RECON ROBOT ECE 477 Group 8 Vinit Bhamburdekar Arjun Bajaj Aabhas Sharma Abhinav Valluru

Theory of Operation H-Bridge The component allows a maximum of two motors to run in both directions. The PWM inputs help in regulating the speed of the motors. Will be used to control the rear wheel and front wheel motors. Takes an input of 5V for operation and also an input for motor voltage is required, in this case 9V. DC – DC Converter Not every component in the project runs on the same voltage. Since we are using just one battery to power the entire robot, a need to convert voltage to the required value was to be achieved. This can be done using a DC-DC Converter which in our case is converting 9V to 5V. PIC32 MCU The MCU has a frequency of 80 MHz with an operating voltage of +5V. Will be using a number of I/O pins, 3 PWM interfaces, 1 SPI, 3 channels of ATD and 1 UART if the wireless transceiver is changed.

Theory of Operation Coulomb Counter The coulomb counter will be used to determine the battery life remaining on the robot. This works in conjunction with the transceivers as the value calculated needs to be sent back via the transceivers to the base. Servo Motor The Servo motor will be attached to a plate, thus serving the purpose in making a movable plate, on which the camera will be mounted. The motor uses a PWM input thus controlling the speed of the camera’s movement. Battery The battery outputs 9V DC with a max current of 700 mAh. The battery will be used in conjunction with the DC converters and the coulomb counter.

Theory of Operation Sensors The project utilizes two sensors to detect obstacles. The Ultrasonic sensor is being used to detect obstacles right in the front of the robot. Depending on the distance between the obstacles, the voltage output begins to change as the sensor moves away or closer to the obstacle. Using a threshold voltage, the obstacle can be detected at a particular distance and thus can be avoided. The infrared sensor works in the same way but is used for pothole detection. GPS Chip The GPS chip utilizes a built in antenna to connect with a satellite. Upon getting data the chip serially accumulates the data into a packet and sends it out. The output is then routed to the ADC of the MCU in order to be decoded into readable coordinates. Transceivers The transceivers chosen are connected to the MCU to route data back and forth from the base. They have a 2.2 – 3.8V of operation. Will be interfaced with the MCU through SPI. Operate on radio frequency of 2.4Ghz.