AT-BOT (All-Terrain mobile robot) is an autonomous robot performed by DC motors
with the set of 4 DC motor gearboxes come with spiked wheels in order to aid passing
through rough surface more efficiently. Also, it can move up on the slope in the level of 0
to 25 degree and if it is necessary to stop immediately to change the direction of motion,
it can do. The possibility is that AT-BOT is capable of supporting any mission in either a
smooth competition court with lines appeared for determining directions of motion or
rough court with barriers or participating with the World RoboCup Junior-Rescue.
click on the images to enlarge
Main microcontroller is Atmelís ATmega128. It features 8-ch 10-bit Analog to
Digial Converter, 128-KByte Flash memory , 4-KByte EEPROM, 4-KByte RAM. Operated with
16MHz clock from external crystal
Define all ports compatible with Wiring I/O standard hardware (www.wiring.org.co).
The number of port are 0 to 50.
13 programmable port in JST connector type. Includes Digital I/O port (2 :
port 14 and 15), A/D port (7 : port 40/ADC0 to port 46/ADC6), Two-wire interface or TWI (2
: port 0/SDA and port 1/SCL) and UART serial port communication (2 : port 2/RX1 and port
3/TX1). Both TWI and UART ports can config to digital input/output port for more I/O
Analog input (ADC0 to ADC6) supports 0 to +5Vdc input. The converter
resolution is 10-bit. The result value is 0 to 1,023 range.
One variable resistor is connected with the Analog input ADC7 of main
microcontroller for simple ADC experiment.
2 of button switches with resistor pull-up are connected with port 49 and 50 of
the Wiring I/O controller board for simple digital input experiment.
One LED with a current limited resistor. It is connected with port 48
One piezo speaker at port 4
16x2 characters LCD for monitoring
On-board digital compass; HMC6352 from Honeywell. It is interfaced by I2C bus or TWI
UART port for interfacing serial module device such as camera module (ZXCCD,
CMUCAM1, CMUCAM2, mCAM), servo controller board (Parallax servo controller,
ZX-SERVO16U), Real-time clock (ZX-17 : serial real-time clock moduel)
6-ch DC motor driver with indicators. Support 4.5V to 9V DC motor. Maximum
current output 3A and 1.2A continuous.
6-RC servo motor output; support 4.8 to 7.2V standard and continuous servo motor types.
5-status battery level monitor circuit
Download and interface with computer via USB port by using USB to UART converter chip; FT232RL. USB connection indicator is available.
Set the operation by Mode/Reset switch
Supply voltage range +7.2 to +9V 2400mA for 4 motor loads.
2 voltage regulator on-board; +5Vdc for microcontroller and all digital circuit, +6Vdc for all motor driver circuits. By using voltage regulator; the motor driver circuit can
drives DC motor with constant speed when battery voltage is full and reduce to 60%. It
features constant speed without effect by battery voltage until it is lower 60% of full.
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