Engines and trajectories are controlled by a PIC16F877A microcontroller which will recieve the distance that the main microcontroller has to walk, and then it will store that information and and make the distance measuring using a set of encoders located on the axes of the wheels in order to measure the amount of turns that the wheels will spin. Using the same system we will control that the robot keeps the direction wanted and correct any inclination that it may have.
The wheels direction is also controlled by the microcontroller using a DC motors driver (L293) which has the capability of controlling the direction of two motors. Then, a power stage is placed to avoid that the driver burns and feed the current necessary to move the engines.
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