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<!DOCTYPE html>
<head>
<title>teamRoboconIITR</title>
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<a href="index.html" id="logo"></a>
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<ul id="navigationBar">
<li class="link"><a id="aboutLink" class="links" href="#aboutContainer">About</a></li>
<li class="link"><a id="r15Link" class="links" href="#r15Container">Robocon 2016</a></li>
<li class="link"><a id="gallerLink" class="links" href="#galleryContainer">Gallery</a></li>
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</ul>
</nav>
</div>
</section>
<div id="wrapper">
<div id="sidebar">
<h5>Library</h5>
<ul class="sideList">
<li><a href="mechanical.html">MECHANICAL</a></li>
<li><a class="current" href="electronics.html">ELECTRONICS</a></li>
<li><a href="programming.html">PROGRAMMING</a></li>
</ul>
</div>
<div id="main">
<h3>Arduino Due</h3>
<div>
<img class="part_img" alt="Arduino Due" src="img_electronics_arduinodue.jpg"/>
<p class="part_desc">
The Arduino Due is a microcontroller board based on the Atmel SAM3X8E ARM Cortex-M3 CPU (datasheet). It is the first Arduino board based on a 32-bit ARM core microcontroller. It has 54 digital input/output pins (of which 12 can be used as PWM outputs), 12 analog inputs, 4 UARTs (hardware serial ports), a 84 MHz clock, an USB OTG capable connection, 2 DAC (digital to analog), 2 TWI, a power jack, an SPI header, a JTAG header, a reset button and an erase button.The board contains everything needed to support the microcontroller; simply connect it to a computer with a micro-USB cable or power it with a AC-to-DC adapter or battery to get started. The Due is compatible with all Arduino shields that work at 3.3V and are compliant with the 1.0 Arduino pinout.
</p>
</div>
<h3>Raspberry Pi</h3>
<div>
<img class="part_img" alt="Raspberry" src="img_electronics_raspberrypi.jpg"/>
<p class="part_desc">
The Raspberry Pi is a single-board computer developed in the UK by the Raspberry Pi Foundation . The Raspberry Pi is a credit-card sized computer that plugs into your TV and a keyboard. It’s a capable little PC which can be used for many of the things that your desktop PC does, like spreadsheets, word-processing and games. It also plays high-definition video. The design is based around a Broadcom BCM2835 SoC, which includes an ARM1176JZF-S 700 MHz processor, VideoCore IV GPU, and 512 Megabytes of RAM. The design does not include a built-in hard disk or solid-state drive, instead relying on an SD card for booting and long-term storage. This board is intended to run Linux kernel based operating systems.
</p>
</div>
<h3>Atmega 16</h3>
<div>
<img class="part_img" alt="Atmega16" src="img_electronics_atmega16.jpg"/>
<p class="part_desc">
The high-performance, low-power Atmel 8-bit AVR RISC-based microcontroller combines 16KB of programmable flash memory, 1KB SRAM, 512B EEPROM, an 8-channel 10-bit A/D converter, and a JTAG interface for on-chip debugging. The device supports throughput of 16 MIPS at 16 MHz and operates between 4.5-5.5 volts.
By executing instructions in a single clock cycle, the device achieves throughputs approaching 1 MIPS per MHz, balancing power consumption and processing speed.
</p>
</div>
<h3>Magnetometer</h3>
<div>
<img class="part_img" alt="magnetometer" src="img_electronics_magnetometer.jpg"/>
<p class="part_desc">
Description: This is Honeywell’s HMC5883L, a 3-axis digital magnetometer designed for low-field magnetic sensing. The sensor has a full-scale range of ±8 Guass and a resolution of up to 5 milli-Gauss.Supplied voltage should be between 2.16 and 3.6VDC.Communication with the HMC5883L is simple and all done through an I2C interface. All registers and operating modes are well described in the datasheet below.Comes in a low-height, LCC surface mount package. For a breakout board, see below.Features:Simple I2C interface,2.16-3.6VDC supply range,Low current draw,5 milli-gauss resolution,Dimensions: 3.0x3.0x0.9mm.
</p>
</div>
<h3>Encoders</h3>
<div>
<img class="part_img" alt="Arduino" src="img_electronics_encoders.jpg"/>
<p class="part_desc">
Description: This 1024 pulse per rotation rotary encoder outputs gray code which you can interpret using a microcontroller and find out which direction the shaft is turning and by how much. This allows you to add feedback to motor control systems. Encoders of this kind are often used in balancing robots and dead reckoning navigation but it could also be used as a very precise input knob.
Features:Resolution: 1024 Pulse/Rotation,Input Voltage: 5 - 12VDC,Maximum Rotating Speed: 6000rpm,Allowable Radial Load: 5N,Allowable Axial Load: 3N,Cable Length: 50cm,Shaft Diameter: 6mm
</p>
</div>
<h3>Microcontroller Board</h3>
<div>
<img class="part_img" alt="Arduino" src="img_electronics_arduinomega.png"/>
<p class="part_desc">
The Arduino duemilanove ATmega2560 is a low-power CMOS 8-bit
microcontroller based on the AVR enhanced RISC architecture. By executing
powerful instructions in a single clock cycle, the ATmega 2560achieves
throughputs approaching 1 MIPS per MHz allowing the system designer to
optimize power consumption versus processing speed. It also possesses a
large 256 kb of flash and 83 data lines which played a key role in driving many
peripherals like motor drivers ,sensors etc.
</p>
</div>
<h3>Line Sensor</h3>
<div>
<img class="part_img" alt="Line Sensor" src="img_electronics_linesensor.png"/>
<p class="part_desc">
Line sensors are used for sensing white line on dark surface or black line on light
surface. This line sensor board has seven line sensors connected together. These
sensors working together can follow any curved or zigzag path. The multiple
sensors can even detect nodes and move on the maze of white or black lines. Line
sensor consists of high intensity red LED for illumination and directional photo
transistor for line sensing. Phototransistor consists of a photo transistor and
convex lens. Because of the precise alignment between lens and photo transistor
it has a very narrow viewing angle of 5 degrees. This makes the line sensor highly
immune to ambient light. This sensor gives 0.18 volts on bright surface and
gives 2.2V or more on the dark surface. Its output is analog in nature. Because
of analog output one can write complex algorithm to follow white line using
microcontroller
</p>
</div>
<h3>H Bridge Motor Driver</h3>
<div>
<img class="part_img" alt="H-Bridge" src="img_electronics_hbridge.png"/>
<p class="part_desc">
An H-bridge is an electronic circuit which enables a voltage to be applied across
a load in either direction. These circuits are often used in robotics and other
applications to allow DC motors to run forwards and backwards
</p>
</div>
<h3>Batteries</h3>
<div>
<img class="part_img" alt="Batteries" src="img_electronics_batteriesli12v.png"/>
<p class="part_desc">
Because we had to access many sensors & drives, we found it best to use
multiplexers in our pcbs. this made our number of read strobes vastly increase.
ICs used were
1>4067 analogue multiplexer (16 channel to 1)
2> 75hc15n digital multiplexer (8 channel to 1
</p>
</div>
<h3>PCB's</h3>
<div>
<img class="part_img" alt="PCB" src="img_electronics_pcb.png"/>
<p class="part_desc">
Because we had to access many sensors & drives, we found it best to use
multiplexers in our pcbs. this made our number of read strobes vastly increase.
ICs used were
1>4067 analogue multiplexer (16 channel to 1)
2> 75hc15n digital multiplexer (8 channel to 1)
</p>
</div>
<h3>Sensors</h3>
<div>
<p class="part_desc" style=" width:100%; display:block;">
Since we had to perform many challenging tasks involving pole detection,
accurate turning , motion detection etc we used sharp sensors, bump sensors and
a mems gyroscope
</p>
<h4 style="
width:100%;
font-size: 1.4em;
font-weight: bold;
color: #193742;
border-bottom: 2px solid #193742;
font-family:comfortaa,calibri;
padding-bottom: .25em;
">Sharp Sensors</h4>
<br>
<img style="margin-left:20px" class="part_img" alt="Sharp Sensors" src="img_electronics_sharpsensor.png"/>
<p style="margin-left:20px">
These advanced proximity sensors are used to detect objects nearby on the basis
of IR reflection and an onboard dsp converts the distance into an analog signal
read by our microcontroller
</p><br>
<br><br><br><br>
<h4 style="
width:100%;
font-size: 1.4em;
font-weight: bold;
color: #193742;
border-bottom: 2px solid #193742;
font-family:comfortaa,calibri;
padding-bottom: .25em;
">Bump Sensors</h4>
<br>
<img style="margin-left:20px" class="part_img" alt="Bump Sensors" src="img_electronics_bumpsensor.png"/>
<p style="margin-left:20px">
These are basically tactile switches which we used to detect nearby approaching
objects. used mostly in closed loop movement
</p>
<br><br><br><br><br><br><br>
<h4 style="
width:100%;
font-size: 1.4em;
font-weight: bold;
color: #193742;
border-bottom: 2px solid #193742;
font-family:comfortaa,calibri;
padding-bottom: .25em;
">Gyroscope</h4>
<br>
<img style="margin-left:20px" class="part_img" alt="Gyroscope" src="img_electronics_gyroscope.png"/>
<p style="margin-left:20px">
This year we have moved on to a very sophisticated gyroscope based motion
system where in a small micro machined device(used in modern gaming devices)
determines the angular velocity and thus the angle translated.
</p>
</div>
<h3>PS3 Gamepad</h3>
<div>
<img class="part_img" alt="PS3 Gamepad" src="img_electronics_ps3.png"/>
<p class="part_desc">
We used a PS3 remote to operate our Manual Robot. The manual robot was
actually the same robot which was used to build the khafraa pyramid by burning a
different program in the microcontroller. This different program made Arduino to
read values from the PS3 gamepad. The PS3 was connected to the microcontroller
with the help of an Arduino USB module.
</p>
</div>
<h3>Arduino USB Module</h3>
<div>
<img class="part_img" alt="USB Module" src="img_electronics_usbmodule.png"/>
<p class="part_desc">
The Arduino USB module makes Arduino Duemilanove capable of reading the
Serial values sent via USB port from the PS3 remote. There is separate library to
use this PS3 with the help of Arduino USB module. So, USB cable from the PS3
is connected to this USB module which in turn connected to Arduino in which
respective instructions can be given as per input from the PS3. This data from the
PS3 is then processed in microcontroller to control the speed of the robot using
Pulse Width Modulation (PWM). Pulse-width modulation (PWM) of a signal or 27
power source involves the modulation of its duty cycle, to control the amount of power sent to the load.
H-Bridges were used to drive the motor
</p>
</div>
</div>
</div>
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