This report presents a comprehensive study on the design and implementation of a MinSeg robot's digital control system. It begins with a design overview, discussing the robot's components, aims, and task descriptions. The hardware section details the Arduino Atmega 2560 microcontroller, DC motors, optical encoders, gyroscopes, and accelerometers used in the project. The report then delves into the MATLAB Simulink implementation, explaining the creation of modules for gyroscope angular velocity reading, angle computation, and the application of a complementary filter. The Arduino implementation section describes the microcontroller's role in reading analog input, controlling output signals, and utilizing optical encoders for position determination. The report includes experimental results from both MATLAB and Arduino implementations, providing plots of angular velocity, angular position, and the performance of the complementary filter. Finally, the project explores the applications of the MinSeg robot and discusses the overall experimental findings.
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