Week 3: H-Bridges and IR Following

Because the previous H-Bridge circuits malfunctioned, I created new H-bridges. MOSFETs
were mounted on female header pins so they could be easily replaced. This turned out to be a very good idea because the MOSFETs were often destroyed if wires were connected improperly. I also created a very compact design so the circuits could save space within the chassis.

After completing the dual IR filtering circuits I wrote a control loop in software for IR beacon tracking. It interacted with the motor and allowed the robot to follow an IR beacon when both sensors were mounted in the front of the robot separated by a distance of 8 inches. It was also programmed to stop once the robot came close enough to the beacon. IR following is demonstrated in the video below.