Robot system line exsploration with program

Robot system line exsploration with program

In this system using light censor, comparator, microcontroller, and motor driver,

A.      Light censor

Light censor is tool that change light mulberry to be electric mulberry. Principle work from light censor is change energy from proton to electron. As transmitter use LED (light-emitting Diode) ultrabright, and as receiver of light can use LDR, fototransistor or photodiode.

1.       Led Ultrabright have radiance of light that sharper than ordinary LED or infra-red LED. So using this LED appropriate for make censor that have function as color detection.

2.       Photodiode almost use in light detection circuit, because this component can measure light intensity which directed to photodiode. In physical form this component as same as with LED, but this component not radiate light and different in electronics component symbol.

3.       Phototransistor; if equal with photodiode, phototransistor more responsive to light and this component prise is more expensive.

4.       LDR(light-Dependent Resistor); LDR or photoresistor is electronic component that have changeable resistance appropriate with light intensity which received. The LDR resistance will decrease if light intensity that received was increase.

B.      Comparator

The configuration open-loop in Op-Amp can be functioned as comparator. If two of input in Op-Amp in open-loop condition, Op-Amp will equal both of that input line. The product of comparating two of tense that enter in one input line with tense in another input line, that is reference tense. The output tense is high or low tense of signal appropriate with the big input tense signal that higher.

The big output tense signal from comparator not linear and proporsional to big input tense.

Comparator will produce output digital tense as big as Vsat appropriate with comparator circuit that be formed.

C.      Microcontroller

Microcontroller is a single chip that in the inside of it there are microprocessor, RAM, ROM, Timer and I/O Port in one unit. The controller program which was built from computer will be injected to the ROM. Microcontroller like AVR have fitur  (Inter-Integrated Circuit) so make possible to microcontroller fot be injected RAM or ROM within serial communication.

Microcontroller AVR is microcontroller that developed by ATMEL since 1997. It is different with microcontroller MCS-51, AVR use RISC architect (Reduce Instruction Set Computer) that have extensive data bus 8 bit. MCS-51 have work frequenty 1/12 point isolator frequenty and the AVR work frequenty as same as isolator frequenty. So with the same isolator frequenty, AVR speed is 12 point faster than MCS-51 speed. This is caused AVR microcontroll use RICS architect.

D.      Motor Driver

Motor driver is component circuit that can arrange rotary motor system. With use motor driver, motor controller include starting, stoping and choose the circle direction. Beside that, can also arrange motor circle speed and prevent consist overload in on motor. The using motor driver is appropriated with kind and big current from motor which be controlled.

H-Bridge Motor Driver

H-bridge is one of example motor driver circuit. The basis structure from that circuit is some transistor that made as same as alphabet”H”. because that, this circuit was named H-Bridge. DC motor will rotate if one of NPN transistor (Q3 or Q4) and one of PNP transistor (Q1 or Q2) was active at the same time. For make it happen, it will be need active one of transistor Q5 or Q6, it is with give input tense in basis leg (input1 or input2).

Now H-Bridge motor driver circuit was ordered in IC form, like IC LM293D and IC LM298. Each IC of that have skill to transmit amount of different current.