Circuit Diagram Knowledge

This Robot use two motors control rear wheels and the single front wheel is free. It has 4-infrared sensors on the bottom for detect black tracking tape, when the sensors detected black color, output of comparator, LM324 is low logic and the other the output is high.

Microcontrollor AT89C2051 and H-Bridge driver L293D were used to control direction and speed of motor.

Fig 1. Circuit diagram of my Robot.

Fig 2. Circuit diagram of Infrared sensors and comparators.

Fig 4. Position of sensors, left hand side is side view and right hand side is top view.

Software Software for write to AT89C2051 is robot1.hex ,which was written by C-language ,the source code is robot1.ccompiled by using MC51 in TINY model with my start up code robot.asm . 

Overview

A robot that is capable of following a track at a maximum speed is created in this project wherein the brain of the robot is comprised by an Atmel AT90S4433.

Explanation

There are 2 light-sensitive resistors used in the robot to detect the path as well as the dead ends and junctions. The maximum maneuverability is done without much effort by the two engines that drive the two main wheels. This prototype has been created in order to surpass its original achievement of reaching the highest speed of 8cm/s in a robot contest.

A 10-bit A/D converter that has a 6:1 demux is being featured by the Atmel AT90S4433 which allows sampling up to 6 analog channels one at a time. Both light sensors are currently the only two analog sources that are being read. Since two PWMs are needed to control both engines, the built-in PWM generator could not be utilized in this case. A software for PWM is written with 2 channels using its programmable timer interrupts.

The rubber band transmission can cause the jerky movement seen in the movement which cannot be compensated with the error-time function used to calculate the reaction.