In general, there is nothing fancy going on. I am using a L298 4A Motor Driver and either a PIC16F877A or PIC16F886. I believe they are interchangeable. The PIC16F886 has the advantage of four pins which can output Pulse Width Modulation (PWM). Later on, I may want to get fancy and control the motors more precisely (rather than the current two speeds, off or on).
I included a few jumpers to turn off LEDs when I don't need them as well as hooking the 'current sense' pins on the motor driver to the PIC. I'm not sure how they work at the moment, but I might want to play with that in the future.
There are also a number pins which are currently unused. Those will be connected to a pad on the board which is easily accessible... for future projects and/or expanding this board's capabilities.
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| Sumo Bot Schematic |
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| Sumo Bot PWB |
Although this is about complete, here are a few things version 2 might include
- Low voltage alarm using an OpAmp (like this one) to protect the Li-Po battery
- On-board IR sensors and emitters to replace the expensive narrow field-of-view Sharp sensors
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