Anish Kirloskar Hannan Shaikh Pushkar Mahajan Omkar Karmalkar Project Presentation ECE-511 ,Fall 2013 George Mason University
Anish Kirloskar Hannan Shaikh
Pushkar Mahajan
Omkar Karmalkar Project Presentation ECE-511 ,Fall 2013 George Mason University
Motivation
• To build a robot car that would be fun to make and the
result would be a cool toy using MSP430
microcontroller.
• Instead of the usual remote controlled car we have
made a autonomous obstacle avoidance car.
Overview
Detect obstacle using IR sensors mounted on the front
section of the robot.
Based on the output of the IR transceiver, the
microcontroller takes the necessary action.
Block Diagram
Schematic Diagram
PCB Layout
Hardware Description
Components used :-
Transceiver pair
IR LED
TSOP 1738
H Bridge – L293D
DC Motor
Servo Motor
IR LED
IR LED transmits IR pulses with
38 KHz frequency which reflect
back if the obstacle is present.
This 38 KHZ frequency with 50%
duty cycle is provided using timer
interrupt of MSP 430. IR-LED
TSOP 1738 TSOP1738 detects the reflected
pulses from obstacle and alerts the MSP430.
TSOP 1738 is active low i.e. it gives low signal on its output pin when it detects 38KHZ of IR pulse.
Key features of TSOP1738
• Photo-detector & preamplifier in one package.
• High immunity against ambient light.
TSOP 1738
H-Bridge L293D
IC L293D provides H-Bridge
functionality.
Basically used for driving DC
Motors coupled with rear wheels.
6 volts is supplied using 4 ‘AA’
batteries.
Key Features:-
1. Boost current to drive motor.
2. Used for clockwise & counter-
clockwise rotation of DC motor.
Geared DC Motor
Interfaced with MSP430 through H-bridge
IC L293D
Coupled with rear wheel to drive car.
Specification:
1. 6V DC.
2. 160 mA.
3. 100 RPM.
Servo Motor(Tower-pro MG-995)
It is used for steering purpose .
Interfaced with MSP430 through General
Purpose Input Output.
Specification:
1. Operating voltage: 4.5 to 6 V.
2. Gear Type: Metal.
3. Rotational Range: 180°.
4. Pulse Cycle: 20 ms.
5. Pulse Width: 1000-2000 µs
6. Pulse Width of 1500 us for neutral
position.
Timing Diagram
Software
Timer Interrupt for IR LED (38 kHz)
Task Division Anish : Hardware assembly & integration.
Pushkar: Hardware & PCB designing.
Omkar: Firmware coding and Testing.
Hannan: Sensor & motor testing, interfacing.
RESULTS Timer interrupt for IR pulse generation.
Obstacle detection using IR transceiver.
Servo mechanism using PWM.
Steering system using Lego and Servo.
Demonstration
Thank You!