Week 4

figure 1: Example block diagram

Discuss about the block diagram of the systems. The system in the block diagram we use a zigbee, micro-controller, forward reverse circuit for motor and the systems for kick the ball.

 figure 2: Zigbee specification

The 802.15.4 standard is used for wireless communication which occurs in 2.40 to 2.48 GHz band in 12 channels at 250 Kbps using an XBee chip. These modules send and receive data to the microcontroller using UART at a baud rate of 57600 bps.

 Figure 3: A block diagram of the robot’s hardware system.

Our main circuit boards use FPGA to local feedback control loop. A PI algorithm drives all motors with a suitable PWM signal. Each EC-45 motor has an encoder which generates the feedback signal with a maximum error rate of 1 degree on the wheel. The motors are driven using L6235 chip.