Reference

The specifications of all the hardware.

Master: Arduino Mega ADK/2560

• Specifications
• Microcontroller: ATmega2560
• Operating Voltage: 5V
• Input Voltage (recommended): 5-23V
• Digital I/O Pins: 54 (of which 14 provide PWM output)
• Analog Input Pins: 16
• DC Current per I/O Pin: 40 mA
• DC Current for 3.3V Pin: 50 mA
• Flash Memory 256 KB of which 8 KB used by bootloader
• SRAM: 8 KB
• EEPROM: 4 KB
• Clock Speed :16 MHz

Use to transfer the date and drive the Bumpers/IR sensors.

DFRduino MEGA ADK

Slaver: Arduino Nano

• Specifications
• Microcontroller: Atmel Atmega328-20AU
• Operating Voltage (logic level): 5V
• Input Voltage (recommended): 7-12V
• Input Voltage (limits): 6-20V
• Digital I/O Pins: 14 (of which 6 provide PWM output)
• Analog Input Pins: 8
• DC Current per I/O Pin: 40 mA
• Flash Memory: 32 KB (of which 2KB used by bootloader)
• SRAM: 2 KB
• EEPROM: 1 KB
• Clock Speed: 16 MHz

Use to drive the motors and with the help of encoder, the motor can do the close loop.

DFRduino Nano V3.1

Motor Control

DC Motor Driver 2×15A – Lite/ Sabertooth dual 12A motor driver

Sabertooth dual 12A motor driver

• Specifications
• Up to 18V in: 12A continuous, 15A peak per channel.
• 24V in: 12A continuous, 25A peak per channel.
• Synchronous regenerative drive
• Ultra-sonic switching frequency
• Thermal and overcurrent protection
• Lithium protection mode
• Input modes: Analog, R/C, simplified serial, packetized serial
• Size: 2.3” x 3” x .7”
• 59 x 75 x 17 mm

Sabertooth dual 12A motor driver

DC Motor Driver 2×15A – Lite

• Specifications
• Input Voltage:4.8-35V
• Maximum output current:[email protected] per channel
• Peak output current:[email protected] per channel
• PWM capability:up to 25 kHz
• Interfaces:4 digital IO(2 PWM output include)
• Driving mode:Dual high-power H-bridge driver
• Other specifications
  • Galvanic isolation to protect the microcontroller
  • Dual current detection diagnostic functions
  • Short circuit, overheating, over-voltage protection
• Size:73x68x14mm

2×15A DC Motor Driver

Motor

12V high quality and quiet DC Motor 146rpm w/Encoder

• Specifications
• Model:28PA51G
• Working voltage:12V
• No load RPM (before gearbox):8000 rpm
• Gear ratio: 51:1
• No load RPM (after gearbox): 146rpm@12V
• No load current: @ 12V: 0.23A
• Stall current:3.6A
• Rated torque @ 12V: 10kg.cm (139oz.in)
• Encoder Resolution: 13 PPR (663 PPR for gearbox shaft)
• Two phase hall encoder
• Size:123x36x36mm
• Weight: 270g

12V high quality and quiet DC Motor

Xbee/Wifi/Bluetooth:

Can be connect on the Master then giving a method to control the HCR by wireless.

IR sensor: Sharp GP2D12

• Specifications
• operating voltage: 4.5 V to 5.5 V
• average current consumption: 30 mA (typical)
• distance measuring range: 10 cm to 80 cm (4" to 32")
• output type: analog voltage
• output voltage differential over distance range: 1.9 V (typical)
• response time: 38 ± 10 ms
• package size: 29.5×13.0×13.5 mm (1.16×0.5×0.53")
• weight: 3.5 g (0.12 oz)

Sharp GP2Y0A21 IR Distance Sensor

Bumper

Use digital pins.

• Specifications
• operating voltage: 4.5 V to 5.5 V
• output type: digital voltage
• size: 105×25×20 mm

More documents

google code