robotic circuits

8/9/2019 Robotic Circuits

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Autonoums Robotics part 1

Before starting of with this get well educated with some electronic components though much detail is not

needed , u can do most of the work using data sheet of the electronic components.

1)voltage regulator

2)op amp and comparator

3)motor driver

)microcontrollers

resistors ,capacitors , transistors wuld also come along with this thing

!hen u make an autonoums robots the basic thing needed wuld be

1)Brain "microcontroller,logic gates)

2)#$es"%ensors)

3)&ands and 'egs"(otors, !heels)

so u r sensors take care of the surroundings, send the feed back to microcontrollers r logic gates

n then the output to the motors to do the desired things

so i will be covering up all this thing in parallel both electronic parts and the sensors , microcontrollers,

then giving the motion to wheels in the order as told above.

&ope u all will like it .

*'*+R %#%*R%All color sensors work on the basic principle that when light of some color falls on an ob-ect , if the ob-ectis of same color as of the led , then the ob-ect absorbs that color which means there is no reflection.

!e would be making the ckt in the same wa$ as we did for the R led detector ckt, but we wuld be using'/R for our detection purpose , "R cant be used as the$ catch onl$ R waves) , and in place of the Rtransmitter we wuld be using three leds of red, blue and green.

!*R0'ight up each of the leds one at a time , ie red , then blue n green , if the obstacles are of red blue andgreen colour then $ou wuld be getting different outputs " R#(#(B#R B4*R) .

!ith micrcontrollers , lit up the red led if there is reflection take the A/ readingdo the same for other leds and take thier A/ reading , we will know which colour its detecting.
http://robotiks4u.blogspot.com/2008/04/autonoums-robotics-part-1.htmlhttp://robotiks4u.blogspot.com/2008/06/colour-sensors.htmlhttp://robotiks4u.blogspot.com/2008/04/sensors.htmlhttp://robotiks4u.blogspot.com/2008/04/sensors.htmlhttp://robotiks4u.blogspot.com/2008/06/colour-sensors.htmlhttp://robotiks4u.blogspot.com/2008/04/sensors.htmlhttp://robotiks4u.blogspot.com/2008/04/autonoums-robotics-part-1.html


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*ne sensor wuld be lit up alwa$s .

+se a potentiometer with each of the '#/s to get a better reading , as there wuld be slight colordifference .5he circuit will be the same as for the ir sensor which i have e6plained in m$ previous post ,with litlle changes .&ope u n-$d it7osted b$ 8ai9$ at1111 A(: comments'abels #'#5R* 05%,%#%*R%

MONDAY, JUNE 16, 2008

B+(7 %#%*R%o, $ou;ve fitted some motors to $our robot and its happil$ driving around but it probabl$ keeps collidingwith obstacles and getting stuck. 4ou need a wa$ for $our robot to detect collisions and move aroundob-ects. #nter the humble bump sensor

A bump sensor is probabl$ one of the easiest wa$s of letting $our robot know it;s collided with something.5he simplest wa$ to do this is to fi6 a micro switch to the front of $our robot in a wa$ so that when itcollides the switch will get pushed in, making an electrical connection. ormall$ the switch will be heldopen b$ an internal spring.

(icro switches are eas$ to connect to micro controllers because the$ are either off or on, making themdigital. All micro controllers are digital, so this is a match made in heaven. (icro switch ;bump; sensors

are easil$ connected to the Robocore, simpl$ plug them into an$ free digital socket and awa$ $ou go.

5he following diagram shows a t$pical circuit for a micro switch bump sensor. 5he resistor is important because it holds thesignal line at ground while the switch is off. !ithout it the signal line is effectivel$ ;floating; because there is nothingconnected to it, and ma$ cause unreliable readings as the processor tries to decide if the line is on or off.
http://robotiks4u.blogspot.com/2008/06/colour-sensors.htmlhttp://robotiks4u.blogspot.com/2008/06/colour-sensors.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=157670692895729939http://www.blogger.com/comment.g?blogID=4070448132696700239&postID=157670692895729939http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/search/label/SENSORShttp://robotiks4u.blogspot.com/search/label/SENSORShttp://robotiks4u.blogspot.com/2008/06/bump-sensor.htmlhttp://robotiks4u.blogspot.com/2008/06/colour-sensors.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=157670692895729939http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/search/label/SENSORShttp://robotiks4u.blogspot.com/2008/06/bump-sensor.html


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f $ou dont get these microswitches u can make one easil$ , using a spring mechanism.7osted b$ 8ai9$ at331 A(: comments'abels #'#5R* 05%

SATURDAY, MAY 17, 2008

/ (*5*R BRA0!e will discuss different wa$s of braking in the robots , there are 3 different wa$s as usual which goesfrom mechanical to electrical .5his is basicall$ needed when u want to go down the slope r up the slope,though these are not tat great braking as comapred to the real vehicles but of much help to us.

Mechanical Method5he mechanical method is what is used on cars toda$. Basicall$ $ou need something with ver$high fictionand wear resistance, and then push it as strongl$ as possible to $our wheel or a6le.Aservo brake works well.7eople think of using door stoppers but the$ are not of much help , tried it n the$

-ust wasted m$ mone$ and time .!ontol" Method #5his method re


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%o how do $ou short the leads when it is on a robot? %imple. onnect a(*%8#5"transistor) anda ela$as shown. 5he (*%8#5 turns on the rela$, which creates a short between the motor leads. 5urnthe (*%8#5 on "set !high) with $our microcontrollerwhen $ou want to brake. Basicall$ $our motor willstill have an&=bridgefor normal control, but when $ou brake $ou turn the &=bridge off and use thebraking circuit. And don;t forget the heatsink and fl$back diode@ mportant, or $our circuit will meltblow up.7osted b$ 8ai9$ at12 A(: comments'abels #'#5R* 05%

%#%*R% !5& 5%*7 05
http://www.societyofrobots.com/electronics_advanced_components_tutorial.shtml#mosfethttp://www.societyofrobots.com/electronics_advanced_components_tutorial.shtml#mosfethttp://www.societyofrobots.com/microcontroller_tutorial.shtmlhttp://www.societyofrobots.com/schematics_h-bridgedes.shtmlhttp://www.societyofrobots.com/schematics_h-bridgedes.shtmlhttp://robotiks4u.blogspot.com/2008/05/dc-motor-braking.htmlhttp://robotiks4u.blogspot.com/2008/05/dc-motor-braking.htmlhttp://robotiks4u.blogspot.com/2008/05/dc-motor-braking.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=5682447147519617105http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/2008/05/this-is-simple-yet-effective-ir.htmlhttp://www.societyofrobots.com/electronics_advanced_components_tutorial.shtml#mosfethttp://www.societyofrobots.com/microcontroller_tutorial.shtmlhttp://www.societyofrobots.com/schematics_h-bridgedes.shtmlhttp://robotiks4u.blogspot.com/2008/05/dc-motor-braking.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=5682447147519617105http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/2008/05/this-is-simple-yet-effective-ir.html


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5his is a simple $et effective R pro6imit$ sensor built around the 5%*7 1C3D module. 5he 5%*7 moduleis commonl$ found at the receiving end of an R remote control s$stemE e.g., in 5s, / pla$ers etc.5hese modules re


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!e will be using over here an irled pair and a comparator .!hen the reciver led recivers the signal thevoltage acros it would be going high.5his we would be putting across the > ve of comparator, n to the =veof comparator we wuld be using a potentiometer . !hen the reciver does not recive an$ signal the voltageacross the pot wuld be set up in such a wa$ tat voltage across it is high so the output wuld be 9ero volts.!ehen the reciver recieves the signal the voltage at >ve of comparator would be more than that of =veend so the out put wuld be high.5he pot is used to ad-ust from how much distance the reciever is able todetect .

5 '#/ !&& + 5 05 8R*( '#85 AR# 1%5 *#% A R'#/ 5RA%(55#R ,2/ *# %A R 5RA%(55#R A/ 5 3R/ *# % A *R(A' '#/ !&& !'' '*! (*%5'4 R#/ %+%#/8rom m$ 6perince i can tell tat this will give u arnd cm obstacle detection , voltage drop across reciverfor me was .C when it didnt sense the obstacle , when it did sense it was giving arnd.Dv so now thevoltage at the =ve pin shld be brought to this voltage b$ rotating the pot .5he leb which u c at the ouput will glow when it detects an obstacle.

5he output which u get from the comparator will be fed to logic gates r micrcontrollers .7osted b$ 8ai9$ at111 A(: comments'abels #'#5R* 05%,%#%*R%

TUESDAY, A&R'( 8, 2008

*7A(7% n *(7ARA5*R%As the name implies it is an operational amplifier. t performsmathematical operations likeaddition,subtraction,log,antilog etc.. 5hemain reason for *7A(7% used over transistors is that transistorcan onl$amplif$ A while *7A(7% can amplif$ A and /. 4ou can get good amplifier gain in *7A(7%.5he most commonl$ used *7A(7% are C1 ,'( 32, '( 3D"both of them can also be used ascomparator).

omparator is also the same but with a diff being tat its digital so u have to two states high") andlow":).

8+R# 1.Above figure shows the general ckt diagram of a comparator .f 1F2 then outG>cc and if 1 if 1 is
http://robotiks4u.blogspot.com/2008/04/simple-ir-led-ckt.htmlhttp://robotiks4u.blogspot.com/2008/04/simple-ir-led-ckt.htmlhttp://robotiks4u.blogspot.com/2008/04/simple-ir-led-ckt.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=7136431272521266020http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/search/label/SENSORShttp://robotiks4u.blogspot.com/search/label/SENSORShttp://robotiks4u.blogspot.com/2008/04/opamps-n-comparators.htmlhttp://bp0.blogger.com/_hyKRWdjIs70/R_tBMctOzhI/AAAAAAAAAJw/MaW8ve-IAU4/s1600-h/untitled.JPGhttp://bp0.blogger.com/_hyKRWdjIs70/R_tBMctOzhI/AAAAAAAAAJw/MaW8ve-IAU4/s1600-h/untitled.JPGhttp://robotiks4u.blogspot.com/2008/04/simple-ir-led-ckt.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=7136431272521266020http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/search/label/SENSORShttp://robotiks4u.blogspot.com/2008/04/opamps-n-comparators.htmlhttp://bp0.blogger.com/_hyKRWdjIs70/R_tBMctOzhI/AAAAAAAAAJw/MaW8ve-IAU4/s1600-h/untitled.JPG


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less than 2 then out is minus cc

'm 32 has such comparator"shown in figure1) them also known as Huad opamp.'( 3D has 2 comaprator also known as bi opamp.

E*&ER'MENTA( &ART#

+ can use two potentiometers"of 1: 0 prefarabl$) and put them across pin2 and pin 3 , and put an led inseries with a resistance at pin 1 , when the voltage drop in pot 1 connected across pin 2 is low , u can cthe led glow.7osted b$ 8ai9$ at2: A(: comments'abels #'#5R* 05%

oltage regulatorAs the name suggets it regulates voltage tat is it can provide either constant voltage r variable voltage"/onl$)

8i6ed oltage regulators "CD66,CI66) JCD: being the most popularl$ used Kariable oltage regulator "'( 31C)

+ied -olta.e e./lato"5his include CD66 voltage regulators. 5he most commonl$ used ones are CD: and CD12. CD: givesfi6ed / voltage if input voltage is in "C.,2:).f the voltage is below C. u mite get the outputvoltage as .L=.D .

5his is how CD: luks like
http://robotiks4u.blogspot.com/2008/04/opamps-n-comparators.htmlhttp://robotiks4u.blogspot.com/2008/04/opamps-n-comparators.htmlhttp://robotiks4u.blogspot.com/2008/04/opamps-n-comparators.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=5605399647963921555http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/2008/04/voltage-regulator.htmlhttp://robotiks4u.blogspot.com/2008/04/opamps-n-comparators.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=5605399647963921555http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/2008/04/voltage-regulator.html


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5he ckt diagram of it goes like this

(1 (2 are the motors"dc motors) ,(1A ,(1B are the controls of motor (1 and (2A ,(2B are the controlsof motor (2.(1A ,(1B,(2A,(2B are the inputs tat u get from logic gates r the muc , opamps, to therecieving end of reciever in wireless modulehere is the tabe describing the function of the pins

if pin1 is high if pin I is high(1A (1B 8+5* (2A (2B 8unction& ' cloclwise & ' clockwise' & anitclockwise ' & anticlockwise' ' fast stop ' ' fast stop===================================================================================make pin 1 low slowstop make pin I low slowstop


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7in 1 n 7in I make each of the channels high "there r two channels) n the pin D voltage can go upto 2v

+ get this c for a cost of Rs C .

hope i have e6plained evr$thing in detail7osted b$ 8ai9$ atC3 A(1 comments

'abels #'#5R* 05%

(aking a wireless remoteet rid of those long wires tat tangle all the time , there are different wa$s of making a wireless moduleusing read$ made rc cars n putting rela$s near the out put u can drive u r 12v motors ,then theres Rremote control though not tat much reliable n then theres dtmf tats thr cell phone n gprs communication, nthe most simplest of them using rf modules , in consideration with all the above wa$s rf module is themost easiest n most cheapes "R% :) nothing more .

5his shows the transmitter"5M) nreciever "RM) which u get in electronic shops. 5M :1 A%0 (*/+'# and RM :2 A%0 (*/+'# are usedhere n shown above .

our basic idea goes like this

5he two ics &512# n &512/ r theencoder n decoders of adress bit this is used as we need to drive two motors ,where each motor takes
http://robotiks4u.blogspot.com/2008/04/motor-driver-ckt.htmlhttp://robotiks4u.blogspot.com/2008/04/motor-driver-ckt.htmlhttp://robotiks4u.blogspot.com/2008/04/motor-driver-ckt.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=1430987643965715133http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/2008/04/making-wireless-remote.htmlhttp://robotiks4u.blogspot.com/2008/04/motor-driver-ckt.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=1430987643965715133http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://robotiks4u.blogspot.com/2008/04/making-wireless-remote.html


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in 2 adress bit "1 for forward rotation other for reverse ) so in all we need four adress bitsif u want to control more number of motors u need to change encoder and decoders. At place of thoseswitches u can either use push buttons r dpdt switches "ckt of dpdt switch is show hereclick here)

now near the recieving end u use a motor driver bco9 u get as output but motors need 12v to drivethem"i have e6plained this herein much detail ) 5he ckts are shown over for transmitter and recieving end

/1 /2 /3 / will go to the input of motor driver "check the motor driver ckt) n from motor driver to themotors .

5his ckt has been tested b$ me n was giving a ver good range also.5he best place to bu$ isaplusindia.com it sells it for ver$ cheap and u dnt get much cheaper than at this place.&ope i have made it ver$ clear .7osted b$ 8ai9$ atC:C A( comments'abels #'#5R* 05%

MONDAY, MAR! 41, 2008
http://http/robotix4u.blogspot.com/2008/03/dpdt-wired-switch-control.htmlhttp://robotiks4u.blogspot.com/2008/04/motor-driver-ckt.htmlhttp://robotiks4u.blogspot.com/2008/04/making-wireless-remote.htmlhttp://robotiks4u.blogspot.com/2008/04/making-wireless-remote.htmlhttp://robotiks4u.blogspot.com/2008/04/making-wireless-remote.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=5849093322758483019http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTShttp://http/robotix4u.blogspot.com/2008/03/dpdt-wired-switch-control.htmlhttp://robotiks4u.blogspot.com/2008/04/motor-driver-ckt.htmlhttp://robotiks4u.blogspot.com/2008/04/making-wireless-remote.htmlhttp://www.blogger.com/comment.g?blogID=4070448132696700239&postID=5849093322758483019http://robotiks4u.blogspot.com/search/label/ELECTRONIC%20CKTS


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/7/5 !R#/ %!5& *5R*'

R# % 5 %(7'# (A+A' *5R*' *8 + R B*5 +% /7/5%!5& N+%5 *#5 5%# %!5% 5* 5 (*5*R A% %&*! B#'*! A/ 5A5% 5O********( + A + R B*5 R+

# 5 *#5* 8*R B*5& (*5*R% A% %&*! .

%imple 'ine 8ollower 5utorial&iii #ver$one, am sorr$ for all the people who have been logging onto m$ blog as haven;t been

updating a lot.

would be e6plaining about making a line follower, using 3 and 2 sensors. would also be telling the

advantage of using 3 sensors over two sensors.
http://robotiks4u.blogspot.com/2008/03/dpdt-wired-switch-control.htmlhttp://bp1.blogger.com/_hyKRWdjIs70/R_CtdctOzUI/AAAAAAAAAHs/XHE9oLo27fI/s1600-h/untitled.JPGhttp://bp1.blogger.com/_hyKRWdjIs70/R_CtdctOzUI/AAAAAAAAAHs/XHE9oLo27fI/s1600-h/untitled.JPGhttp://bp1.blogger.com/_hyKRWdjIs70/R_CtdctOzUI/AAAAAAAAAHs/XHE9oLo27fI/s1600-h/untitled.JPGhttp://robotiks4u.blogspot.com/2009/10/simple-line-follower-tutorial.htmlhttp://robotiks4u.blogspot.com/2008/03/dpdt-wired-switch-control.htmlhttp://bp1.blogger.com/_hyKRWdjIs70/R_CtdctOzUI/AAAAAAAAAHs/XHE9oLo27fI/s1600-h/untitled.JPGhttp://bp1.blogger.com/_hyKRWdjIs70/R_CtdctOzUI/AAAAAAAAAHs/XHE9oLo27fI/s1600-h/untitled.JPGhttp://bp1.blogger.com/_hyKRWdjIs70/R_CtdctOzUI/AAAAAAAAAHs/XHE9oLo27fI/s1600-h/untitled.JPGhttp://robotiks4u.blogspot.com/2009/10/simple-line-follower-tutorial.html


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7rere


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!hen 7*R5/G:6AAE

AA stands in he6 as 1:1:1:1: J (ost significant bit to least significant bitK

%o the motor pins are connected as follows onsider onl$ the first four bitspins, bc9 we wont be using

the last four bitspins.

7/.:G R=E

7/.1G R>E

7/.2G'=E

7/.3G'>E

!hen R>,'> are high. Both the motors would rotate in one direction.

!hen R> is high, rest ground. *nl$ the right motor would rotate.

%ame thing for rest all.

hope $ou did understand the code . will be posting the ckt of it shortl$.

f an$

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