Notes commands on segbot

This project is the final project of the course UIUC ME461. The project is to make the segbot do different things if it hears curtain notes. The notes (here I picked is 2200Hz(C7), 3000Hz, and 4000Hz) are filtered with three sets of filter coefficients. When the segbot heard different notes, it would follow different commands, like turn left when hear 2200Hz's note, turn right when hear 3000Hz's note, and backforward when hear 4000Hz's note.

To accomplish this project, along with the whole segbot we have already built in class, I also used the microphone amplifer for note collection. I built a bandpass filter to filter the three specific notes I wanted.

There are three interesting parts for my project: one thing is to make the after-bandpass filter stable, I find the maximum value every 500 times so it can produce a much stable value. Two is I have to set a limitation value for the segbot when commanding on forwardback, otherwise it will fall down. Third thung is I have to set the frequency for both my segbot(not too high) and my note sampling rate(should be high), finally I used 10kHz as a balance.

After everything all settled, I used the piano note to command the Segbot go through the fix routine.

The attached videos are inside attachment-schematics part