Page 202 - Robot Design Handbook ROBOCON Malaysia 2019

Figure 2: Block diagram of the MR2 robot

For the MR2, we also use STM32F407VG as main processor in our main-board and

robot navigation system. H-Bridge power distribution module which is connected to the
main-board is used to control all motors through motor driver. Motor driver is equipped with

an emergency button to enable power cut-off to the motor when the emergency button is
pressed.

Analog sensors, laser sensors, ultrasonic sensors, limit switches, inertial
measurement unit and external encoders are used for more accurate positioning. The sensors

send data to the main-board. Some of the external encoders are connected to the robot
navigation system. Mode selector is used to signal the main-board so that we can select the

mode. LED indicator connected to the mainboard is used to indicate the condition of the

robot.

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