Boyan Mirov
Control a robot with two motors and two servos to pick up ping pong balls via bluetooth
Dependencies: mbed Servo 4DGL-uLCD-SE Motor
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Homepage
This project's purpose is to create the machinery and controls necessary to make a robot pick up and deposit ping pong balls as part of the Ping Pong Collection Game.
Linked Project
This project was created in tandem with the Object Counter. While it is certainly viable on its own, it's primary purpose is only served when using both programs on separate MBEDs.
Installation¶
To create this, you'll need the following parts:
- LPC1768 MBED
- 2x Motor
- Servo
- Sub-Micro Servo
- Robot Construction Set
- 2x Power Adapters
- Dual H Bridge Inverter
- Bluetooth LE UART friend
Use the following tables to connect the system to your MBED:
Motors¶
| MBED | H Bridge | Left Motor | Right Motor |
|---|---|---|---|
| Gnd | Gnd | Gnd | Gnd |
| +5V | VMOT | ||
| +3.3V | VCC | ||
| +3.3V | STBY | ||
| p21 | PWMA | ||
| p15 | AIN1 | ||
| p19 | AIN2 | ||
| p22 | PWMB | ||
| p18 | BIN1 | ||
| p16 | BIN2 | ||
| A01 | + | ||
| A02 | - | ||
| B01 | + | ||
| B02 | - |
Servos¶
| MBED | Servo (Arm) | Servo (Handle) |
|---|---|---|
| Gnd | Gnd (black) | Gnd (black) |
| +5V | + (red) | + (red) |
| p23 | CTRL (yellow) | |
| p24 | CTRL (yellow) |
Power Adapters¶
Power Coupling
Because of the way servos and motors interact with the power received, connecting them both to the same circuit can cause undefined (and often unexpected) behavior. As such, it is recommended to ensure that they are always on separate systems. In other words, we recommend connecting the servos to a secondary power supply, different from the supply for the motors.
This guide follows this recommendation
Bluetooth¶
| MBED | Bluetooth UART LE |
|---|---|
| Gnd | Gnd |
| +5V | +5V |
| Gnd | CTS |
| p27 | TXO |
| p28 | RXI |
Demonstration¶
Here is a picture of the finished robot:
And here is a demonstration: