One of the main requirements for this project included making the OTV move autonomously. Therefore, we utilized an Arduino Uno Microcontroller board which we wired to a breadboard. Furthermore, we had many of our other components wired to the Arduino including the H-Bridges, Wifi module, magnetic sensor, motors etc. Below we provided a visual of our circuit schematic diagram and our Arduino pin assignments to lay out the process behind the electronics.
Circuit Schematic Diagram
We created a circuit schematic diagram to map out the wiring of each component to the arduino. This helped us to organize our thoughts and to further confirm that we have enough pins on the arduino board to fit each of our components.
Arduino Pin Assignment
The Arduino pin assigment map was another strategy that allowed us to organize our thoughts and to ensure we had enough spots on the arduino for each of our components. When completing this initially, we actually realized that some of our original designs would not have worked due to the limited space on the microcontroller board. Ultimately, this allowed us to minimize the amount of mistakes we would have made when fabricating the OTV.
0
1
2
~3
4
~5
~6
7
8
~9
~10
~11
12
13
none
none
Motor Driver #1 IN4
Ultrasonic Sensor Trig Pin
Motor Driver #1 IN3
Motor Driver #1 ENB
Motor Driver #1 ENA
Motor Driver #1 IN2
Motor Driver #1 IN1
Motor Driver #2 ENA
Motor Driver #2 IN2
Wifi Module TX
Wifi Module RX
Motor Driver #2 IN1
A0
A1
A2
A3
A4
A5
none
GND
GND
GND
5V
5V
3.3V
none
none
none
Pylon Node Signal Receiver
Magnetic Sensor Output
Ultrasonic Sensor Echo Pin
none
Motor Driver #1, #2
Ultrasonic Sensor, Wifi Module
Payload Node Signal Receiver
Motor Driver #1, #2
Ultrasonic Sensor, Wifi Module
none