University of the East Caloocan

College of Engineering
Electronics and Communications Department

Group Project in Industrial Electronics:

SUMOBOT
Group 4
Perdio, Lejan Daniel I.
Pulayan, John Eric R.
Quitco, Kimberly F.

NEC 428 1ECM

Engr. Mark Anthony Aseoche

Instructor

Descript
ion

As the name suggests, this project imitates the

movement of sumo wrestlers. Basically, it has the
capability to push other sumobots and remain inside the
sumobot arena.
The inputs of the project are the reflective sensors
and distance measuring sensors, the controller is the
Zilog microcontroller module, and the DC motors
represent the output.

Input
The main input of the sumobot is the Sharps
distance
measuring
sensor,
the
GP2Y0A02YK0F
sensor.The secondary input is the sensor module which
consists of the following components: four QRE1113
reflective sensors, LM324 comparator, and 10k trimmer
potentiometer.
The GP2Y0A02YK0F sensor measures the distance
of an object on its front, with a decimal value of 0 to
1023. It is placed on the lower front of our sumobot to
sense objects on the front. The closer the object is, the
larger the value of the measurement. In our program,
when the measured distance is greater than 300, the
sumobot will attack the opposing bot by making a forward
movement.

If the GP2Y0A02YK0F sensor measures a distance

less than 300, the secondary input of the project will be
responsible for the movement of the sumobot. Two
reflective sensors are placed on the front, and two
reflective sensors are placed at the back so that the
sumobot will remain inside the arena.
The trimmer potentiometer is used to calibrate the
four reflective sensors by setting different values of the
reference voltage on the comparator IC. The LM324
comparator IC is used to consistently give either a logic
1(positive saturation) or logic 0(negative saturation) on
the output of the comparator, depending on the sensing
of the reflective sensor. The reference voltage is adjusted
so that when the reflective sensor senses black colour,
the output on the comparator is logic 1 and the LED
indicator is off; when the reflective sensor senses white
colour, the output on the comparator is logic 0 and the
LED indicator is on.

Controller
The Microcontroller module is the main controller of
the project. Its main part is the Zilog Z8F0822 Encore
Microcontroller, which is a 28-pin microcontroller IC. The
module also consists of the following: a tact switch for
reset, an 18.432MHz crystal oscillator for clock, three
ports (Ports A, B and C), and others. In addition, the power
supply is also located and connected in this module
wherein LM7805 is used for a 5-volt supply and RT9163 is
used for a 3.3-volt supply. A header and USB are used as
an outlet for battery or other kinds of DC supply.

The program is debugged on the Microcontroller

module so that specific values from the GP2Y0A02YK0F
sensor and sensor module will be given corresponding
logic values on the output. All possible logic combinations
of the four sensors were listed and given their
corresponding output values. These movements are only
implemented if the GP2Y0A02YK0F sensor measures a
distance less than 300.

Output
The movement of the sumobot is interpreted on the
output module, which is the motor driver module and the
DC motors. The motor driver module is mainly consists of
the L293D motor driver IC. This IC is designed to drive
inductive loads such as the DC motor. The L293D is
capable of driving two DC motors, namely motor 1 and
motor 2. The two motors have three logic inputs, the first
two is for inputs 1 and 2, and the third is for the enable
input.
The motor driver module has 8 input pins. The first
two pins are for the voltage and ground. The next four
pins are for the input values on motors 1 and 2 (these are
IN1, IN2, IN3, and IN4). The last two pins are for the
enable inputs of the two motors.
To make a forward movement, the hexadecimal
value assigned on the program is 0x3A or 0011 1010 in
binary form. To make a reverse movement, the
hexadecimal value assigned on the program is 0x35 or
0011 0101 in binary form. To make the sumobot in rotary
movement, the hexadecimal value assigned on the
program is 0x39 or 0011 1001 in binary form.

The first number on the hexadecimal value

represents the enable inputs of the motor driver. A value
of 3 is assigned so that motors 1 and 2 are enabled. The
second number on the hexadecimal value represents the
inputs of motors 1 and 2. A 01 value on the input will
result on a counter clockwise movement of the motor, a
10 value on the input will result on a clockwise movement
of the motor, and a 00 or 11 value on the input will stop
the motor from running.
In summary, the sumobots movement is controlled
by the program on the microcontroller module using
GP2Y0A02YK0F distance measuring sensor and QRE 1113
reflective sensors as inputs, and motor driver module and
DC motors as outputs.
Power Supply

The power supply used for the Microcontroller

module is a Lithium Polymer 2-Cell Battery with a 7.4 V
output while the power supply used for the motors is a
Samsung rechargeable 7.4V battery.

Pictures

Motor Driver

Sensors

Sumobo
t

Progra
m

Specificatio
ns

A.

L293D Motor Driver

B.

QRE 1113 Reflective Sensor

C. GP2Y0A02YK0F Distance Measuring

Sensor