M
O
WAY
Title
: mOway Beginner Manual
Rev
: v2.1.3 – March 2011
Page
8
of
65
www.moway-robot.com
3. Robot mOway
This chapter describes each of the parts that constitute the mOway. It is important
to highlight that it is not necessary to know the total functioning of the robot to be able
to program it, at least not at the level of detail explained here.
The following elements are to be found inside mOway:
•
Processor
•
Drive system
•
Sensors and indicators group
•
Power supply system
•
An expansion connector
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Image 1. Diagram of mOway’s parts
3.1.
Processor
mOways are governed by a 4 Mhz PIC18F87J50 microcontroller manufactured by
Microchip Technologies. All the peripherals distributed throughout the whole robot are
connected to its input/output ports. Some of them need a digital input or output, others
need an analog input or output and others, instead, are controlled by one of the I2C/SPI
communication buses. The table below describes how the microcontroller pins are
distributed.
