The document describes a transformable vehicle that can operate in both a two-wheeled vehicle mode and a four-legged quadpod mode. It uses an Arduino Mega microcontroller, 9V battery, four servo motors, and an IR receiver controlled by a remote to switch between modes. The vehicle is designed to navigate unpaved and bumpy terrain by transforming into the quadpod configuration when obstacles are detected.

1. QUAD POD
TRANSFORMABLE VEHICLE
Supervisor: Dr. Samer Mayaleh
Ala’ Lahham
Basmah AbdAlrahman
Leena Talalweh
Department of Electrical Engineering
Quadpod Transform Vehicle

2. The Outline
 Introduction
 Electrical Parts
 Demonstration of Quadpod and Vehicle modes
Quadpod Transform Vehicle

3. Introduction
 The transformable vehicle with two wheels and
four legs
 The vehicle that can detect obstacles to
transformed into the Quadpod mode
 The vehicle fully controlled by a remote controller
 The miniature model for the new type of vehicle
for unpaved, bumpy roads

4. 9V Battery
Theoretica
l
Actual
Voltage 9V 9V
Current
Capacity
550mAh 545mAh
Running
time for our
Project
5.5hours 5hoursVoltage 9V
Max
Capacity
550mAh

5. Arduino Mega
Operating Voltage 5V
Input Voltage (recommen
ded)
7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins
54 (of which 15 provide P
WM output)
Analog Input Pins 16
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory
128 KB of which 4 KB used
by bootloader
SRAM 8 KB
EEPROM 4 KB
Clock Speed 16 MHz
Quadpod Transform Vehicle

6. Servo Motor
 Operation of the Motors
• The degree changes by pulse lengths
< Continous Servo
Motor >
< Standard Servo
Motor >
Quadpod Transform Vehicle

7. IR receiver and Remote
Controller
< IR receiver: TSOP38238 >
< Remote Controller >
Quadpod Transform Vehicle
• It has 9 different commands
• Operates from 2.5-5.5V
• 5mA supply current

8. Code for IR
Quadpod Transform Vehicle
Decoded keys at the start of the co
de

9. Code
Quadpod Transform Vehicle
 Contain two major codes
 Vehicle mode
 Quadpod mode
 Int “tr” was used to determine which code will b
e activated.
 Command “key = getIRKey()” is used to obtai
n signal from IR receiver.