University of the East – Caloocan College of Engineering
Electronics and Communications Department
Group Project in Industrial Electronics:
SUMOBOT
Group 4
Perdio, Lejan Daniel I.
Pulayan, John Eric R.
Quitco, Kimberly F.
NEC 428 – 1ECM
Engr. Mark Anthony Aseoche
Descript
ion
As the name suggests, this project imitates the movement of sumo wrestlers. Basically, it has the capability to push other sumobots and remain inside the sumobot arena.
The inputs of the project are the reflective sensors and distance measuring sensors, the controller is the Zilog microcontroller module, and the DC motors represent the output.
Input
The main input of the sumobot is the Sharp’s distance measuring sensor, the GP2Y0A02YK0F sensor.The secondary input is the sensor module which consists of the following components: four QRE1113 reflective sensors, LM324 comparator, and 10kΩ trimmer potentiometer.
The GP2Y0A02YK0F sensor measures the distance of an object on its front, with a decimal value of 0 to 1023. It is placed on the lower front of our sumobot to sense objects on the front. The closer the object is, the larger the value of the measurement. In our program, when the measured distance is greater than 300, the sumobot will attack the opposing bot by making a forward movement.
If the GP2Y0A02YK0F sensor measures a distance less than 300, the secondary input of the project will be responsible for the movement of the sumobot. Two reflective sensors are placed on the front, and two reflective sensors are placed at the back so that the sumobot will remain inside the arena.
The trimmer potentiometer is used to calibrate the four reflective sensors by setting different values of the reference voltage on the comparator IC. The LM324 comparator IC is used to consistently give either a logic 1(positive saturation) or logic 0(negative saturation) on the output of the comparator, depending on the sensing of the reflective sensor. The reference voltage is adjusted so that when the reflective sensor senses black colour, the output on the comparator is logic 1 and the LED indicator is off; when the reflective sensor senses white colour, the output on the comparator is logic 0 and the LED indicator is on.
Controller
The Microcontroller module is the main controller of the project. Its main part is the Zilog Z8F0822 Encore Microcontroller, which is a 28-pin microcontroller IC. The module also consists of the following: a tact switch for reset, an 18.432MHz crystal oscillator for clock, three ports (Ports A, B and C), and others. In addition, the power supply is also located and connected in this module wherein LM7805 is used for a 5-volt supply and RT9163 is used for a 3.3-volt supply. A header and USB are used as an outlet for battery or other kinds of DC supply.
The program is debugged on the Microcontroller module so that specific values from the GP2Y0A02YK0F sensor and sensor module will be given corresponding logic values on the output. All possible logic combinations of the four sensors were listed and given their corresponding output values. These movements are only implemented if the GP2Y0A02YK0F sensor measures a distance less than 300.
Output
The movement of the sumobot is interpreted on the output module, which is the motor driver module and the DC motors. The motor driver module is mainly consists of the L293D motor driver IC. This IC is designed to drive inductive loads such as the DC motor. The L293D is capable of driving two DC motors, namely motor 1 and motor 2. The two motors have three logic inputs, the first two is for inputs 1 and 2, and the third is for the enable input.
The motor driver module has 8 input pins. The first two pins are for the voltage and ground. The next four pins are for the input values on motors 1 and 2 (these are IN1, IN2, IN3, and IN4). The last two pins are for the enable inputs of the two motors.
To make a forward movement, the hexadecimal value assigned on the program is 0x3A or 0011 1010 in binary form. To make a reverse movement, the hexadecimal value assigned on the program is 0x35 or 0011 0101 in binary form. To make the sumobot in rotary movement, the hexadecimal value assigned on the program is 0x39 or 0011 1001 in binary form.
The first number on the hexadecimal value represents the enable inputs of the motor driver. A value of 3 is assigned so that motors 1 and 2 are enabled. The second number on the hexadecimal value represents the inputs of motors 1 and 2. A 01 value on the input will result on a counter clockwise movement of the motor, a 10 value on the input will result on a clockwise movement of the motor, and a 00 or 11 value on the input will stop the motor from running.
In summary, the sumobot’s movement is controlled by the program on the microcontroller module using GP2Y0A02YK0F distance measuring sensor and QRE 1113 reflective sensors as inputs, and motor driver module and DC motors as outputs.
Power Supply
The power supply used for the Microcontroller module is a Lithium Polymer 2-Cell Battery with a 7.4 V output while the power supply used for the motors is a Samsung rechargeable 7.4V battery.
