Patrick Fitzpatrick • Posted by Carlos Ventura

Created February 23, 2015

msPROBOT V1

A small DIY tank robot

Full instructions provided181

Things used in this project

Hardware components

TAMIYA Twin-Motor Gearbox

TAMIYA Track and Wheel Set

MSP430 LaunchPad

L298 Motor Controller (H Bridge)

Switching power supply (3V at 4A)

Switching power supply (3V3 at 500mA)

Switching power supply (5V at 1A)

3.7V single-cell lithium battery

3.3V to 5V bi-directional level shifter

[See Components List above for complete parts list]

Story

This is my first robot design. It uses the TAMIYA Twin-Motor Gearbox and TAMIYA Track and Wheel Set. The controller is the MSP430 Launch Pad and uses the L298 motor controller. It has 3 switching power supplies providing 3V at 4A, 3.3V at 500mA, and 5V at 1A. The main power source is a single cell 3.7V lithium battery. The robot has a on board lithium battery charger and the protection circuit it needs.

There is a small protoboard area that will allow easy expansion on the PCB. Since most robot sensors run off of 5V there is a 3.3V to 5V bi-directional level shifter using the NVT2010PW. The robot also comes with motor encoders by using photo interrupters.

The chassis has many options in how to build it. Files will be provided on laser cutting, 3D printing, or templates to cut them out manually.

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The populated PCB with the Ti LaunchPad socketed on top. There was a slight issue with the 3.3V power rail but it turned out to be a faulty capacitor on the feedback loop. Other then that the board worked great the first time I powered it up!

Fully assembled and ready to program.

PCB Files (Eagle V6)

PCB Ver 1.0 Schematic Ver 1.0

PCB Ver 1.1 Schematic Ver 1.1

PCB Ver 1.1A Schematic Ver 1.1A Bill of Materials Schematic Ver 1.1A

PCB Change Log

Bill of Materials

Code

Download

Name:               MFG P/N:               Mouser P/N:             QTY:
U1                  LMR62421XMFE/NOPB      926-LMR62421XMFENOPB    1
U2                  LM3674MF-ADJ/NOPB      926-LM3674MFADJNOPB     1
U3                  LM2854MH-500/NOPB      926-LM2854MH-500NOPB    1
U4                  L298N                  511-L298                1
U5                  MCP73837-FCI/UN        579-MCP73837-FCI/UN     1
U6                  S-8241ABPMC-GBPT2G     628-8241ABPM-G          1
U7                  IRF7752TRPBF           942-IRF7752TRPBF        1
U8                  NVT2010PW,118          771-NVT2010PW118        1
R1                  CRCW04023K01FKED       71-CRCW0402-3.01K-E3    1
R2, R11, R14        CRCW04021K00FKED       71-CRCW0402-1.0K-E3     3
R3                  CRCW040210K0FKED       71-CRCW0402-10K-E3      1
R4                  CRCW0402100KFKED       71-CRCW0402-100K-E3     1
R5                  CRCW0402562KFKED       71-CRCW0402-562K-E3     1
R6                  CRCW0402154KFKED       71-CRCW0402-154K-E3     1
R7                  CR0805-FX-5602GLF      652-CR0805-FX5602GLF    1
R8                  CRCW04021K54FKED       71-CRCW0402-1.54K-E3    1
R9, R16, R17, R18   CRCW06031K00FKEA       71-CRCW0603-1.0K-E3     4
R10                 CRCW0402470RFKED       71-CRCW0402-470-E3      1
R12, R13, R15       CRCW0402220RFKED       71-CRCW0402-220-E3      3                                 
R19                 CRCW060310K0FKEA       71-CRCW0603-10K-E3      1
R20                 CRCW04021R00FKED       71-CRCW0402-1-E3        1
L1                  744773018              710-744773018           1
L2                  NLCV32T-2R2M-PFR       810-NLCV32T-2R2M-PFR    1
L3                  7447798250             710-7447798250          1
OPTO1, OPTO2        GP1A52HRJ00F           852-GP1A52HRJ00F        2
C1, C2, C10         C0805C106K8PACTU       80-C0805C106K8P         3
C3                  GRM2195C1H512JA01D     81-GRM2195C1H512JA1D    1
C4                  C1608X5R0J106MT        810-C1608X5R0J106M      1
C5, C16, C21        GRM188R60J475KE19D     81-GRM18R60J475KE19D    3
C6                  140-CC501N330J-RC      140-CC501N330J-RC       1
C7                  140-CC501N7.0D-RC      140-CC501N7.0D-RC       1
C8                  140-CC501B272K-RC      140-CC501B272K-RC       1
C9, C12, C13        C3225X5R0J107MT        810-C3225X5R0J107M      3
C11                 GRM1885C2A910JA01D     81-GRM1885C2A910JA1D    1
C14, C15            GRM32RF51H105ZA01K     81-GRM32F51H105ZA01K    2           
C17                 GCJ219R71C105KA01D     81-GCJ219R71C105KA1D    1
C18, C19, C20       C3225X7R2E104KT        810-C3225X7R2E104K      3
C22                 VZS471M0JTR-0810       140-VZS471M0JTR0810     1
D1                  B340A-13-F             621-B340A-F             1
D2 - D9             1N5400RLG              863-1N5400RLG           8
LED,1, LED2, LED5   VLMS1300-GS08          78-VLMS1300-GS08        3
LED3                VLMTG1300-GS08         78-VLMTG1300-GS08       1
LED4                VLMG1300-GS08          78-VLMG1300-GS08        1
S1,S2               STS121PC04             506-STS121PC04          2
J1 - J3, J9 - J11   93287-202HLF           649-93287-202HLF        6
J4                  KLDX-0202-AP-LT        806-KLDX-0202-AP-LT     1
J5                  68024-103H             649-68024-103H          1
J6                  69190-410HLF           649-69190-410HLF        1
J7                  68002-216HLF           649-68002-216HLF        1
J8                  68002-404HLF           649-68002-404HLF        1
J12                 68002-208HLF           649-68002-208HLF        1
MCU                 MSP-EXP430G2           595-MSP-EXP430G2        1  
STACK_HEADERS_P10   929834-03-10           517-929834-03-10        2

Mouser Bill of Materials

Chassis Files (AutoDesk 123D)

Laser Cutting Ver 1.0 Laser Cutting Ver 1.1 Laser Cutting Ver 1.2

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code.txt

Name: MFG P/N: Mouser P/N: QTY:
U1LMR62421XMFE/NOPB926-LMR62421XMFENOPB1
U2LM3674MF-ADJ/NOPB926-LM3674MFADJNOPB 1
U3LM2854MH-500/NOPB926-LM2854MH-500NOPB1
U4L298N511-L2981
U5MCP73837-FCI/UN579-MCP73837-FCI/UN 1
U6S-8241ABPMC-GBPT2G 628-8241ABPM-G1
U7IRF7752TRPBF 942-IRF7752TRPBF1
U8NVT2010PW,118771-NVT2010PW1181
R1CRCW04023K01FKED 71-CRCW0402-3.01K-E31
R2, R11, R14CRCW04021K00FKED 71-CRCW0402-1.0K-E3 3
R3CRCW040210K0FKED 71-CRCW0402-10K-E31
R4CRCW0402100KFKED 71-CRCW0402-100K-E3 1
R5CRCW0402562KFKED 71-CRCW0402-562K-E3 1
R6CRCW0402154KFKED 71-CRCW0402-154K-E3 1
R7CR0805-FX-5602GLF652-CR0805-FX5602GLF1
R8CRCW04021K54FKED 71-CRCW0402-1.54K-E31
R9, R16, R17, R18 CRCW06031K00FKEA 71-CRCW0603-1.0K-E3 4
R10 CRCW0402470RFKED 71-CRCW0402-470-E31
R12, R13, R15 CRCW0402220RFKED 71-CRCW0402-220-E33 
R19 CRCW060310K0FKEA 71-CRCW0603-10K-E31
R20 CRCW04021R00FKED 71-CRCW0402-1-E31
L1744773018710-744773018 1
L2NLCV32T-2R2M-PFR 810-NLCV32T-2R2M-PFR1
L37447798250 710-74477982501
OPTO1, OPTO2GP1A52HRJ00F 852-GP1A52HRJ00F2
C1, C2, C10 C0805C106K8PACTU 80-C0805C106K8P 3
C3GRM2195C1H512JA01D 81-GRM2195C1H512JA1D1
C4C1608X5R0J106MT810-C1608X5R0J106M1
C5, C16, C21GRM188R60J475KE19D 81-GRM18R60J475KE19D3
C6140-CC501N330J-RC140-CC501N330J-RC 1
C7140-CC501N7.0D-RC140-CC501N7.0D-RC 1
C8140-CC501B272K-RC140-CC501B272K-RC 1
C9, C12, C13C3225X5R0J107MT810-C3225X5R0J107M3
C11 GRM1885C2A910JA01D 81-GRM1885C2A910JA1D1
C14, C15GRM32RF51H105ZA01K 81-GRM32F51H105ZA01K2 
C17 GCJ219R71C105KA01D 81-GCJ219R71C105KA1D1
C18, C19, C20 C3225X7R2E104KT810-C3225X7R2E104K3
C22 VZS471M0JTR-0810 140-VZS471M0JTR0810 1
D1B340A-13-F 621-B340A-F 1
D2 - D9 1N5400RLG863-1N5400RLG 8
LED,1, LED2, LED5 VLMS1300-GS0878-VLMS1300-GS083
LED3VLMTG1300-GS08 78-VLMTG1300-GS08 1
LED4VLMG1300-GS0878-VLMG1300-GS081
S1,S2 STS121PC04 506-STS121PC042
J1 - J3, J9 - J11 93287-202HLF 649-93287-202HLF6
J4KLDX-0202-AP-LT806-KLDX-0202-AP-LT 1
J568024-103H 649-68024-103H1
J669190-410HLF 649-69190-410HLF1
J768002-216HLF 649-68002-216HLF1
J868002-404HLF 649-68002-404HLF1
J12 68002-208HLF 649-68002-208HLF1
MCU MSP-EXP430G2 595-MSP-EXP430G21
STACK_HEADERS_P10 929834-03-10 517-929834-03-102

Credits

Patrick Fitzpatrick

Posted by

Carlos Ventura

msPROBOT V1

Things used in this project

Hardware components

Story

NVT2008_NVT2010.pdf

Main_Board_V1_1.sch

Main_Board_V1_1.brd

msPROBOT_BOM_Ver1_1A.txt

Main_Board_V1_1.sch

Main_Board_V1_1.brd

msPROBOT_Change_Log.txt

Code

msPROBOT_Laser_Bracket_Parts_Ver1_2.123d

msPROBOT_Laser_Bracket_Parts_Ver1_1.123d

msPROBOT_Laser_Bracket_Parts_Ver1_0.123d

Main_Board_V1.sch

Main_Board_V1.brd

Code

code.txt

Credits

Comments

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msPROBOT V1

msPROBOT V1

Things used in this project

Hardware components

Story

NVT2008_NVT2010.pdf

Main_Board_V1_1.sch

Main_Board_V1_1.brd

msPROBOT_BOM_Ver1_1A.txt

Main_Board_V1_1.sch

Main_Board_V1_1.brd

msPROBOT_Change_Log.txt

Code

msPROBOT_Laser_Bracket_Parts_Ver1_2.123d

msPROBOT_Laser_Bracket_Parts_Ver1_1.123d

msPROBOT_Laser_Bracket_Parts_Ver1_0.123d

Main_Board_V1.sch

Main_Board_V1.brd

Code

code.txt

Credits

Comments

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