Page 222 - Robot Design Handbook ROBOCON Malaysia 2019

2.2 Electronic Design

2.2.1 Arduino MEGA 2560 (MR1 and MR2)

The Arduino Mega is a micro-controller board based on the ATmega2560. The MR1

and the MR2 each uses this micro-controller because it has 54 digital input/output pins (of

which 14 can be used as PWM outputs), 16 analog inputs, four UARTs (hardware serial
ports), a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a

reset button. It contains everything needed to support the micro-controller [3].

2.2.2 Rotary encoder (C/W COUPLING -500 PPR) MR1

This 500 pulse-per-rotation rotary encoder produces gray code which can be
interpreted using a micro-controller in order to find out which direction the shaft is turning

and by how much. The MR1 uses two encoders for forward/backward and left/right.

2.2.3 Sensor-ultrasonic HC-SR04 MR2

The ultrasonic sensor uses sonar to determine the distance of the robot to an
object. This sensor is used as a signal from a team member without any physical contact or

additional signal transmitter to the MR2 to start the MR2 after a retry and to signal the MR2

to climb the Mountain.

2.2.4 PIXY camera - CMUCam5 SENSOR MR2

The Pixy CMUCam5 also uses hue and saturation as its primary means of image
detection - rather than the normal RGB. This camera is used for the MR2 to detect line, the

Sand Dune, Tussock and Mountain Urtuu at Gobi Area.

2.2.5 Limit Switch MR2

In electrical engineering, a limit switch is a switch operated by the motion of a
machine part or presence of an object. They are used for controlling machinery as part of a

control system, as a safety interlocks, or to count objects passing a point. The limit switch
then regulates the electrical circuit that controls the system to stop the motor when the MR2

moves forward.

2.3 Software Design

2.3.1 Arduino IDE (Integrated Development Environment)

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