Three-wheel robot, Bluetooth, stepper motors

[Vermes]

This is a project of a small three-wheel robot. Drive is based on two stepper motors from printers LexmarkZ705. The motors are controlled in mode 1/8 thanks to drivers A3967.
Parameters of A3967:

• maximum current 750mA
• maximum voltage 30V
• step division 1/1, ½, ¼, 1/8
• mode of quick, slow and mixed current extinction
• 3.0 – 5.5V – voltage of powering the logic
• thermal protection
• disabling the system below the operation voltage

Control of the device uses Bluetooth, module used for this purpose is BTM222. The heart of the robot is Atmega16 microprocessor, which interprets and executes commands from PC.
The robot is powered by 10 accumulators Ni-MH Vigor 2700mAh each.
Software was written in AVR Studio in C (Atmega) in Qt4 (interface that controls the robot).
Photos:



Videos show the operation of the robot:

Link to original thread (useful attachment) – Robot 3 kołowy, bluetooth, silniki krokowe.