BCRT Robotics Workshop 2014

DAY-3

Recall• Basic Electronics components• Bread Board architecture and working• Use of multi-meter• Adapter and its use• DPDT switch• Switching mechanism for controlling motor in bi-direction• Power board and Voltage regulator• Making Manual Robot

What about Robo Akhada / yantra akhada?• Dimension should not be more than (25 x 25 x25)• Weight should not be more than 3 kg• You may can use two or four motors for strength• The shape can be varied as per the design.• Your robot should not harm another robot

physically its just a sumo wrestling .• Hammering and cutting mechanism in robot will

be disqualified.• The voltage difference across two wire should not

be greater than 24V• You can make small in size and greater in

strength robot to win Yantra aakhada.

MORE ELECTRICAL COMPONENTS USED• Diodes• Voltage regulators i.e. 78xx• Motors• Connecting wires • One to One connector• Motor Driver module(L293d) • IR Tx & Rx• Sensor Module(digital IR sensor)

What we gain on 2nd day???• Can use motor driver module to drive in CW &

CCW direction.• We can use digital IR sensor• Properties of IR Tx & Rx and its working• Handle digital IR sensor sensor and use it to

sense reflecting and absorbing object• Interconnection to drive motor by sensor

response• All the preparation for line tracking robot• Finally came to the track with your line tracking

robot and played.• Enjoyment and photos…..

What about Yantra Racer????• Dimension should not be more than (25 x 25 x25)cubic cm• Weight should not be more than 3 kg.• You may can use multiple sensor for better performance.• There is no limitation on shape but it should fit the

dimension.• Your robot should not make any kind of harm to the event

track.• The voltage difference across two wire should not be

greater than 24V.• Should take care of speed , accuracy and reliable.• Should not use laser mechanism as its expensive too.• You can make small in size and Greater the peed for best

performance in event.

Some Photos of Yantra 2.0

3rd DAY

• IR Tx & Rx pair• Analog Sensor and working on bread board• Logic Gates• Comparator IC (LM339)• Comparator module and its working• Interconnection for the response of analog

sensors on led array

Session I

3rd DAY

• Proteus (Circuit Simulation)• Mission Nepal • Competitions Themes and patterns

Session II

Let’s Start

Things to get clear• Vcc = +5V = vs = On = logic high =logic 1• Gnd = -ve = 0v = logic low=logic 0• Signal = output from the sensors• Vss = Voltage given to motor through motor driver

Analog Sensor

Physical quantity Analog Signal

Physical

Light Voltage

Temperature Voltage

Distance Voltage

IR Rx / Photodiode• IR receiver receives the infrared rays.• It is a photo diode that conduct in reverse

mode by the application of infrared ray• its invisible to naked eyes can be viewed

using digital camera

• IR transmitter transmit the infrared rays• Its invisible to naked eyes• We can view it using digital camera

IR Tx / IR LED

Animation of ir led

LED

IR photodiode

Infrared ray Source

Photo Diode Light Rays

+5 V

GND

IR LED

Photo Diode

Circuit for analog sensors

Signal

220 Ohm

10 K

QTR-1RC reflectance sensor

QTR-8A reflectance sensor array

Logic Gates

what is a LOGIC GATE ???

Circuit Making decision something logical

In other word we can say watchman having a brain

Because It performs the operation on i/ps

Logic gates

Truth Table

Gates Summary

SW1 SW2SW = Switch

LED

SW1 SW2 LED StatusOFF OFFOFF ONON OFFON ON

????

OFFOFFOFFON

5 V

0 V

Comparator Working

5 V

0 V

Difference5v - 0v = 5vDifference

0v - 5v = -5vHigh (5V)Low (0V)

What could be this ???

0 V

Comparator Working

5 V

Difference2.5v - 0v = 2.5v

Difference2.5v - 5v = -2.5v

High (5V)Low (0V)

2.5V

Comparator IC (LM339)

Comparator module

Output Pins

LM33

9 IC

GNDVcc

Input Pins

Light Emmiting Diode

Resistors

Inputs

GND

1 2 3 4 5

1 2 3 4 5

LED ARRAY

Comparator Module (LM339)

Vcc

Output Pins

Input Pins

LM339 IC

GNDVcc

Sensor

Vcc

Signal

GND

Output Pins

LM339 IC

GNDVcc

Input Pins

Vcc

Signal

GND

LED Array

Output Pins

LM339 IC

GNDVcc

Input Pins

Vcc

Signal

GND

INP

B1 INP

B2 EN B

GND

Vcc

INP

A2 INP

A1 EN A

C1 C2

L293D

MB

2

MB

1

MA

2

MA

1

+ Vs

s

- Vss

GNDVcc From Power Supply

Connecting Motor Driver (L293D) with Comparator (LM339)

Motor