Version 1.0
Version 1.0, "V1" incorporates basic functions of the Arduino modules used to manifest the robot.
Modules Used:
- HW-95 DC & PWM Motor Driver Board
- HC-SR04 (Ultrasonic Sensors)
- HW-125 Micro SD TCard Module
- Servo in progress...
Using the measurements made by the ultrasonic distance sensors, v1.1 uses basic logic to dictate the voltages written to the motors. Trial and error will be required to find what voltages in which direction of flow make a motor move a certain way, but other than that, this is a straightforward sketch.
V1.2 builds upon v1.1 by intorducing PWM control to the speed of the motors. However, this sketch does not change the speed motors as the conjunction of digital and analog write functions was sufficient to make a PoC for later versions.
Circuit Diagram
V1.3 adds an SD card to v1.3 for the intended use of logging actions taken by the logic code. The SD card is also intended to be used in later versions for diagnostics. (Edit) The SD card proved to be more cumbersome than useful as it took up a lot of digital pins, and this project's predecessor would be based on a raspberry pi. Thus, the SD card became unessential in this case.
Circuit Diagram
V1.4 is the "smarter" version of its precedents as it introduces dictation of PWM. This sketch essentially produces more fluid robot movements in comparison to v1.1 and v1.2.