Maze Robot


Posted on Feb 6, 2014    5006

After fail finishing the robot for the competition, I stopped updating my blog for a while. This is because I feel a bit disappointed for not be able to finish the robot in time. Today I am going to update the result of the entire work we hove done so far. The reason why we change the motor driver was because we found that the L293D can cause some


Maze Robot
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short circuit that lighted up the other indicator LED that should not on. L293NE driver can work exactly the same as L293D without causing any of the stated problems; therefore we decide to change the motor driver. We also find out that the PWM could only be used in pin 16 and 17; therefore we change the connection of enable form the motor driver into these two pins. We also find out that 9V battery cannot be use for a long time moreover; currents of 5 AAA batteries could not drive the motor. Therefore we decide to remove the 9 V batteries can add the AAA batteries. The previous design of the robot was also used for the competition purpose; therefore we were not bothered about the no-wall case condition. The addition of 2 module IR sensors should be enough to solve the simple no-wall tract. With all of the changes, the circuit and circuit diagram of robot were also changed. With all of the changes made, the hardware and body of the robot are complete. The last thing to do is the programming. Programming of the robot is not an easy task since we cannot know whether the program is correct or not. The only way to know is to program it one by one and test it to the robot. Finding the correct threshold is also not an easy task. With all the hard work, we finally manage to fine the best threshold voltage. For the programming, we are trying our best to simplify the code. The left wall following algorithm is used as our first...




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