Mechatronics and Hardware Integration
This lesson focuses on the design and control of mechatronic subsystems for Autonomous Mobile Robots (AMRs). Students explore the integration of motors, sensors, microcontrollers, and embedded control software — forming the mechanical and electronic foundation of an intelligent robot.
Students work with real-time embedded systems and learn how hardware-level decisions impact performance, safety, and reliability in mobile robotics platforms.
Technologies and Components
| Component / Concept | Purpose |
|---|---|
| Teensy 4.1 Microcontroller | High-speed processing for real-time control |
| AS5600 or AS5048A Encoders (I²C / SPI) | Angular position feedback for odometry |
| Cytron MD30C or Similar Motor Drivers | Controls brushed DC motors with PWM and direction signals |
| Differential-Drive Kinematics | Calculates robot movement and turning from motor speeds |
| Encoder-Based Odometry | Tracks distance and direction traveled over time |
| Battery Monitoring Modules | Tracks voltage and current for power management |
| Safety Switches and Kill Circuits | Emergency stops and power isolation |
| Charging Interface Logic | Enables safe charging and battery status detection |
System Overview
- The robot’s motion is controlled by a differential-drive system using DC motors and precision encoders.
- A Teensy 4.1 microcontroller processes encoder feedback, performs odometry calculations, and controls the motor driver using PWM signals.
- The system includes voltage monitoring and current sensing for battery safety and energy diagnostics.
- Communication with a higher-level ROS-based master is done using Micro-ROS, enabling command and telemetry exchange over serial or UDP.
Learning Outcomes
- Configure and control a differential-drive mobile robot using embedded C/C++
- Implement encoder-based odometry and motion control logic
- Learn the basics of motor driver interfacing and real-time actuation
- Understand power management and system safety design in hardware
- Use Micro-ROS to bridge embedded systems with the ROS control stack
Optional Extensions
- Add PID control for smoother motor behavior and accurate speed tracking
- Log odometry and power data to an SD card for offline analysis
- Create a diagnostic LED indicator system for battery and motor status
- Extend Micro-ROS to include real-time sensor publishing to ROS topics
- Add external IMUs or wheel encoders for hybrid odometry