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LAUNCH PAD BOT
This project takes the TI LaunchPad into the world of robotics. It utilizes a DFRobot 2 wheel drive mobile platform, a Pololu Dual DC Motor Driver and of course the TI LaunchPad board. The purpose is to build a mobile robotics platform using the TI MSP430 microcontroller. The complete LaunchPad (emulator and target) are mounted on the platform to make easy testing of the robot. Quick code changes can then be made VIA the USB cable and the host running Code Composer Studio. The sensatory inputs are unlimited for the LP Bot but I will just start with simple whiskers for object detection. A Parallax ping ultrasonic sensor is shown but will not be documented in this version of the project.
The LaunchPad is directly connected to the control pins on the motor driver board. There are two power sources on the LP Bot. One consists of five rechargeable AA type batteries providing 6 volts for the motors. The other is a 3 volt supply for the LauchPad and motor controller VCC. The grounds are all tied together including the whiskers.
The software is written in C and is compiled using the Code Composer Studio. It consists of functions that basically change bits on the motor controller to make the motors go forward or backwards. The truth table for the TB6612FNG chip that resides on the motor driver board shows what logic levels are needed to make the motors turn clockwise and counter clockwise.
The first version documented here will scurry around the floor touching objects with the whiskers. Once an object is encountered it then backs up, turns and goes the other way.
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