Tanngnjóstr (Line Follower Car)
This is a line follower car compatible with the software of Allmycircuits. Tanngnjóstr is one of the Thor goats. Mythology says they can return to life with some Thor's hammer blow but we are not sure this feature is already implemented in the car (try it at your own risk!).
- Chassis of carbonfiber pipes and 3d printed parts
- DC brushed motors with gear ratio of 1:5
- The weight of the car is 80gr (including batteries).
- It can be powered with 2-cell lipo batteries
- mightybuga board (v2)
The board is the mightyBug-A v2. board. You can find the kicad project here LINK.
You might find more up-to-date information of the board in the mightybuga-board github page. Those are the components employed in Tanngnjostr.
| Reference | Description | Quantity |
|---|---|---|
| BZ1 | MLT-5020 SMD buzzer | 1 |
| C1, C14 | 0805 ceramic capacitor, 1uF | 2 |
| C10, C11 | 0805 ceramic capacitor, 20pF | 2 |
| C12, C13, C15, C16, C17, C19, C21 | 0805 ceramic capacitor, 100nF | 7 |
| C2 | 0805 ceramic capacitor, 10uF | 1 |
| C20, C22 | 0805 ceramic capacitor, 10uF | 2 |
| C3 | 0805 ceramic capacitor, 56nF | 1 |
| C4 | 0805 ceramic capacitor, 100pF | 1 |
| C5 | 0805 ceramic capacitor, 3.9nF | 1 |
| C6 | 10nF | 1 |
| C7 | 15pF | 1 |
| C8 | 22uF | 1 |
| C9, C18 | 4.7uF | 2 |
| D1 | B220A-13-F | 1 |
| D2 | 1210 Green LED | 1 |
| D3 | 1N4148 1210 diode | 1 |
| D4 | 1210 Red LED | 1 |
| D5 | 1210 Blue LED | 1 |
| J1, JP2 | 2 pin 2.54mm vertical header | 2 |
| J2, J6, J7 | JST B6B-ZR connector | 3 |
| J3 | JST S11B-ZR | 1 |
| J4 | JST B4B-ZR | 1 |
| J5 | B5B-ZR | 1 |
| JP1 | 3 pin 2.54mm straight header | 1 |
| L1 | Taiyo Yuden_NR-60xx 4.7uH inductor | 1 |
| L2 | Taiyo Yuden NR-50xx 10uH inductor | 1 |
| Q1, Q2 | SI2369DS P-Channel 30V MOSFET, SOT-23 | 2 |
| Q3 | S8050 NPN Transistor, SOT-23 | 1 |
| R1, R6, R7, R9, R10, R13, R14, R15, R16, R19 | 0805 Resistor, 10k | 10 |
| R11 | 0805 Resistor, 47k | 1 |
| R12 | 0805 Resistor, 7.5k | 1 |
| R17, R18 | 0805 Resistor, 100 | 2 |
| R2, R3, R5, R20 | 0805 Resistor, 100K | 4 |
| R4 | 0805 Resistor, 6.8k | 1 |
| R8 | 0805 Resistor, 26.1k | 1 |
| SW1 | PCM12 SPDT switch | 1 |
| SW2, SW3 | TL3343 Push button | 2 |
| U1 | MP2307DN | 1 |
| U2 | SC4503 | 1 |
| U3 | STM32F103C8T6 | 1 |
| U4 | TB6612FNG | 1 |
| Y1 | 5032 8Mhz crystal | 1 |
The chassis is composed of three 3d printed parts that you can find here:
- The front wing (bumber.stl)
- The main structure (chasis_back.stl). It has a support for the battery but in the final model it was eliminated).
- The motor supports (motor_support.stl).
Those parts are linked together with carbonfiber square tubes of 3mm of diameter.
Tanngnjostr used in competitions Scaleauto Supersoft foam wheels (25mm diameter). Additives were used to improve the efficiency of the wheels (we tested several strong-grip for wood tracks with similar performance).
Commit of the competitions - Oshwdem 2019
Latest software is compatible with all mightybug-A boards, including the one used by Tanngnjostr. It contains improvements and bug corrections. Thus, we highly recommend in new builds using the latest software version for this car.
We have employed the serial port with an FTDI board and a custom connector. See the user manual instructions in the README of the project.
