Two H-Bridge L293 motor drivers were used to control the robot’s movement. This allowed us to use different voltages to run our Teensy LC microcontroller and motors, as well as change the direction of the wheels. One L293 controlled forward and left motion, and one controlled backward and right motion. For all enable pins, we used pull down resistors to disable the motors from running during initialization and startup.
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Ultrasonic SensingWe used 4 ultrasonic sensors (one on each side) to sense distance from the wall. All sensors were connected to a 5V input and ground. Two 10KOhm series resistors were used to reduce the signal input from the Echo pin to the Teensy, as we found that the Teensy pins were not 5V tolerant.
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