Breadboarded Integration Test

After testing the individual sensors and motor, a full system test was done. All the individual components were connected together using a breadboard. A power supply was used to replace the battery. The software flowchart described in “Software Planning” was implemented in code. Various combinations of pressure sensor readings and the limit switches are used to determine when the motor should move, and in which direction. In the following videos the motor can be seen retracting and deploying, isolated from the mechanical system.

The buttons were causing irregular behaviour due to the bouncing of the signal from high to low as the button was pressed. To compensate for this, button debouncing was added. The software checks that a high signal is received for a sufficiently long time before it is read as valid.

It became clear that an interrupt would be needed for the power button, as the motor needs to be shut off while in motion.

Manual and automatic modes were implemented as well. Manual mode allows for the direct control of the leg positions, while automatic mode determines the positions based on the user’s input.

Video: Isolated motor - legs retracting

Video: Isolated motor - legs deploying