Line tracer and stalker.

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Im doing this project, where there is a line tracer which transmits RF signals to another robot(stalker) which traces the exact same path as that of the line tracer. Please have a look at the circuit and tell me if i have commited any mistake..
thanks in advance

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Neither of them will work properly without the decoupling capacitors.

Warning: Grumpy Old Chuff. Reading this post may severely damage your mental health.

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i connected decoupling capacitors in the motor itself( a delta arrangement using 3 capacitors)..

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I speak about decoupling capacitors between VCC and GND rails which MUST be located as close to the AVR as possible (e.g. in 1 cm/0.5" max)

Warning: Grumpy Old Chuff. Reading this post may severely damage your mental health.

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What is the motor you'll attach to the L293. I assume it's a DC brush motor.
Power consumption? Max current? Operation current? Operation voltage? Don't forget you have to substract the source and sink VCE of the L293 from the 9V to get the real drive voltage!

Are you going to change or vary the speed of the motor/s? If so, consider using PWM drive, but take into account that L293 will let you PWM with 6KHz at most

what is the power supply that will feed the robot? A 9V battery (high internal resistance), six series A type dry cells (lower impedance)?

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Im using 200rpm 12v dc geared motors.
And yes, i wil use pwm to drive my motor.
Power im actually using a 12.6 v, 2000mah ,2c, li-ion batteries.

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So the second guy follows the first guy? The first guy says 'ok, I'm turning left now', the second guy drives forward the distance to the first guy, then turns left?

Imagecraft compiler user

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please check out the video...http://www.youtube.com/watch?v=K...

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Pretty cool. I guess you could hang a fishing pole out from the cars and string a wire between em. The bottom guy is a line follower, but I think he should calc and transmit the x,y coords of his front bumper. The other guy just drives as fast as he can to that x,y loc.

Imagecraft compiler user

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bobgardner @ Thanks,will check that out.

Right now, im facing back emf problem, the ic keeps resetting from the back emf of the motor. I was able to minimize it by connecting a delta arrangement of capacitors(each 0.1uF) with the 2 terminals of the motor and the body. But it wasnt sufficient enough.Any ideas?

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Yep. When the motor starts, it sucks everything down. So set the brownout detector at a real low voltage. Put a BFC right on the VCC. Maybe dont floor the gas pedal from a stop. Accelerate slow. Save coulohms.

Imagecraft compiler user

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A diode upstream of the BFC will help, it will stop the motor from stealing the MCU supply...

Edit: Here is an example, I used a dual diode to select between USB or motor supply to power the MCU, whichever is higher becomes the supply.
http://krazatchu.ca/2011/04/20/a...

When the motor eats the main supply, the MCU is protected, it has it's own bulk capacitance after the diode.. And the USB supply cannot power the motors which is convenient when bootloading the Arduino...