SPUD: SSI Communication
IR Sensing for Location of Miner
IR sensing of the MINERs was achieved through the use of a trans-resistive amplifier, high-pass filter, inverting amplifier, and an inverting comparator with hysteresis.
Trans-resistive amplifier was used to convert the current through the phototransistor to voltage with a proportionality constant set by Rf = 10K, Vref was determined by creating a voltage reference buffer circuit with voltage divider of two 10K resistor to get a Vref of 2.5V. |
The high pass filter filters out frequency below the cutoff frequency and the cutoff frequency was determined to be about ten times below 1450Hz, the frequency transmitted by the given beacon. Then the voltage was amplified and inverted to get a frequency reading of the MINERs using TIVA PE0.
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Power Distribution
We had a pair of 7.2V batteries in series powering our robot. The motors would receive 14.4V, while the TIVA itself would receive 7.2V. The TIVA had circuitry capable of providing 5V and 3.3V to other components.
We had separate switches so we could power the TIVA (and connected sensors) without powering the motor, which was useful for debugging. Additionally, a 5A fuse was used to protect us from any short circuits. |