1. Queensborough Community College
Electrical and Computer Engineering Technology
Course: ETE-420
Instructor: Mr. Raymond Kendall
Computer Project Laboratory - Robot
By: Marco Huerta and Kenneth Deonarine
Dated handed in: 05/06/2008
Grade:___________
Created by Marco Huerta and Kenneth Deonarine 1

2. Robot #1: Power Supply
Quantity Measured value volts Expected (Calc.) value
volt
Percentage difference %
VC 8.82V 9V 2%
VB 5.65V 5.6V 0.17%
VE 4.96V 5V 0.8%
Expected Values
VVVVVV
VVV
VVinV
BEZE
ZB
C
56.06.5
6.5
9
=−===
==
==
Percentage difference
%8.%100|
5
596.4
|
%17.0%100|
6.5
6.559.5
|
%2%100|
9
982.8
|
%100||%
=×
−
=
=×
−
=
=×
−
=
×
−
=
E
B
C
V
V
V
calac
calcmeas
diff
Created by Marco Huerta and Kenneth Deonarine 2

3. Robot #2: LED Driver Circuit
Quantity Measured value volts Expected (Calc.) value
volt
Percentage difference %
VC 0.99V 1.2V 17.5%
VB 0.72V 0.6V 20%
VE 0V --- ---
VV
VVVV
VLEDV
B
C
BC
6.0
2.16.08.1
=
=−=
−=
%20%100|
6.0
6.072.0
|
%5.17%100|
2.1
2.199.0
|
%100||%
=×
−
=
=×
−
=
×
−
=
B
C
V
V
calac
calcmeas
diff
Created by Marco Huerta and Kenneth Deonarine 3

4. Robot #3: Audio Oscillator, Speaker Driver, and Control circuitry
Timing Waveform
Created by Marco Huerta and Kenneth Deonarine 4

5. Robot #3 Continued:
Quiescent State Bias Voltages
Quantity Measured Value Volts Calculated value Volts Percentage Difference
%
TR4 - VC 0 V 0 V ---
TR4 - VB 0.04 V 0V ---
TR4 - VE 0.62 V .6V 3.3%
TR2 - VC 5.08 V 5 V 1.6%
Audio Oscillator Pulse Repetition Rate
Quantity Measured Value pps Calculated value pps Percentage Difference
%
PPR 2500 pps 2506 pps 0.23%
Quiescent State Bias Voltages
%6.1%100|
5
508.5
|%
52
%3.3%100|
6.0
6.062.0
|%
6.0V4 E
=×
−
=
=−
=×
−
=
=−
diff
VVTR
diff
VTR
C
Audio Oscillator Pulse Repetition Rate
Total Period Pulse Repetition Rate
ST
pfKT
CRT
µ399
)330068(78.1
)912(78.1
=
×=
×=
%23.0%100
2506
25062500
%
%100%
2506
399
11
=×
−
=
×
−
=
===
diff
calc
calcmeas
diff
pps
ST
PRR
µ
Created by Marco Huerta and Kenneth Deonarine 5

6. Robot #4: Motor Driver Circuit
Left Motor
VCE (TR6) VB (TR6) Volts VB (TR5) Volts
Motor On 0.7 V 0.83V 1.60 V
Motor Off 3.02 V --- ---
Right Motor
VCE (TR7) VB (TR7) Volts VB (TR9) Volts
Motor On 0.7V 0.82V 1.59 V
Motor Off 3.02V --- ---
Comments
The motion of the robot is controlled because 5V is applied from J2 to pin 12 and pin 14 on
the 5501 socket (U6). For the right motor to function properly a positive voltage must go through
R29 for TR8 to turn on. Then the voltage is applied through the base of TR7 and the left motor
starts to work. The same is done for the right motor expect voltage goesthroughTR5 and TR6.
Created by Marco Huerta and Kenneth Deonarine 6

7. Robot #5: Reset Circuit
Programmed Reset Circuit Measurements
Quantity Measured value µS Calculated value µS Percentage difference
%
TReset 250 µS 220.5 µS 13.4%
Calculation
ST
pfkT
CRT
set
set
set
µ5.220
)6800)(51(636.0
636.0
Re
Re
63Re
=
Ω=
=
Percentage difference
%4.13%100|
5.220
5.220250
|
%100||%
Re =×
−
=
×
−
=
setT
calac
calcmeas
diff
Created by Marco Huerta and Kenneth Deonarine 7

8. Robot #6: System Clock (Oscillator)
System Clock (Oscillator) Pulse Repetition Rate
Quantity Measured Value pps Calculated value pps Percentage difference
%
PPR 2.32 pps 2.19 pps 5.93%
Measured
pps
msmsPWPW
PRR
msPW
msPW
LOHI
LO
HI
32.2
190240
11
190
240
=
+
=
+
=
=
=
Calculation
pps
msms
PRR
msfKKkPW
msfKKkPW
LO
HI
19.2
45.11045.345
1
45.11047.0)152200(
45.34547.0)15220500(
=
+
=
=×++=
=×++=
µ
µ
%93.5%100|
19.2
19.232.2
|% =×
−
=diff
Created by Marco Huerta and Kenneth Deonarine 8

9. Robot #7: Memory Load Sequencer
Created by Marco Huerta and Kenneth Deonarine 9

10. Robot #8: Keypad and Interface Circuitry
Created by Marco Huerta and Kenneth Deonarine 10

11. Robot #9: Write Control Logic
Write Control Pulse Width
Measured value µS Calculated value µS Percentage difference %
220 µS 220.5 µS .23 %
Calculated
Pulse Width
Pulse width = 0.636*R6*C5 = 220.5 µS
Percent difference
%100||% ×
−
=
calac
calcmeas
diff
%23.%100|
5.220
5.220220
|% =×
−
=diff
Created by Marco Huerta and Kenneth Deonarine 11

12. Robot #10: Address Counter
Time Duration
Measured value s Calculated value s Percentage difference %
120 sec 102sec 17.6 %
Calculated sec
PRR = 4Hz
Time Duration
TD =256 / PRR =256/2500= 102sec
Percent Difference = %6.17%100|
102
102120
|% =×
−
=diff
%100||% ×
−
=
calac
calcmeas
diff
Created by Marco Huerta and Kenneth Deonarine 12

13. Robot #11: Memory Circuit
Created by Marco Huerta and Kenneth Deonarine 13

14. Created by Marco Huerta and Kenneth Deonarine 14

15. Conclusion Of Robot Project
In ET 420 Computer Project Laboratory Robot Project we constructed the
Model 603A Digital Programmable Robot kit by Graymark. We built the various
circuits; Power Supply, LED Driver Circuit, Audio Oscillator, Speaker Driver, and
Control circuitry, Motor Driver Circuit, Reset Circuit, System Clock (Oscillator),
Memory Load Sequencer, Keypad and Interface Circuitry, Write Control Logic,
Address Counter, Memory Circuit by soldering the various components to the pre-
made circuit board and assembled the mechanical parts of cogs, wheels, motors
etc. We were able to successfully build our robot and make the speaker and motors
work by using the remote control to issue commands such as beeping the speaker
and right and left movements. We encountered a problem when we assembled the
left motor cog not making contact with the other cogs that spun the left wheel. In
order to compensate for this problem, we added two additional metal washers
under the two rear motor circuit board connections points, this raised the back of
the motor causing better cog contact with the left wheel assembly cogs. Another
problem we had was current not getting to the motor to spin the wheels, we
bypassed the current directly to the motors to verify the motors were working,
verified the 2 AA batteries were good and then troubleshoot the battery holder. We
discovered one of the battery holder leads was poorly constructed (not our lead to
battery holder contact soldering), and replaced the battery holder, re-assembled the
robot and the motors/wheels now responded to our remote control commands. We
worked well as a team and our timely final results were proof of that partnership.
Created by Marco Huerta and Kenneth Deonarine 15