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ELECTRICAL

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Circuits Outline Power Hub Microcontroller Sensor Inputs Motor Driver

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Power Hub Purpose: Regulate input voltage into the circuit Allows for flexible power supplies that can be used for your robot (input 7V 36V; output 5V) Most ICs and electronic components use 5V Comprised of a voltage regulator and filtering capacitors Capacitors act like a buffer before current flows to the load Voltage regulator reduces the range of voltages down to a set value

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Circuit Diagram Input Voltage Range : 7V 36VOutput Voltage: 5V Input Output

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Microcontroller A small computer on an IC that contains a processor core, memory, I/O peripherals Purpose The brain of the robot!!! Programmable conveniently control behaviour of the robot We will be using the ATMega 328-PU microcontroller

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Atmega 328 Pin Assignments

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Microcontroller Configuration Requires: Vcc and GND connections Analog Reference (set to Vcc) Value used as the top of the analog input range Internal Clock (16Mhz Crystal) Used as clock input to microcontroller ATMega328-p contains 13 digital and 6 analog pins to be used as I/O peripherals

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Microcontroller Configuration

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Sensor Inputs Analog Signals Continuous Subject to electrical noise Digital Signals Not continuous Uses specific values to represent information

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Integration of Microcontroller and Sensors ATMega328P-PU Pins 23-28 can be used as Analog Input readings from your sensors Possible Sensors to be used: Proximity Sensors Detect presence of nearby objects Line Sensors Distinguish between white surfaces and black surfaces Used to detect bounds for SUMO Arena

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Motor Driver Purpose: Governs the performance of an electronic motor H-bridge circuits are used to control motors Enables a voltage to be applied in either direction across a load (controls rotational direction)

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Motor Driver We will be using L293D Motor Driver IC Cheap and easy to use Works well with the Microcontroller No need to build an H-Bridge circuit

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L293D Pin Assignments

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Motor Driver Configuration Requires GND and VCC connections Enable pin connections from the Microcontroller Input pin connections from the Microcontroller Output pins connected to motors Vs voltage signal to power the motors

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Motor Driver Configuration

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Integration of Microcontroller and Motor Driver ATMega328-P Digital I/O Pin 12 -> Digital I/O Pin 13 -> Digital I/O Pin 14 -> Digital I/O Pin 19 -> Digital I/O Pin 18 -> Digital I/O Pin 17 -> L293D Motor Driver Enable1 Pin 1 (MOTOR 1) Input 1 Pin 2 (MOTOR 1) Input 2 Pin 7 (MOTOR 1) Input 4 Pin 15 (MOTOR 2) Input 3 Pin 10 (MOTOR 2) Enable2 Pin 9 (MOTOR 2)

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Functionality In order to turn the right motor, an enable signal must be given to PIN 9 from the microcontroller Pins 10 and 15 must set to either HIGH and LOW or LOW and HIGH Pin 16 must be connected to a 5V power source

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Functionality In order to turn the left motor, an enable signal must be given to PIN 1 from the microcontroller Pins 2 and 7 must set to either HIGH and LOW or LOW and HIGH Pin 8 must be connected to a 5V power source

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End Breadboard Configuration

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QUESTIONS?