Schematic Overview

The Schematic has three main parts to it. The Sensor Circuitry where
the accelerometer is wired up to the A/D converters. The second part is the powe
r circuit where we have the On/Off switch, the 9v battery & +5v 7805 Voltage Reg
ualtor. The 3rd part of the circuit is the 3 7-Segment LEDs.

View Full Schematic

Schematic Specifics
Motor Circuit
The motor circuit controls the motors depending on the sensor data th
at comes in through the 'analog brain' circuit. The two motors are 3v and can mo
ve moderatley fast. The diode that connects the motors to the battery reduces th
e voltage at the motors which slows them down a little bit.
IR Sensor Circuit
The IR Emitter LED and Phototransistor are used for sensing white or
black color. The LED emits IR light and the phototransistor receives IR light. T
ogether they work well at see what type of light if any is reflected from a surf
ace.
Analog Brain Circuit
This part of the circuit connects the sensor circuit and the motor ci
rcuit together so that the robot can do its job. A little ASIC logic is used to
transfer incoming sensor signals into which motor should be turned on and when.
Schematic Parts Reference:

Schematic Name Part Name Value/Type

R1 Resistor 330O
R2 Resistor 360O
R3 Resistor 360O
R4 Resistor 1500O
R5 Resistor 10000O
R6 Resistor 10000O
R7 Resistor 15O
R8 Resistor 10000O
R9 Resistor 5000O
R10 Resistor 10000O
R11 Resistor 150O
R12 Resistor 150O
D1 Diode LED-Red (5mm)
D2 Diode LED-IR Emitter (5mm)
D3 Diode 1N4001
D4 Diode 1N4001
D5 Diode 1N4001
D6 Diode 1N4001
D7 Diode LED-Green (3mm)
D8 Diode LED-Green (3mm)
Q1 Transistor 2N2222
Q2 Transistor 2N2222
Q3 Transistor 2N2222
Q4 Transistor TIP120
Q5 Transistor TIP120
Q6 Transistor IR Phototransistor
C1 Capacitor 47µF
The Theory
The theory for this project is based upon the 3 main components of th
e schematic described in the previous page. Below I will run through the theory
of how they work with some better illustrations to hammer the theory into your b
rain.
IR Emitter & Phototransistor Theory

The IR Emitter LED (D2) send outs IR light and the Phototransistor (Q6) receives
IR light from the reflected surface. From high school we learned that white wil
l reflect all colors while black will absorb them. So when the LED emits IR onto
white, the Phototransistor is turned on and sends a voltage signal to Q1. When
light is reflected off of black color the Phototransistor (Q6) is then turned of
f and no signal is sent
Looking At The Motor Circuit

The motors are turned on when transistors Q4 or Q5 are switched on with a positi
ve voltage. This happens in one of two cases. When black color is sensed, the ci
rcuit switches Q4 off and Q5 on. When white color is sensed the case is reversed
with Q4 on and Q5 off. This means the motors are never actually on at the same
time and the illusion of driving forward is created by quick back-and-forth move
ments
Working The Brains

This circuit combines the Motor circuit and the IR Sensor Circuit. Using 3 2N222
2's and some resistors a circuit is built that interprets the two cases. When wh
ite color is detected Q1 is turned on, which turns off Q2 and Q3 on. In the oppo
site case, when black color is detected Q1 is turned off, which means Q2 remains
on and Q3 off. Understanding this circuit might take a few minutes staring at t
he schematic, it is a little complicated.