Component Photos

Here, we have the individual components that make up the robot, those being the chassis, breadboards + circuits, and any other components that may be important.

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Chassis Schematic

Here we have the chassis schematic built in Onshape. The back part of the chassis is taken from the example given in the class, but we extended the bottom plate so that we would have a larger area to place the Arduino, added sidewalls so that we would have a place to stick the breadboards, and cut holes in the bottom in case we wanted to have wires go from the top to bottom of the chassis.

Printed Chassis

Here is the printed chassis (isometric view, reversed orientation from CAD chassis). The overall print took about 3 1/2 hours and was later modified to lower the length of the robot using the bandsaw (we cut off the bit opposite the motor side on the CAD design). The bit that was cut off ended up being used as a support to hold the arduino elevated above the other breadboards so the blinking LED could be seen more easily.

Speed+PID controller circuit

Here is the Sp+PID controller circuit. It is 3 simple potentiometers, from left to right controlling the Speed, Proportion, Integration, and Derivative (hence Sp+PID). Turning clockwise increases the terms, for example turning the Speed knob clockwise raises the speed of the robot.

LED circuit

This circuit controls the LEDs that provide light to the ohotoresistors. It is pretty simple, each LED requiring one resistor (330Ω) and the LED itself to be connected to power and ground in series. Digital pins 2-8 and 13 blink to let us know when it is calibrating, and we added one green LED circuit on the breadboard itself connected to one of these pins so that we can more easily see when it is calibrating. The LEDs for the photoresistor were connected to wires and then the wires were snaked underneath the chassis so that the breadboard could be placed on the side of the chassis to keep the center of mass fairly even.

Photoresistor Circuit

This circuit contains the photoresistors which are critical to the function of the robot. They are connected as is stated in the Lab Manual, and we take the analog voltage readings and use those in the code to determine the position of the robot with respect to the black line.

Arduino + Motor Shield

Here is the Arduino with attached and soldered Motor Shield. The motor shield fits over the arduino and gives access to most of the pins that it connects to, where we soldered header pins so that we could easily access them with female ended wires.