Anish Kirloskar Hannan Shaikh - George Mason...

Anish Kirloskar Hannan Shaikh

Pushkar Mahajan

Omkar Karmalkar Project Presentation ECE-511 ,Fall 2013 George Mason University

Motivation

• To build a robot car that would be fun to make and the

result would be a cool toy using MSP430

microcontroller.

• Instead of the usual remote controlled car we have

made a autonomous obstacle avoidance car.

Overview

Detect obstacle using IR sensors mounted on the front

section of the robot.

Based on the output of the IR transceiver, the

microcontroller takes the necessary action.

Block Diagram

Schematic Diagram

PCB Layout

Hardware Description

Components used :-

Transceiver pair

IR LED

TSOP 1738

H Bridge – L293D

DC Motor

Servo Motor

IR LED

IR LED transmits IR pulses with

38 KHz frequency which reflect

back if the obstacle is present.

This 38 KHZ frequency with 50%

duty cycle is provided using timer

interrupt of MSP 430. IR-LED

TSOP 1738 TSOP1738 detects the reflected

pulses from obstacle and alerts the MSP430.

TSOP 1738 is active low i.e. it gives low signal on its output pin when it detects 38KHZ of IR pulse.

Key features of TSOP1738

• Photo-detector & preamplifier in one package.

• High immunity against ambient light.

TSOP 1738

H-Bridge L293D

IC L293D provides H-Bridge

functionality.

Basically used for driving DC

Motors coupled with rear wheels.

6 volts is supplied using 4 ‘AA’

batteries.

Key Features:-

1. Boost current to drive motor.

2. Used for clockwise & counter-

clockwise rotation of DC motor.

Geared DC Motor

Interfaced with MSP430 through H-bridge

IC L293D

Coupled with rear wheel to drive car.

Specification:

1. 6V DC.

2. 160 mA.

3. 100 RPM.

Servo Motor(Tower-pro MG-995)

It is used for steering purpose .

Interfaced with MSP430 through General

Purpose Input Output.

Specification:

1. Operating voltage: 4.5 to 6 V.

2. Gear Type: Metal.

3. Rotational Range: 180°.

4. Pulse Cycle: 20 ms.

5. Pulse Width: 1000-2000 µs

6. Pulse Width of 1500 us for neutral

position.

Timing Diagram

Software

Timer Interrupt for IR LED (38 kHz)

Task Division Anish : Hardware assembly & integration.

Pushkar: Hardware & PCB designing.

Omkar: Firmware coding and Testing.

Hannan: Sensor & motor testing, interfacing.

RESULTS Timer interrupt for IR pulse generation.

Obstacle detection using IR transceiver.

Servo mechanism using PWM.

Steering system using Lego and Servo.

Demonstration

Thank You!