GT ECE 4180 Spring 2017 (Lab 4)

• craslawski3
• jplager3

Materials

• ARM Mbed
• SD Card Reader
• H-Bridge
• 2x DC Motors
• Speaker w/ Transistor
• IR Sensor w/ 10 uF Decoupling Capacitor
• uLCD Screen
• Battery pack w/ 4 AA batteries
• Mobile phone charger pack
• Power jack

Behavior

This Roomba emulator makes vacuum sounds out of its speaker as it drives forwards. When it detects an object in front of it with its IR sensor, it stops driving and simultaneously backs up and makes a beeping noise. After reversing for a second, the robot turns and continues vacuuming in its new direction. uLCD Screen displays the status of the Roomba as it vacuums: either it is okay and can vacuum or it is about to collide and it responds appropriately.

Pins

SD Card Reader

• DO = p6
• GND = Gnd
• SCK = p7
• VCC = 3.3V
• DI = p5
• CS = p8

H-Bridge

• VM = 5v ext
• VCC = 3.3v
• GND = gnd
• A01 = Left motor -
• A02 = Left motor +
• B02 = Right motor +
• B01 = Right motor -
• PWMA = p21
• AIN2 = p14
• AIN1 = p13
• STBY = pullup
• BIN1 = p11
• BIN2 = p12
• PWMB = p22

uLCD Screen

• 5v = VU
• TX = p27
• RX = p28
• GND = gnd
• RES = p30

IR Sensor

• Vin = VU
• GND = gnd
• AnalogOut = p20

Speaker

• Base = p18
• Collector = Speaker+
• Emitter = Base See https://developer.mbed.org/users/4180_1/notebook/using-a-speaker-for-audio-output/ for info on driving a speaker with a transistor

Video