Page 243 - Robot Design Handbook ROBOCON Malaysia 2019

All three boards are mounted on the (perspex) before being fitted in the centre of the

MR1 body. This will provide a stable structure to the design. A 24 V power supply is used
to power up the motor shield board as well as the three wheels of the MR1 robot. A 7.4 V

power supply is used to power up the PS2 controller. Four motor shields of SHIELD-MD10
R2 are used in the MR1; three of which are used to programme the omni-wheels and the

fourth is used for the ps2 controller. The main board of the MR1 is the Nucleo board

(NUCLEO F412ZG). A custom-made board that is connected to the top of the Nucleo board
is to connect the main board with the four motor shields that are used in the MR1. The third

board is also a custom-made board that acts as the supply power gate to the motor shields
and the Nucleo board. The board is equipped with the on and off switches.

For the MR2, there is a Lipo RC battery of 900 mAh 7.4 V 25 C to power up the
Arduino mega board. A battery to supply power for two servo motors is connected to the

MR2 legs. We also use a limit sensor to detect barrier while the robot is moving. The MR2
is also equipped with an MPU6050 Gyro Sensor to allow it to spin rapidly about an axis.

The orientation of the axis is not affected when tilted. Therefore, the gyroscopes can be used

to provide stability or to maintain a reference direction in a robot navigation systems.

An Arduino Mega 2560 R3-Main board has been selected as the micro-controller

for the MR2. 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 every thing needed
to support the micro-controller; simply connect it to a computer with a USB cable or power

it with a AC-to-DC adapter or battery to get started. The Mega is compatible with most
shields designed for the Arduino Duemilanove or Diecimila.

2.5 Programming of the Robot

Figure 7 shows the flow-chart of the programme.

239