Obstacle Avoidance
The Infra-red sensor circuit was provided in the micromouse handout which was first built on a breadboard for testing. The integrated circuit is a CD4093 quadruple 2-input Schmitt NAND gate. This type of gate can be made to oscillate by wiring a resistor and capacitor.
The waveforms gotten after testing are shown below.
Output Waveform at Point A
Output Waveform at Point C
Output Waveform at Point D
Output Waveform at Point B
Zoomed In Output Waveform at Point C
Output Waveform at Point E
PCB Design
After testing the IR sensors and seeing that it is working well, the Printed circuit board was designed on Proteus7. Further testing for an IR sensor to be situated at the back of the micromouse was done also.
Soldering
The printed circuit board was gotten and immediate soldering work was done as shown below.
