COMPONENT DETAILS

1) REGULATOR IC 7805

Features

 5V Positive Voltage Regulator

 Minimum Input Voltage is 7V
 Maximum Input Voltage is 25V
 Operating current(IQ) is 5mA
 Internal Thermal Overload and Short circuit current
limiting protection is available.
 Junction Temperature maximum 125 degree Celsius
 Available in TO-220 and KTE package

Voltage regulators are very common in electronic

circuits. They provide a constant output voltage for a varied input voltage. In our case the 7805
IC is an iconic regulator IC that finds its application in most of the projects. The name 7805
signifies two meaning, “78” means that it is a positive voltage regulator and “05” means that it
provides 5V as output. So our 7805 will provide a +5V output voltage.

The output current of this IC can go up to 1.5A. But, the IC suffers from heavy heat loss
hence a Heat sink is recommended for projects that consume more current. For example if the
input voltage is 12V and you are consuming 1A, then (12-5) * 1 = 7W. This 7 Watts will be
dissipated as heat.
ESP32 Peripherals
The ESP32 peripherals include:

 18 Analog-to-Digital Converter (ADC) channels

 3 SPI interfaces
 3 UART interfaces
 2 I2C interfaces
 16 PWM output channels
 2 Digital-to-Analog Converters (DAC)
 2 I2S interfaces
 10 Capacitive sensing GPIOs

The ADC (analog to digital converter) and DAC (digital to analog converter) features are
assigned to specific static pins. However, you can decide which pins are UART, I2C, SPI, PWM,
etc – you just need to assign them in the code. This is possible due to the ESP32 chip’s
multiplexing feature.

Although you can define the pins properties on the software, there are pins assigned by default as
shown in the following figure (this is an example for the ESP32 DEVKIT V1 DOIT board with
36 pins – the pin location can change depending on the manufacturer).
SERVO

Wire Configuration

Wire Wire Colour Description

Number

1 Brown Ground wire connected to the ground of system

2 Red Powers the motor typically +5V is used

3 Orange PWM signal is given in through this wire to drive the motor

TowerPro SG-90 Features

 Operating Voltage is +5V typically
 Torque: 2.5kg/cm
 Operating speed is 0.1s/60°
 Gear Type: Plastic
 Rotation : 0°-180°
 Weight of motor : 9gm
 Package includes gear horns and screws

Servo motors operates from 4.8V to 6.5V, the higher the voltage higher the torque we can achieve, but most
commonly they are operated at +5V. Almost all hobby servo motors can rotate only from 0° to 180° due to
their gear arrangement so make sure you project can live with the half circle if no, you can prefer for a 0° to
360° motor or modify the motor to make a full circle. The gears in the motors are easily subjected to wear and
tear, so if your application requires stronger and long running motors you can go with metal gears or just stick
with normal plastic gear.
Next comes the most important parameter, which is the torque at which the motor operates. Again
there are many choices here but the commonly available one is the 2.5kg/cm torque which comes with the
Tower pro SG90 Motor. This 2.5kg/cm torque means that the motor can pull a weight of 2.5kg when it is
suspended at a distance of 1cm. So if you suspend the load at 0.5cm then the motor can pull a load of 5kg
similarly if you suspend the load at 2cm then can pull only 1.25. Based on the load which you use in the
project you can select the motor with proper torque. The below picture will illustrate the same.

How to use a Servo Motor

After selecting the right Servo motor for the project, comes the question how to use it. As we know there are
three wires coming out of this motor. The description of the same is given on top of this page. To make this
motor rotate, we have to power the motor with +5V using the Red and Brown wire and send PWM signals to
the Orange colour wire. Hence we need something that could generate PWM signals to make this motor work,
this something could be anything like a 555 Timer or other Microcontroller platforms like Arduino, PIC, ARM
or even a microprocessor like Raspberry Pie. Now, how to control the direction of the motor? To understand
that let us a look at the picture given in the datasheet.

From the picture we can understand that the PWM signal produced should have a frequency of 50Hz that is the
PWM period should be 20ms. Out of which the On-Time can vary from 1ms to 2ms. So when the on-time is
1ms the motor will be in 0° and when 1.5ms the motor will be 90°, similarly when it is 2ms it will be 180°. So,
by varying the on-time from 1ms to 2ms the motor can be controlled from 0° to 180°

Applications
 Used as actuators in many robots like Biped Robot, Hexapod, robotic arm etc..
 Commonly used for steering system in RC toys
 Robots where position control is required without feedback
 Less weight hence used in multi DOF robots like humanoid robots
IRFZ44N N-Channel Power MOSFET

The IRFZ44N is a N-channel MOSFET with a high drain current of 49A and low Rds value of
17.5 mΩ. It also has a low threshold voltage of 4V at which the MOSFET will start conducting.
Hence it is commonly used with microcontrollers to drive with 5V. However a driver circuit is
needed if the MOSFET has to be switched in completely.

Features
• Small signal N-Channel MOSFET
• Continuous Drain Current (ID) is 49A at 25°C
• Pulsed Drain Current (ID-peak) is 160A
• Minimum Gate threshold voltage (VGS-th) is 2V
• Maximum Gate threshold voltage (VGS-th) is 4V
• Gate-Source Voltage is (VGS) is ±20V (max)
• Maximum Drain-Source Voltage (VDS) is 55V
• Rise time and fall time is about 60ns and 45ns respectively.
• It is commonly used with Arduino, due to its low threshold current.
• Available in To-220 package

How to use IRFZ44N MOSFET

Unlike transistors MOSFET’s are voltage controlled devices. Meaning, they can be turned on or
turned off by supplying the required Gate threshold voltage (VGS). IRFZ44N is an N-channel
MOSFET, so the Drain and Source pins will be left open when there is no voltage applied to the
gate pin. When a gate voltage is applied these pins gets closed.
If it is required to be switched with Arduino, then a simple drive circuit using a transistor will
work to provide the required gate voltage to trigger the MOSFET to open fully. For other
switching and amplifying applications, a dedicated MOFET Driver IC is required.

Applications
 Switching high power devices
 Control speed of motors
 LED dimmers or flashers
 High Speed switching applications
 Converters or Inverter circuits
TCS3200 Color Sensor Module

PIN PIN
NAME NUMBER DESCRIPTION

GND 4 Power supply ground. All voltages are reference to the ground.

VCC 5 Supply voltage

OE 3 Enable for FO (Active low)

OUT 6 Output frequency (fo)

S0, S1 1, 2 Select lines for output frequency scaling

S2, S3 7,8 Select lines for photodiode type.

S0 S1 OUTPUT FREQUENCY SCALING(f0)

L L Power down

L H 2%

H L 20%

H H 100%

S2 S3 PHOTODIODE TYPE

L L RED

L H BLUE

H L CLEAR (NO FILTER)

H H GREEN
 The sensor has four different types of filter covered diodes. In the 8 x 8 array of
photodiodes, 16 photodiodes have Red filters, 16 have Blue filters, 16 have Green filters and the
rest 16 photodiodes are clear with no filters. Each type can be activated using the S2, S3
selection inputs. Since each photodiodes are coated with different filters each of them can detect
the corresponding colours. For example, when choosing the red filter, only red incident light can
get through, blue and green will be prevented. By measuring the frequency, we get the red light
intensity. Similarly, when choose other filters, we can get blue or green light.

We can also set the frequency scaling option by using the S0, S1 select lines. This ALL
microcontroller compatible TCS3200 color sensor module consist of a TAOS TCS3200 RGB
sensor chip and 4 white LEDs. The main part of the module is the TCS3200 chip which is a
Color Light-to-Frequency Converter. The white LEDs are used for providing proper lighting for
the sensor to detect the object colour correctly. This chip can sense a wide variety of colours and
it gives the output in the form of corresponding frequency. This module can be used for making
colour sorting robots, test strip reading, colour matching tests, etc.

The TCS3200 chip consist of an 8 x 8 array of photodiodes. Each photodiode have either
a red, green, or blue filter, or no filter. The filters of each color are distributed evenly throughout
the array to eliminate location bias among the colors. Internal circuits includes an oscillator
which produces a square-wave output whose frequency is proportional to the intensity of the
chosen color.

Features and Specifications

 Input voltage: (2.7V to 5.5V)

 Interface: Digital TTL
 High-resolution conversion of light intensity to frequency
 Programmable colour and full-scale output frequency
 No need of ADC(Can be directly connected to the digital pins of the microcontroller)
 Power down feature
 Working temperature: -40oC to 85oC
 Size: 28.4x28.4mm(1.12x1.12")
MOTOR DRIVER BTS 7960
High Current PN Half Bridge NovalithIC TM

This board is to control ONE motor, it seems to have two BTS7960 half-bridges forming full
bridge. Each of half-bridges must be controlled accordingly, using four pins. Here is the standard
application circuit for the typical board,
The BTS 7960 is a fully integrated high current half bridge for motor drive applications. It is part
of the NovalithIC TM family containing one p-channel high side MOSFET and one n-channel
low side MOSFET with an integrated driver IC in one package. Due to the p-channel high side
switch the need for a charge pump is eliminated thus minimizing EMI. Interfacing to a
microcontroller is made easy by the integrated driver IC which features logic level inputs,
diagnosis with current sense, slew rate adjustment, dead time generation and protection against
overtemperature, overvoltage, overcurrent and short circuit. The BTS 7960 provides a cost
optimized solution for protected high current PWM motor drives with very low board space
consumption.

Features
• Path resistance of typ. 16 mΩ @25°C
• Low quiescent current of typ. 7 µA @ 25 °C
• PWM capability of up to 25 kHz combined with active freewheeling BTS 7960B BTS 7960P
BTS 7960B P-TO-263-7 undervoltage, BTS 7960P P-TO-220-7
• Switched mode current limitation for reduced power dissipation in overcurrent
• Current limitation level of 43 A typ.
• Status flag diagnosis with current sense capability
• Overtemperature shut down with latch behaviour
• Overvoltage lock out • Undervoltage shut down
• Driver circuit with logic level inputs
• Adjustable slew rates for optimized EMI