WEEk 9

Methodology

Micromouse component parts:

1.  High Torque Bipolar Stepper Motor

High torque Bipolar Hybrid Stepper Motor capable of giving whooping 1.86Kg/cm of stall torque at 1.5Amp current (0.75A per winding) at 1.8 degree stepping angle. It is a most ideal stepper motor for your competition winning micromouse.

Specifications:

• Stall Torque: 1.86Kg/cm at 1.5Amp (0.75A per winding), 6V
• Stepping angle: 1.8 degrees / step
• Compatible Motor Driver: A3982 35V, 2A Stepper Motor Driver for Micromouse
• Compatible Wheel: Micromouse wheel 4mm Shaft
• Shaft: Diameter: 3mm, Length: 16mm
• Dimensions: Length and Width: 42mm, Thickness: 23mm
• Mounting: Four 3mm (M3) bolts 31mm apart on the corners
• Winding type: Bipolar
• Winding Resistance: 11Ohms
• Motor weight: 156gms

2.  LSM303DLHC e-Compass 3 axis Accelerometer and 3 axis Magnetometer Module

The LSM303DLHC is a digital 3 axis accelerometer and 3 axis magnetometer with I2C interface. It has full-scale acceleration range of ±2g to ±16g and full scale magnetic field range of ±1.3 to ±8.1 gauss. All the full scale ranges are user selectable. Module has on board low drop voltage regulator which takes input supply in the range of 3.6V to 6V DC. Board has two mounting holes. All 9 pins of the module are arranged in single line. LSM303DLHC’s I2C serial bus interface supports standard (100 KHz) and fast mode (400 kHz). It is most suitable for tilt compensated compass, quadrotor and robotics application. For LSM303DLHC application interface example available based on LPC2148 ARM7 microcontroller. LSM303DLHC has application example based on LPC2148 ARM7 microcontroller.

3.  L3G4200D 3 Axis Digital Gyroscope with Voltage Regulator

L3G4200D is a 3 Axis ultra stable digital gyroscope. It gives unprecedented stability of zero rate level and very good sensitivity over temperature and time. L3G4200D module features an on board low drop out voltage regulator which takes input supply in the range of 3.6V to 6V DC. Board has two mounting holes. All 9 pins of the module are arranged in single line. This gyroscope can be interfaced with the microcontroller over I2C or SPI interface. The L3G4200D has user selectable full scale of ±250, ±500, ±2000 degrees per second and is capable of measuring rates with a user-selectable bandwidth.

4.  A3982 35V, 2A Stepper Motor Driver for Micromouse

A3982 35V 2A Stepper Motor Driver is the most ideal driver for the Micromouse. It can drive bipolar stepper motor with full and half stepping. It has built-in logic translator which allows you to drive stepper motor by just setting direction, step mode and give clock to drive stepper motor. A3082 motor driver has 4 output LEDs connected at the output. These LEDs prove very useful for quick debugging. It is made from high grade double sided PTH PCB to give added strength to the connectors. A3982 motor driver has presetable chopper based current controller which maintains constant current even when step rate is increased. This improves motor torque at the higher step rate significantly.

Specifications

• Rating: 35V, 2Amp.
• Step type: Full step, Half step
• Control inputs: Step clock, direction, step mode, reset, enable
• Indication: Steepper motor output indication by 4 LEDs
• High grade double sided PTH PCB to give added strength to the connectors
• Chopper based current control for improved torque at high step rates

5.  Ball Caster Wheel Compact

Ball caster wheel is an omni directional wheel. This wheel can be used as neutral wheel for the robot.

Specifications

• Base plate diameter - 27.5mm
• Caster wheel diameter - 13.5mm
• Wheel height - 18mm
• Mounting hole - Three, 120° apart, 3mm or 1/8 inch diameter

6.  IR Transmitter and Receiver pair

This is the IR Transmitter and Receiver pair matched pair used in our IR proximity, White Line or Micromouse sensor. It consists of 5mm 940 nanometer wave length high power IR LED and photodiode having peak sensitivity at 940 nanometer wavelength.

Specifications

• IR TX RX size: 5mm diameter package
• IR LED current rating: 30mA nominal, 600mA pulse loading at 1% duty cycle
• IR LED wavelength: 940nM
• Photodiode peak response wavelength: 940nM