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5.4
Battery Charging Procedure –
Before connecting the battery pack or inserting the 2 pin relimate connector in the socket provided,
make sure that the power Switch of the robot is off. You need to charge the battery before its first
use. Use charging module provided along with the robot accessories. Connect its one end to the
charging port of the robot and the other end to the USB terminal of a laptop or computer.
The battery status can be monitored through the status LED of the charging module (TP4050)
which switches from RED to YELLOW on full charge. On full-charge, it will automatically cut
off the supply from the charger. GreyBot is now ready to run!
5.5
Motion control –
Greybot comes with 250 RPM DC geared motors in differential drive configuration along with a
caster wheel for support. Robot has a top speed of about 0.5m per second. Using this configuration,
the robot can turn with zero turning radius by rotating one wheel in clockwise direction and other
in counterclockwise direction. Robot’s motors have built-in clutch for protection of the motor’s
gears from non-continuous wheel stalling. Motion control involves direction control and velocity
control. Motors are controlled by L293D Dual motor driver which can provide up to 600mA of
current to each motor. To change the Direction of the motor, appropriate logic levels (High/Low)
are applied to L293D’s direction Control pins. Velocity control is done using Pulse Width
Modulation (PWM).
