Page 321 - Robot Design Handbook ROBOCON Malaysia 2019

2.2 Electronics and Programming

For the electronics part, the component that we used to move the robot’s leg is

Analog Servo – HD-1501MG with 60 g of weight and the stall torque is 17 kg/cm. In order
to make the robot able to turn left, the turning process will make the left leg takes a small

step while the right leg takes a huge step, and vice versa. For the part where the robot throws
the Shagai, the component used is a DC Motor. Each of the components used is powered

and supplied by a 7.4 V 2200 mAh battery. The connection synmethic only involves the
MR1 and the MR2. For the MR1, cable connection control is used in order to prevent noise

of “wireless” (interference occurs).

For the MR2, the components that involved in the integration process consists of

eight units for analog Servo ( 17 kg/cm of torque, weigh 60 g, supply voltage of 6.0 V ),

eight units of battery ( 7.4 V 2S 2C 2200mAh ), 50 units of jumper wire ( Male to Female
type ), one unit of Arduino Mega, one unit of breadboard and one unit of protoboard. In the

programming part, Pixy for image processing is used for the first trial, with consideration
of outer noise effect of image processing. However, due to imminent reasons, changes were

made to hard-coding with trial and error method. Figures 5 and 6 show the schematic
diagram for the MR1 and the MR2, respectively.

3.0 SCHEMATIC DIAGRAM FOR MR1 AND MR2

Figure 5 Schematic diagram for the MR1

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