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ACKNOWLEDGEMENT
TABLE OF CONTENTS
1.
Introduction
2.
The Project
2.1 Project Description
2.2 List of Components
2.3 Theory
2.4 Formulae
2.5 Steps Taken
2.6 Prototype
2.6.1 Components
2.6.2 Modus Operandi
2.6.3 Code
3.
Appendix
4.
Bibliography
INTRODUCTION:
THE PROJECT
Project Description: The project required us to design and develop a
wheeled robot controlled wirelessly with the purpose of carrying a maximum
payload of 2 kgs from a starting point to any destination, along predefined
paths.
List of Components:
1) MSP 430 (Texas Instruments) Microcontroller
2) DC motors (100 rpm, 12 V)
3) Motor driver (L298D)
4) IR proximity sensors
5) IR sensors
6) Voltage regulator (LM7805)
7) Magnetometer (HMC 5883L)
8) Plastic chassis (10x15)
9) 10 cm wheels (4 cm width)
10) Capacitors
11) Resistors
12) Wires
13) 12 V 2000 mAh Lead Acid Batteries
14) Battery Recharging Circuitry
Microcontroller
A microcontroller (sometimes abbreviated C, uC or MCU) is a
small computer on a single integrated circuit containing a processor core,
memory, and programmable input/output peripherals. Program memory in
the form of Ferroelectric RAM, NOR flash or OTP ROM is also often included
on chip, as well as a typically small amount of RAM. Microcontrollers are
designed for embedded applications, in contrast to the microprocessors used
in personal computers or other general purpose applications.
Motor Driver
A motor driver is a little current amplifier; the function of motor drivers is
to take a low-current control signal and then turn it into a higher-current
signal that can drive a motor.
DC Motors
An electric motor is a machine which converts electrical energy into
mechanical energy.It is based on the principle that when a current-carrying
conductor is placed in a magnetic field, it experiences a mechanical force
whose direction is given by Fleming's Left-hand rule
IR Proximity Sensors:
Magnetometer
Magnetometers are devices that measure magnetic fields. A magnetometer
is an instrument with a sensor that measures magnetic flux density B (in
units of Tesla or As/ m2). Magnetometers refer to sensors used for sensing
magnetic fields OR to systems which measure magnetic field using one or
more sensors.
Voltage Regulator
1