Circuit Documentation

Summary

This circuit involves an Arduino Mega 2560, a Raspberry Pi 4B, three DC Motors with Encoders, a Driver Shield L293D, and a Raspberry Pi Camera. The Arduino Mega 2560 is used to control the DC motors and read encoder signals, while the Raspberry Pi 4B is connected to a camera for image processing or video capture.

Component List

Arduino Mega 2560

• Description: A microcontroller board based on the ATmega2560.
• Pins: IOREF, RESET, 3V3, 5V, GND, VIN, A0-A15, D0-D53, PWM pins, AREF, SDA, SCL.

Raspberry Pi 4B

• Description: A small single-board computer.
• Pins: 3V3, 5V, GPIO2-GPIO27, GND, ID_SD, ID_SC, TR01_TAP, TR00_TAP, TR03_TAP, TR02_TAP, RUN, GLOBAL_EN, ETH, HDMI 0, HDMI 1, CAMERA, AV.

DC Motor with Encoder

• Description: A DC motor with an integrated encoder for feedback.
• Pins: Encoder B, Encoder A, GND, VCC, Motor +ve, Motor -ve.

Driver Shield L293D

• Description: A motor driver shield for Arduino.
• Pins: RESET, 3.3V, 5V, GND, VIN, 9V, A0-A5, M1-M4 (+/-), SERVO_1, SERVO_2, RX/D0, TX/D1, D2-D13, ARef, VCC (External Power Supply), GND (External Power Supply).

Raspberry Pi Camera

• Description: A camera module for the Raspberry Pi.
• Pins: None (connected via a ribbon cable).

Wiring Details

Arduino Mega 2560

• 5V: Connected to VCC of all DC Motors with Encoders.
• GND: Connected to GND of all DC Motors with Encoders.
• D20/SDA: Connected to Encoder A of the first DC Motor with Encoder.
• D18/TX1: Connected to Encoder A of the second DC Motor with Encoder.
• D2 PWM: Connected to Encoder A of the third DC Motor with Encoder.
• D35: Connected to Encoder B of the first DC Motor with Encoder.
• D33: Connected to Encoder B of the second DC Motor with Encoder.
• D31: Connected to Encoder B of the third DC Motor with Encoder.

Raspberry Pi 4B

• CAMERA: Connected to the Raspberry Pi Camera.

DC Motor with Encoder (First Motor)

• VCC: Connected to 5V of Arduino Mega 2560.
• GND: Connected to GND of Arduino Mega 2560.
• Encoder A: Connected to D20/SDA of Arduino Mega 2560.
• Encoder B: Connected to D35 of Arduino Mega 2560.
• Motor +ve: Connected to M1 (+) of Driver Shield L293D.
• Motor -ve: Connected to M1 GND (-) of Driver Shield L293D.

DC Motor with Encoder (Second Motor)

• VCC: Connected to 5V of Arduino Mega 2560.
• GND: Connected to GND of Arduino Mega 2560.
• Encoder A: Connected to D18/TX1 of Arduino Mega 2560.
• Encoder B: Connected to D33 of Arduino Mega 2560.
• Motor +ve: Connected to M3 (+) of Driver Shield L293D.
• Motor -ve: Connected to M3 GND (-) of Driver Shield L293D.

DC Motor with Encoder (Third Motor)

• VCC: Connected to 5V of Arduino Mega 2560.
• GND: Connected to GND of Arduino Mega 2560.
• Encoder A: Connected to D2 PWM of Arduino Mega 2560.
• Encoder B: Connected to D31 of Arduino Mega 2560.
• Motor +ve: Connected to M4 (+) of Driver Shield L293D.
• Motor -ve: Connected to M4 GND (-) of Driver Shield L293D.

Driver Shield L293D

• M1 (+): Connected to Motor +ve of the first DC Motor with Encoder.
• M1 GND (-): Connected to Motor -ve of the first DC Motor with Encoder.
• M3 (+): Connected to Motor +ve of the second DC Motor with Encoder.
• M3 GND (-): Connected to Motor -ve of the second DC Motor with Encoder.
• M4 (+): Connected to Motor +ve of the third DC Motor with Encoder.
• M4 GND (-): Connected to Motor -ve of the third DC Motor with Encoder.

Raspberry Pi Camera

• Connected to: CAMERA port of Raspberry Pi 4B.

Documented Code

Arduino Mega 2560 Code (sketch.ino)

void setup() {
  // put your setup code here, to run once:

}

void loop() {
  // put your main code here, to run repeatedly:

}

Additional Documentation (documentation.txt)