In order to move the robot, there should be a central controller that can receive the instructions and command the actuators. Therefore, this phase will focus on the instruction and actuator commanding via MSP430G2553.

Firstly, to give the instructions to MSP430, manual input is required. The controller should be able to convert the analogue input into digital readings. In this case, a joystick module is used. An ADC is required to read the input from the joystick. Please see the next article for details.

Secondly, the controller should interpret the reading into the command to the actuators, which is stepper motors in this case. I will design the algorithm and program for the MCU in order to precisely control the movement of the robot.

Thirdly, the actuators should be able to move the robots. A specified gearbox will be designed in order to improve their ability to handle the weight of the robot.

Expected Outcome

The expected outcome of this phase is:

• Interface the Joystick with ADC
• Design programs to convert the ADC readings into precise motor commands
• Design the GearBox to increase the torque it handles.

Link to Parts:

• Software and Electronics Part

Updates:

15 June 2019

1. Split the phase into two parts:
   • Mechanical
   • Software and Electronics
2. Set up a budget for Phase 1 of £50
3. Aim: To make the base able to move freely or move to a specific distance, steer or move back.
4. Complete the Software part of Software and Electronics design.

Bills of Materials

References:

• Software and Electronics Part Updates
• [Phase 1] 011 Read a Joystick with ADC