Robotics Technologies microBus-Cam II Instrukcja Użytkownika Pobierz pdf (Strona 11)

Development of Mobile Robot Based on I

C Bus System

203

The AMRO is driven by two wheels and a caster powered by an MD25 Dual 5A controller.

The MD25 motor driver is designed with 12v battery, which drives two motors with

independent or combined control as shown in Fig. 18.

Fig. 18. The MD25 motor driver integrated on AMRO

It reads motors encoders and provides counts for determining distance traveled and

direction.

Motor current is readable and only 12v is required to power the module. Onboard

5v regulator can supply up to 1A peak, 300 mA continuously to external circuitry Steering

feature, motors can be commanded to turn by sent value.

Fig. 19. The CM02 Radio communications module integrated on AMRO

The CM02 Radio communications module as shown in Fig. 19 works together with its

companion RF04 module from a complete interface between PC and I

C devices.

The

commands can be sent to the robot and receive telemetry data back up to the PC.

The CM02

module is powered from battery, which can be anything from 6-12v. There are four I

connectors on the CM02, but it is not limited to four I

C devices. The CM02 radio module

provides communication with an RF04 module connected to the PC’s USB port. It also

provides the MD25 and I

C devices with 5v supply from its on-board 5v regulator. The

AMRO is powered by battery which goes to the CM02 module and also to the MD25 for

motor power. All of the modules are connected together with a four wire I

C loop, which are

5v, 0v, SCL and SDA lines. The PC can now control robot’s motors and receive encoder

information from AMRO.

That means the PC now becomes the robot’s brain as shown in

Fig.20.

www.intechopen.com

1 2 ... 6 7 8 9 10 11 12 13 14 15 16 ... 22 23

Brak uwag

Robotics Technologies microBus-Cam II Instrukcja Użytkownika Strona 11