RoboTronix

User Manual

User Manual

II

About the User Guide

RoboTronix is a workshop especially designed for newbie's and robotics enthusiasts

of all disciplines from diploma institutes to Engineering Colleges of all the branches

like Electronics, Telecommunication, Mechanical, Computer-science, Production,

Instrumentation and Metallurgy etc.

Using this kit, students could learn the working principle of various electronic

components from resistors to integrated circuits. They can design different types of

sensors, motor drivers as well as following types of robots:

IR-Wireless controlled.

Line follower.

Obstacle avoider.

Object follower.

Photophobic.

Phototropic.

Wall Follower.

Fire fighter.

2 wheel self balancing.

Sumo Fighter.

All these robots can be built with the help of a main board provided with this kit. The

main board is designed using basic electronic components like resistors, capacitors,

logic gates and switches.

PROPRIETARY NOTICE

This document contains proprietary information furnished for evaluation purposes only; except with the express written permission of

Technophilia, such information may not be published, disclosed, or used for any other purpose. You acknowledge and agree that this document and

all portions thereof, including, but not limited to, any copyright, trade secret and other intellectual property rights relating thereto, are and at all

times shall remain the sole property Technophilia and that title and full ownership rights in the information contained herein and all portions thereof

are reserved to and at all times shall remain with Technophilia. You acknowledge and agree that the information contained herein constitutes a

valuable trade secret of Technophilia. You agree to use utmost care in protecting the proprietary and confidential nature of the information

contained herein.

User Manual

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Contents

1. ROBOTRONIX PACKAGE CONTENT ......................................... 1

1.1MAIN BOARD:............................................................................... 1

1.2 IR WIRELESS REMOTE (TRANSMITTER):................................ 3

1.3 MPOS (MULTI PURPOSE OPTICAL SENSORS): ................................... 4

1.4 OBSTACLE SENSOR: ................................................................... 5

1.5 COMPONENT BOX: ........................................................................... 6

1.6 GENERAL PURPOSE ROBOTIC VEHICLE CHASSIS: .............................. 6

1.7 TWO WHEEL SELF BALANCING CHASSIS: ............................................ 7

1.8 CENTRE SHAFT DC GEARED MOTOR:................................................. 7

1.9 SMALL WHEELS: .............................................................................. 7

1.10 BIG WHEELS: .................................................................................. 7

1.11 CASTER: ........................................................................................ 7

1.12 BATTERY (12 VOLT): ..................................................................... 7

1.13 BATTERY (9V): .............................................................................. 7

1.14 BATTERY CONNECTOR (12V): ........................................................ 7

1.15 BATTERY SNAPPER: ........................................................................ 7

1.16 SCREWS AND NUTS: ........................................................................ 7

1.17 SCREW DRIVER : ............................................................................. 7

2. IR-WIRELESS CONTROLLED : .................................................... 8

2.1. DESCRIPTION: ................................................................................. 8

2.2. CONFIGURATION: ............................................................................ 9

3. LINE FOLLOWER ......................................................................... 10

3.1. DESCRIPTION: ............................................................................... 10

3.2. CONFIGURATION: .......................................................................... 10

3.3. WORKING: .................................................................................... 10

4. OBSTACLE AVOIDER .................................................................. 11

4.1. DESCRIPTION: ............................................................................... 11

4.2. CONFIGURATION: .......................................................................... 11

4.3. WORKING: .................................................................................... 11

5. OBSTACLE FOLLOWER .............................................................. 12

5.1. DESCRIPTION: ............................................................................... 12

5.2. CONFIGURATION: .......................................................................... 12

5.3. WORKING: .................................................................................... 12

6. PHOTOPHOBIC ............................................................................. 13

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6.1. DESCRIPTION: ............................................................................... 13

6.2. CONFIGURATION: .......................................................................... 13

6.3. WORKING: .................................................................................... 13

7. PHOTOTROPHIC .......................................................................... 14

7.1. DESCRIPTION: ............................................................................... 14

7.2. CONFIGURATION: .......................................................................... 14

7.3. WORKING: .................................................................................... 14

8. FIRE FIGHTER .............................................................................. 15

8.1. DESCRIPTION: ............................................................................... 15

8.2. CONFIGURATION: .......................................................................... 15

8.3. WORKING: .................................................................................... 15

9. TWO WHEEL BALANCING ......................................................... 16

9.1. DESCRIPTION: ............................................................................... 16

9.2. CONFIGURATION: .......................................................................... 16

9.3. WORKING: .................................................................................... 16

10. WALL FOLLOWER ..................................................................... 17

10.1. DESCRIPTION: ............................................................................. 17

10.2. CONFIGURATION: ........................................................................ 17

10.3. WORKING: .................................................................................. 17

11. SUMO FIGHTER .......................................................................... 18

11.1. DESCRIPTION: ............................................................................. 18

11.2. CONFIGURATION: ........................................................................ 18

11.3. WORKING: .................................................................................. 18

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1. RoboTronix Package Content

Sr. No Product Quantity

1. Main board(812320) 1

2. IR remote control(812420) 1

3. Multi Purpose Optical Sensors(812810) 2

4. Obstacle sensor(812820) 2

5. Component box 1

6. General purpose robotic vehicle chassis 1

7. Two wheel self balancing chassis 1

8. Centre shaft DC geared motors, 30rpm 1

9. Small wheels 2

10. Big wheels 2

11. Caster 1

12. 12 volts 1.2 Amp Lead acidic battery 1

13. 9 Volt 6F22M Battery 1

14. 12 V Battery connector 1

15. Battery Snapper (Battery Caps) 1

16. Spacers, Nuts and Bolts -

17. Screw driver 1

1.1MAIN BOARD:

This board is the brain of the RoboTronix kit. The major components used on the

circuit board are Motor driver IC - L293D, Decoder IC - HT12D, NOT gate IC -

74LS04, IR Receiver module, Buzzer and DIP switches.

L293D is a monolithic integrated high voltage, high current four channel driver

designed to drive inductive loads (in our case a DC motor). It provides sufficient

current to motors for them to run.

HT12D is a decoder IC used to decode the signal received from transmitter. For

proper operation in between a pair of transmitter and receiver and to avoid jamming

proper address setup should be done. A decoder only accepts the signal sent by an

encoder having same address configuration and rejects all other signals.

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Fig (4) – Block Diagram of Main board

Explanation:

IR Receiver:-It basically contains of an IR receiver module. It receives the signal

transmitted by the wireless remote (transmitter) filters it, amplifies it and sends it to

the decoder unit.

Decoding unit: - This unit consists of a decoder IC HT12D and some components

like resistors, capacitors and crystal. It receives the signal sent by the IR Receiver

Unit, reads it, checks the address three times, if the address is matched it is considered

as a valid transmission and the data sent by the transmitter is presented on its four data

out pins else the signal is considered as an invalid signal and rejected.

Blue DIP switch1:-This is a part of decoding unit and is used to set adders.

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Blue DIP switch2:-This switch can be used in two ways. 4 channels of this unit can

be use to rotate the two motors in any direction directly only by configuring them.

Another 4 channels of this switch provides a link between the motor driver and the

decoder unit. If it is needed to control the robot through remote control these 4

switches must be activated.

Six pin berg strip:-This is a combination of three 6 pin berg strips used to connect

sensors. It provides a direct interface between sensors and motor driver.

Four pin berg strip:-This is a combination of three 4 pin berg strips use to connect

sensors. It provides an interface between sensors and motor driver through a NOT

gate.

Two pin berg strip:-This is a combination of three 2 pin berg strips connected with a

transistor and a resistor, used to connect sensors. It provides an interface between

sensors, buzzer and motor driver.

NOT gate:-This unit receives signal sent by the sensors inverts it and sends them to

the driving unit.

Red Dip switch:-This switch does three jobs:

It connects the driving unit with the NOT gate.

It connects the VT (Valid Transmission) pin of decoding unit with the driving unit

in order to prevent the robot from moving out of range.

It connects the driving unit with two pin berg strips with a transistor.

Driving unit: - This unit consists of a motor driver IC L293D which reads the

instructions given to it and drives the motors accordingly.

Motors:-These are also called actuators or the end effectors of a robot, which

converts the electronic signals to a mechanical signal and gives motion to the robot.

Buzzer:-This is another type of end effecter which gives an audible response.

1.2 IR WIRELESS REMOTE (TRANSMITTER):

The wireless remote as name implies is used to control the robot manually. The main

component used on the remote board for wireless communication is an IC (HT12A).It

is an encoder IC. It converts the parallel data to be sent into its equivalent serial form

and sends it through IR Transmitter.

Figure below shows the circuit diagram for an IR wireless remote (transmitter).

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Fig (3) - Circuit for Wireless Remote.

Explanation:

Pin number 1 to 8 of HT12A acts as address pins. An 8 channel SPST DIP switch is

connected to set the address. The address of transmitter should be set using this DIP

switch. The same kind of switch is there on main board also using which the address

of the main board should be set in order to receive the signal transmitted from remote

control. Pin number 10 to 13 are data input pins. There are four switches connected to

these data inputs. Using these switches commands should be given to the robot to

move in a particular direction. Whenever a switch is pressed, corresponding signal is

transmitted using an IR LED. The IR LED is connected to pin no 17 (data out pin)

through a NPN transistor. Pin no 14 (L/MB) is grounded to assure momentary

transmission of the signal. A crystal is connected between pin no 15 and 16 for

generating timing information.

1.3 MPOS (Multi Purpose Optical sensors):

This is basically an optical sensor which can be configured as a light sensor, fire

sensor, obstacle sensor or as a line sensor. To use it as a light sensor, the red LEDs

connected to it should be covered.

This sensor works on the principle of intensity of light. It consists of three major

components. The first is a high intensity Red LED (the transmitter), second is a photo

transistor (the receiver) and third is a comparator IC (LM358).

When used as a light sensor high intensity red LED is not used. It only measures the

amount of light falling on it through external source. Similarly when it works as a fire

sensor it basically detects the intensity of IR rays falling on it because fire emits IR

rays. When it works as a line sensor a high intensity red LED is used as a source

(transmitter) of light in order to avoid ambient light effects. The sensor measures the

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intensity of light reflected back from a light or dark line. Likewise the obstacle sensor

also works on the principle same as of line sensor.

Figure below shows the circuit diagram for the MPOS.

Fig (1) – Circuit of MPOS

Explanation:

In this circuit LM358 IC is used as a comparator. An input signal detected by photo

receiver (photo transistor) is given to the non-inverting (+) input terminal of

comparator while the inverting (-) input terminal is given a reference voltage with the

help of potentiometer. The comparator is used in non inverting mode i.e. when

voltage at non-inverting terminal falls below reference voltage, the output becomes

low. The reference voltage can be adjusted using a potentiometer.

Initially the comparator output is set high by keeping voltage at non-inverting

terminal above reference voltage.

When the sensor is on the white surface the photo transistor receives more light and

turns on so voltage at non-inverting input terminal decreases. Hence the output

becomes low. And the indicator LED on the sensor board glows.

Whereas when the sensor is on the black surface ideally less light is received by photo

transistor and it remains off so the voltage at non inverting input of op-amp is greater

than that of reference voltage at inverting input. So the output of comparator goes

high.

1.4 OBSTACLE SENSOR:

When an autonomous robot is designed to detect hurdles (e.g. wall or any object) in

its path, an obstacle sensor is used. It consists of three major components:

An Infra-Red (IR) Transmitter - IR LED

An Infra-Red Receiver module

A Timer - IC 555.

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Figure below shows the circuit diagram for an obstacle sensor.

Fig (2) – Circuit of Obstacle sensor

The major distinction between ordinary LED and IR LED is that IR LED emits

Infrared rays, which we cannot see by our naked eyes.

IR receiver module requires the incoming signal to be modulated at a particular

frequency and would ignore all other signals. It is also immune to ambient IR light.

They are available for different carrier frequencies from 30 kHz to 56 kHz.

IC 555 is a Timer IC using which we are modulating the transmitted signal, i.e. we are

generating sequence of square wave pulses. It is configured in astable mode to

generate the square wave signal at particular frequency.

Explanation:

A constant stream of square wave pulses is generated using IC555 centered at

particular frequency. This is used to drive an IR LED. Whenever this modulated

signal is detected by receiver it changes its output. The data pin of TSOP is generally

high. When TSOP receives the reflected pulses it makes the data pin low.

1.5 Component Box:

This box contains various electronic components like resistor, capacitor, LEDs,

relays, transistor, connecting wires, PCB etc.

1.6 General Purpose Robotic Vehicle Chassis:

This is a black colored chassis use to mount motors, battery and circuit boards to build

different types of robotic vehicles.

1

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1.7 Two wheel self balancing chassis:

This chassis is used for making two wheel self balancing robot with big wheels.

1.8 Centre shaft DC geared motor:

DC geared motors are used to drive the wheels. The speed of the DC geared motor is

30 R.P.M. and its torque is up to 2Kg/cm2 at 12V DC.

1.9 Small Wheels:

Small wheels are used along with black chassis.

1.10 Big wheels:

Big wheels are used for making two wheel self balancing robot.

1.11 Caster:

It is used to provide 360° of rotation and is to be mounted on black chassis.

1.12 Battery (12 Volt):

A 12 Volt 1.2 Ampere-Hour sealed lead acid battery is used to power the main board,

sensors and motors.

1.13 Battery (9V):

A 9V battery is used to power the transmitter board (remote).

1.14 Battery connector (12V):

It is used to connect the battery to main board.

1.15 Battery snapper:

This is used to connect 9V battery to any circuit.

1.16 Screws and nuts:

Screw and nuts are given for mounting the main board and sensors.

1.17 Screw driver :

It is provided to vary the potentiometer on sensors for adjustment of sensors.

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2. IR-Wireless Controlled :

The term "infrared" refers to a broad range of frequencies, beginning at the top end of

those frequencies used for communication and extending up the low frequency (red)

end of the visible spectrum. The wavelength range is from about 1 millimeter down to

750 nm. The range adjacent to the visible spectrum is called the "near infrared" and

the longer wavelength part is called "far infrared".

2.1. Description:

The wireless robot is a manually controlled robot in which there is no physical

connection between remote and the robot. Receiver is mounted on the robot while

Transmitter is on the remote. With the help of transmitter and receiver circuit we will

transfer commands from the remote to the robot and control the movement of robot in

different directions. The transmission is done with the help of IR. When the remote

switch is pressed and when the addresses on transmitter and receiver are matching,

particular data pattern will be received on the receiver.

Fig (5) - circuit diagram of Transmitter

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Fig (6) – circuit diagram of Receiver

2.2. Configuration:

Step 1: On the main board keep all switches of Blue DIP switch 1 off for addressing

purpose. Do the same arrangement of switches on the DIP switch on transmitter. (You

can make any combination of address, but the same should be made on the transmitter

& receiver).

Step 2: Lower 4 switches of Blue DIP switch 2 are connected to HT12D so keep the

upper 4 switches at off position and lower 4 switches at on position.

Step 3: On Red DIP switch keep all switches OFF. If you want to use valid

transmission feature, switch ON the second and second last switch.

Step 4: Now press the switch on the remote to give commands to the robot to move.

The movement of robot will be decided by which particular switch you are pressing.

2.3. Working:

When both the addresses are matched and if the switch is pressed then there will be

valid transmission of signal from transmitter to receiver. IR receiver will receive the

signal and will send it to HT12D. It will separate out the signal from the received data

pattern and send it to the data out pins. The data out pins are connected to input of

L293D. VT (Valid Transmission) pin of HT12D is connected to Red DIP switch.

When valid signal is not received, VT pin goes low. This makes the motor driving

unit to be disabled so as not to drive the motors when it moves out of range.

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3. Line Follower

3.1. Description:

As the name suggests robot in this mode will follow a white line on black surface.

Generally line follower is made using microcontroller. But in RoboTronix workshop

we will make a line follower without using any microcontroller. Instead we will use

logic gates and basic electronic components.

Fig (7) - Circuit diagram of main board for line follower

3.2. Configuration:

Step 1: Configure pins 5, 6, 7, 8 of DIP switch 2 as “1010” so as to make the robot to

move in forward direction (1-High 0-Low) and other pins OFF.

Step 2: Connect 2 line sensors on 6 pin berg strip on pins EN1 and EN2.

Step 3: Keep all switches on Red DIP switch OFF.

Step 4: Configure the sensor with the help of potentiometer (preset) on the sensor

boards.

When white line is detected the Indicator LED on sensor board will glow otherwise it

will be off.

3.3. Working:

Line sensors which are connected on 6 pin berg strip will enable or disable output of

L293D i.e. EA and EB will become high or low. Normally the data pin of the sensor

is high and when white line is detected indicator red led will be ON and data pin will

be low. There are two H Bridges in L293D A and B. Enable pin is used to select

either of the bridge. On sending high, particular bridge is selected. We will receive

data from sensor as high or low. Depending upon the data received, particular H

Bridge will be selected and respective motor will run. We have arranged the switches

in a 1010 combination so that they run forward in default case, when neither sensor is

activated.

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4. Obstacle Avoider

4.1. Description:

In obstacle avoider mode a robot will sense the barrier in its path and will change the

path accordingly.

Fig (8) - Circuit diagram of main board for obstacle avoider

4.2. Configuration:

Step 1: Configure pins 5, 6, 7, 8 of DIP switch 2 as “1010” so as to make the robot to

move in forward direction (1-High 0-Low) and other pins OFF.

Step 2: Connect 2 Obstacle sensors on EN1 and EN2 pins of 6 pin berg strip, such

that left sensor is connected to EN1 and right sensor is connected to EN2.

Step 3: Keep all switches on DIP switch 3 at off position.

Step 4: Adjust the range of the sensor with the help of potentiometer (preset) on the

sensor board. When the obstacle is detected the indicator LED should glow otherwise

it remains off.

4.3. Working:

By configuring Blue DIP switch 2 we are running our robot in forward direction. Two

sensors which are connected on berg strip will make enable pin of L293D high or low.

There are two H Bridges in L293D i.e. A and B. Enable pin is used to select either of

the bridge. On sending high, particular bridge is selected. Similarly we will receive

data from sensor as high or low. Depending upon the data received particular H

Bridge will be selected and corresponding motor will be moved in forward direction.

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5. Obstacle Follower

5.1. Description:

In obstacle follower robot, the robot will sense the obstacle and will follow it when

the obstacle moves.

5.2. Configuration:

Step 1: Keep all switches of Blue DIP switch 1 and Blue DIP switch 2 at OFF

position.

Step 2: Connect 2 Obstacle sensors on D0 and D2 pins of 6 pin berg strip, such that

right sensor is connected to D0 and left sensor is connected to D2.

Step 3: Follow the same procedure to configure the sensor as mentioned above in

obstacle avoider mode (step 4).

5.3. Working:

Two sensors are connected on 6 pin berg strips. The data pin of obstacle sensor is

normally high. That data will drive our motors as the data to motor driver will be

1010. Now whenever any sensor (left/right) detects an obstacle that will produce a

low output and corresponding motor will not be driven while other motor will move

causing the robot to move towards obstacle. When obstacle moves the robot will

follow that and if obstacle is removed it will follow its straight line motion.

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6. Photophobic

6.1. Description:

The word “phobia” means “to be afraid of “ or “fear of”. In photophobic mode our

robot will sense the light and will try to move away from light.

6.2. Configuration:

Step 1: Configure the MPOS as light sensor.

Step 2: Make all switches on DIP switch 1 and DIP switch 2 OFF.

Step 3: Make the centre 4 switches on Red DIP switch ON.

Step 4: Connect 2 light sensors on D1 and D3 pins of 4 pin berg strip, such that right

sensor is connected to D1 and left sensor is connected to D3.

Step 5: Follow the same procedure to configure the light sensor as mentioned above

in Obstacle Avoider mode (step 4).

6.3. Working:

We have connected light sensors to 7404 NOT gate. Correspondingly we have

connected the output of NOT gates to the motor driver using Red DIP switch. The

output of sensor goes low when light falls on it. That means the output of 7404 will be

high for corresponding pin. We have to connect sensor in such a way that when light

falls on it, L293D should move the motors in reverse direction.

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7. Phototrophic

7.1. Description:

In phototropic mode a robot will sense the light and will move towards the light.

7.2. Configuration:

Step 1: Configure the MPOS as light sensor.

Step 2: Make all switches on Blue DIP switch 1 and DIP switch 2 OFF.

Step 3: Connect light sensor on D0 and D2 pin of 4 pin berg strip.

Step 4: Follow the same procedure to configure the light sensor as mentioned above

in Obstacle Avoider mode (step 4). The output of sensor will be low when indicator

LED glows.

7.3. Working:

We have connected light sensors to 7404 NOT gate. The output of sensor goes low

when light falls on it. That means the output of 7404 will be high for corresponding

pin. We have to connect sensor in such a way that when light falls on it, L293D

should move the motors in forward direction.

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8. Fire Fighter

8.1. Description:

In this mode our robot will buzz when it detects fire. We will control our robot using

IR remote.

8.2. Configuration:

Step1: Configure the MPOS as fire sensor.

Step2: Make the four higher pins of DIP switch 2 OFF and all lower switches ON.

Step3: Connect a fire sensor on 2 pin berg strip.

Step4: Cover the LED on fire sensor with insulation tape so that its light won’t affect

the transistor.

Step5: Configure the sensor as per requirement with the help of potentiometer

(preset).

8.3. Working:

We are manually controlling our robot with the help of IR remote. When the robot

will detect fire in its way, it will stop moving even if we give commands through

Remote. Fire also emits Infrared signals hence when the fire is detected the data pin of

sensor goes low. This makes PNP transistor ON. The transistor is used as a switch and

sound is produced from buzzer.

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9. Two Wheel Balancing

9.1. Description:

These are known as self balancing robots having capability of balancing the whole

body on two wheels.

9.2. Configuration:

Step1: Keep Blue DIP switch 1 and Blue DIP switch 2 OFF.

Step2: Short two motors i.e. connect the positive terminal (red wire) of one motor to

the negative terminal (black wire) of another. When supply is given to both the

motors they should run in same direction.

Step 3: Place obstacle sensors on the front and back side of chassis.

Step 4: Adjust sensor in such a way that when robot tilts indicator red LED should

glow.

Step 5: Connect the motor wires to the green connectors near the motor driver IC

L293D. Connect one pair of wire to green connector 3 and other pair of wire to green

connector 2.

Step 6: Connect obstacle sensors to D2 and D3 pin of 4 pin berg strip near the NOT

gate IC.

9.3. Working:

When the robot starts falling in one direction the sensors connected to that side is

activated and rotates the wheels in same direction so as to balance the robot.

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10. Wall Follower

10.1. Description:

In this mode a robot will first move towards the wall and then it will follow a wall

keeping a safe distance between wall and itself.

10.2. Configuration:

Step1: Connect one obstacle sensor on D2 pin of 6 pin berg strip.

Step2: Connect another obstacle sensor on D0 pin of 4 pin berg strip.

Step3: Keep only 3 and 4 pin of Red DIP switch ON.

10.3. Working:

Sensor that is connected on 6 pin berg strip will control only one motor where as the

other motor is controlled by Sensor connected on 4 pin berg strip. We have adjusted

sensors in such a way that one sensor will make the motor to move towards wall while

other will try to move away from wall. By doing this our robot will not move away

from wall or dash to wall. This is how our robot will follow the wall.

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11. Sumo Fighter

11.1. Description:

In Sumo Wrestling mode, a robot will always try to be inside wrestling ring at the

same time if it detects another robot it will move towards the robot trying to push that

robot outside the ring.

11.2. Configuration:

Step1: Connect two obstacle sensors on D0 and D2 pins of 6 pin berg strip.

Step2: Connect the two line sensor on EN1 and EN2 pins of 6 pin berg strip, such

that the line sensor of left side is connected to EN1 and the line sensor of right side is

connected to EN2.

Step3: Keep all switches of Red DIP switch OFF.

11.3. Working:

Obstacle sensors which are connected on data pins of 6 pin berg strip will control the

movement of the robot towards the other robot. Whenever it finds an obstacle it will

turn off one of the motors and move itself towards that obstacle with the intention of

pushing the obstacle out of the wrestling ring. The line sensors will see to it that the

robot stays within the ring. When the robot senses the boundaries of ring it will try to

move away from the line and the robot will stay within the ring.

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Other work shops conducted by us

Robokriti

Robotronix

Autobotz

Arthrobotix

Mission micro mouse

ARESD

Contact details

Head office |

B-52, Veera Industrial Estate,

Opp. Monginis factory,

Near Fame Adlabs,

New Link Road,

Andheri, West

Mumbai-400053

Contact Numbers |

022-42461000

Web site |

www.technophilia.co.in

Email |

info@technophilia.co.in