt chart that we have presented, the month of November 2017 will be
allocated for the analysis of the requirements and planning of the software of the mobile
robot platform. The modes of the robot were partially implemented using Arduino language.
The controller software module for manual control and for mode selection via Bluetooth is
written in Python So far the development of implementing the software modules is running
smoothly. The table below shows the quantification of our progress in the different modes of
the mobile robot platform.

MODE PERCENTAGE
Line Following 20%
Obstacle Avoidance 20%
Manual Control 90%