Sumobot

By Kurt
@ Sun, 2009-07-19 09:53

• Actuators / output devices: 2 GM2 224:1 Offset Motors
• CPU: PIC18f252
• Power source: 4 AA batteries
• Programming language: Picbasic Pro
• Sensors / input devices: QRD1114 floor sensors, PNA4602 as bump sensors

My second scratch built robot.  I wanted to try and build a functional sumobot and this is what I came up with.  Its not the most complicated or finally engineered robot but more of a proof of concept.  It uses a PIC18f252 on a custom home made double sided pcb board. 

I got a little ambitious with this project and actually planned it all on Eagle and then built it without breadboarding anything.  I don't recommend this process as I had some hiccups as I tried turning it on for the first time.

 The first time it up none of the sensors worked.  After much head scratching and  even more swearing I finally figured out that my motors were to noisy. I solder a couple caps across the leads of the motors and problem 1 was solved, except the sensors were still acting wierd. Lots of troubleshooting later and I  finally have most things working with some really basic code and strategy.

So everything in the end worked out and I got it all working, but there are some improvements I would make next time, for example:

• The GM2s have lots of torque but aren't very fast, next time faster motors
• Having some line sensors on the back would be nice to know when it's getting pushed out of the ring
• More PNA4602s or maybe a different opponent detection method
• More batteries to the motors for overall power
• Better body design, maybe lower or a wedge design
• More modular and easier to disassemble to service and such

After all was said and done I have to chalk this one as a success and a good learning experience, now its on to bigger and better designs.  Here's some more pictures.