MR2 project has finished as a big disappointment and a fail. I was expecting that the servos used will run much faster when powering them from 12V. The robot is moving too slow, even slower than MR1. Also, I decided to quit having 4 wheels because I could not manage co-planarity problem (1 or 2 wheels were not touching the floor). I will try again the 4 wheels design on a future robot.
At a certain point I thought to quit finalizing this robot but I decided to go until the end, even if I was foreseeing the failure.
Nevertheless, there are still a few good points with this project: I played with Sharp sensors, with servo (finally I removed the electronics, but in the beginning I used them as servos) and I managed to build the chassis frame a little bit better than on MR1.
|Size||98mm x 98mm x 55mm (length x width x height)|
|Power supply||3S1 LiPo battery|
|Microcontroller||PIC18F26K22 - I/SP @ 32MHz, 5V|
|Motors||2 x SG5010 BB Standard Servo hacked for continuous rotation + electronics removed|
|Motor driver||SN754410NE 2 pieces in parallel|
|Wheels||custom wheels 43mm diameter|
|Opponent detection sensors||
2 x Sharp GP2D12
2 x SHARP GP2y0d340
|Margin detection sensors||2 x RPR-220 ROHM|
|Pushing strength||tested on a 1500g water bottle|
|Communication with PC||UART serial communication @9600baud|
remote controlled mode
|Microcontroller software||The software is written in C
language for Hi-Tech PICC compiler
You can download it from here.
|Electronics||Download it here.|
Pitcures and videos:
|Rear side view|
|Front side view|
|Right side view|
|Left side view|
|Together with MR1|
|MR2 versus toys|
|MR2 versus water bottle|