This is a mechatronoics project completed at the university of Newcastle by 3rd and 4th students independently. components used are: Atmel ATMEGA32A micro-controller, GY-521 6 DOF MPU-6050 Module 3Axis Accelerometer Gyroscope Module, HC-05 Bluetooth, two 12V high power geared DC motor with CPR encoder and Cytron MDD10A dual DC motor driver.
The inbuilt state feedback controller will direct the motor drivers to balance the robot in the presence of disturbances of external forces. The microcontroller has the capability to communicate via bluetooth or through the 9 pin serial port. Powered by LiPO batteries and voltage regulated to 5V and 3.3V.
Step
1:
Free Standing Robot (mini segway)
This is a mechatronoics project completed at the university of Newcastle by 3rd and 4th students independently. components used are:
Atmel ATMEGA32A micro-controller,
GY-521 6 DOF MPU-6050 Module 3 Axis Accelerometer Gyroscope Module,
HC-05 Bluetooth,
two 12V high power geared DC motor with CPR encoder
Cytron MDD10A dual DC motor driver
The inbuilt state feedback controller will direct the motor drivers to balance the robot in the presence of disturbances of external forces. The microcontroller has the capability to communicate via bluetooth or through the 9 pin serial port. Powered by LiPO batteries and voltage regulated to 5V and 3.3V.
Step
2:
Components
Part Value Device Package Library Sheet
3V3_VOLT_REG 7805TV 7805TV TO220V linear 1
5V_VOLT_REG 7805TV 7805TV TO220V linear 1
BLUETOOTH FE06-1 FE06 con-lsta 1
BTLDR 10-XX B3F-10XX switch-omron 1
C1 4.7u CPOL-EUE2.5-5 E2,5-5 rcl 1
C2 0.1u C-EU025-030X050 C025-030X050 rcl 1
C3 0.1uF C-EU025-030X050 C025-030X050 rcl 1
C4 0.1uF CPOL-EUE2.5-5 E2,5-5 rcl 1
C5 0.1u C-EU025-030X050 C025-030X050 rcl 1
C6 0.1u C-EU025-030X050 C025-030X050 rcl 1
C7 0.1u C-EU025-030X050 C025-030X050 rcl 1
C8 1uF CPOL-EUE2.5-5 E2,5-5 rcl 1
C9 0.1uF CPOL-EUTAP5-50 TAP5-50 rcl 1
C10 0.1uF C-EU025-030X050 C025-030X050 rcl 1
C11 0.1u C-EU025-030X050 C025-030X050 rcl 1
C12 0.1u C-EU025-030X050 C025-030X050 rcl 1
C13 0.1uF C-EU025-030X050 C025-030X050 rcl 1
C14 1uF CPOL-EUE2.5-5 E2,5-5 rcl 1
C15 33p C-EU025-030X050 C025-030X050 rcl 1
C16 33p C-EU025-030X050 C025-030X050 rcl 1
C17 0.1uF CPOL-EUE2.5-5 E2,5-5 rcl 1
C18 4.7u CPOL-EUE2.5-5 E2,5-5 rcl 1
C19 1uF CPOL-EUE2.5-5 E2,5-5 rcl 1
C20 1uF CPOL-EUE2.5-5 E2,5-5 rcl 1
C21 10u CPOL-EUE2.5-5 E2,5-5 rcl 1
C22 0.1u C-EU025-030X050 C025-030X050 rcl 1
C23 1u CPOL-EUE2.5-5 E2,5-5 rcl 1
D1 1N4004 1N4004 DO41-10 diode 1
D2 1N4004 1N4004 DO41-10 diode 1
ENC_1 M04PTH 1X04 SparkFun-Connectors 1
ENC_2 M04PTH 1X04 SparkFun-Connectors 1
IC1 MEGA32-P MEGA32-P DIL40 atmel 1
IC2 MAX232 MAX232 DIL16 maxim 1
J2 M01NOSILK-KIT 1X01NS-KIT SparkFun-Connectors 1
J3 M01NOSILK-KIT 1X01NS-KIT SparkFun-Connectors 1
J4 M07 1X07 SparkFun-Connectors 1
J5 M01NOSILK-KIT 1X01NS-KIT SparkFun-Connectors 1
LED2 LED5MM LED5MM led 1
M_DRIVER M05PTH 1X05 SparkFun-Connectors 1
PWR W237-4 W237-4 con-wago-500 1
PWR_JACK DCJ0303 DCJ0303 con-jack 1
Q1 14.7456MHZ CRYSTALHC18U-V HC18U-V crystal 1
R1 100R R-EU_0207/10 0207/10 rcl 1
R2 100R R-EU_0207/10 0207/10 rcl 1
R3 100R R-EU_0207/10 0207/10 rcl 1
R4 10k R-EU_0207/10 0207/10 rcl 1
R5 4k7 R-EU_0207/10 0207/10 rcl 1
R6 180 R-EU_0207/10 0207/10 rcl 1
R7 10k R-EU_0207/10 0207/10 rcl 1
R8 10k R-EU_0207/10 0207/10 rcl 1
R9 10k R-EU_0207/10 0207/10 rcl 1
R10 4k7 R-EU_0207/10 0207/10 rcl 1
R11 4k7 R-EU_0207/10 0207/10 rcl 1
R12 10k R-EU_0207/10 0207/10 rcl 1
R13 10k R-EU_0207/10 0207/10 rcl 1
R15 10k R-EU_0207/10 0207/10 rcl 1
R16 10k R-EU_0207/10 0207/10 rcl 1
R17 10k R-EU_0207/10 0207/10 rcl 1
R18 10k R-EU_0207/10 0207/10 rcl 1
R19 10k R-EU_0207/10 0207/10 rcl 1
RESET 10-XX B3F-10XX switch-omron 1
S2 320-916 320-916 switch 1
SV1 GYRO/ACCEL FE08-1 FE08 con-lsta 1
SV2 MA08-1 MA08-1 con-lstb 1
SV3 MA08-1 MA08-1 con-lstb 1
SV4 MA08-1 MA08-1 con-lstb 1
X2 F09HP F09HP con-subd 1
X3 2510- 2510- PAK100/2500-10 con-3m 1
Step
3:
Connections
Additional materials not stated on the parts list will need to be incorporated seperately to the PCB.
