arduino robot

8/10/2019 Arduino Robot

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INTRODUCTION TO AI

N45 Avoidance Robot

Design Document

Nicola Gordon 11012129

1/25/2014


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GoalThe goal for my project was to make a robot as cheap as possible to build and run, yet still

capable of having its own personality. The robot will not be a remote-controlled botit will

think for its self, trying to avoid obstacles and determine its own direction.

ResearchInitial research was conducted into obstacle avoidance robots and robotics in general. A

copy of the research presentation slides that I presented is located in Appendix A.


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Project Solution Block Diagram

Project Flow Chart


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Pseudo CodeSet constants Right Forward at 0oSet constants Right Backward at 180oSet constants Left Forward same as Right BackwardSet constants Left Backward same as Right Forward

Set constants Right Motor at 90o

Set constants Left Motor at 90oSet constants for ping)))Set threshold for obstacles (in cm)Set distances on either sideSet constants for motorsSet time it takes to receive PING))) signal

setup()attach motors to pins 10 and 11

loop()Set constant for Forward Distance equals ping sensorIf distance forward is more than the thresholdMove ForwardelseIf distance forward is blockedTurn off motorsDelay for a few seconds to thinkTurn to the left and scanTurn to the right and scanCompare the distance

compareDistance()if left Distance more than right DistanceTurn leftelse if (right Distance less than leftDistance)Turn rightelseif they are equally obstructedturn 180 degreeslong ping()Send out PING))) signal pulseGet duration it takes to receive echo

Convert duration into distance


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Concept Art

Circuit Wiring Diagram


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Breadboard Diagram


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Testing the ServosPlease visit blog for videos of testing of servos.

Ping))) Ultra-Sonic SensorWhat is it?The HC-SR04 ultrasonic sensor uses sonar to determine distance to an object like bats or dolphins

do. It offers excellent range accuracy and stable readings in an easy-to-use package.

I ordered a 4 pin ultra-sonic sensor from china for only 1.00 including postage and only had

to wait 21 days for it to arrive. Once I received I looked at the data sheet to work out what

pins done what.

Using the HC-SR04 with an ArduinoThere is an Arduino library for the HC-SR04 that offers two ways to use the sensor, See

Appendix B for the 3 Ping))) ultra-sonic data sheet.

The library includes 3 functions that I will use:

1. Ultrasonic(int TP, int EP)

This is an initial function for ultrasonic ranging module, choose the pins for module TRIG and

ECHO pin. For example:

Ultrasonic (13,12);

Defines the digital pin 13 of Arduino as the TRIG pin of HC-SR04 and pin 12 for the ECHO

pin.


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2. long Timing()

This function triggers the ultrasonic module and returns the duration that the ECHO pin was

held high. For example:

long time; Ultrasonic hcsr; time = hcsr.Timing();

The distance of the object corelates to the time the ECHO pin is held high. The distance

formula is:

Distance = ((Duration of high level)*(Sonic :340m/s))/2

3. long Ranging(int sys) (sys : CM / INC)

As I dont want to change the time into distance, this function helps you get the distance

immediately. This function has a parameter (using CM or ICN) that shows the distance in

centimetres or inches. This function will call Timing() and you dont need to use the Timing()

before it. For example:

long distance; Ultrasonic hcsr; distance = hcsr.Ranging(CM);

returns the distance in centimetres.

Testing the Sensor


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Constructing a body

Adding the Arduino Uno

Lucky Find Old RC Car no Remote


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Motor ShieldThe motor shield can drive up to 4 DC motors bi-directionally. That means they can be

driven forwards and backwards. The speed can also be varied at 0.5% increments using the

high-quality built in PWM. This means the speed is very smooth and won't vary!

Note that the H-bridge chip is not meant for driving loads over 0.6A or that peak over 1.2A sothis is for smallmotors. Check the datasheet for information about the motor to verify its OK.

To connect a motor, simply solder two wires to the terminals and then connect them to either

theM1, M2, M3,or M4. Then follow these steps in your sketch

Make sure you #include

Create the AF_DCMotor object with AF_DCMotor(mo tor#, frequency), to setup the motor

H-bridge and latches. The constructor takes two arguments.

The first is which port the motor is connected to, 1, 2, 3or 4.

f requencyis how fast the speed controlling signal is.For motors 1 and 2 you can choose MOTOR12_64KHZ,MOTOR12_8KHZ,

MOTOR12_2KHZ, orMOTOR12_1KHZ. A high speed like 64KHzwont be audible but a low

speed like 1KHz will use less power. Motors 3 & 4 are only possible to run at 1KHz and will

ignore any setting given

Then you can set the speed of the motor using setSpeed(speed)where the speedranges

from 0 (stopped) to 255 (full speed). You can set the speed whenever you want.

To run the motor, call run(direct ion)wheredirect ionis FORWARD, BACKWARDor

RELEASE. Of course, the Arduino doesn't actually know if the motor is 'forward' or

'backward', so if you want to change which way it thinks is forward; simply swap the twowires from the motor to the shield.


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Modifying the RCThe first thing I done was unconnected all wires, there was three wires in total, two for the

motors and one for the antenna for the controller. As I did not have any controllers I just took

it all apart and added in my own motors with the Arduino. Instead of throwing the old brains

out and purchasing a battery compartment, I used the RCs battery component to power the

Arduino and motors.

Testing all components togetherPlease visit blog to see all the testing videos.

Source CodeThe final source code can be found in appendix C.

P.I.M.P My Ride

Once all the components were in place and working correct I purchased some spray paintsand letter stencils and started to customised my robot.

Goal achievedOverall the goal I set myself at the start of the project has been 98% achieved, the only

missing component was an on/off switch.


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Bibliography

Book:

Karvinen, K, Karvien, T. 2011, Make: Arduino Bots and Gadgets, Maker Media, Inc, USA

Websites:

Arduino Playgroundhttp://playground.arduino.cc/[Last accessed 03 January 2014]

Hacking RC Carhttp://www.instructables.com/id/Autonomous-Control-of-RC-Car-Using-

Arduino/[Last accessed 03 January 2014]

Lady Adahttp://www.ladyada.net/make/mshield/[Last accessed 13 January 2014]

Lets make robotshttp://letsmakerobots.com/node/26905 [Last accessed 10 January 2014]

Make ICT

Workshophttp://cratel.wichita.edu/blogs/eecsseniordesignspring2013fall2013/files/2013/02/

Hacking-a-RC-Car-(1).pdf[Last accessed 10 January 2014]

Maker Shedhttp://www.makershed.com/Articles.asp?ID=263[Last accessed 06 January

2014]

Parallaxhttp://www.parallax.com/sites/default/files/downloads/28015-PING-Sensor-Product-

Guide-v2.0.pdf [Last accessed 13 January 2014]

Robot Tutorials using the Arduinohttp://arthursrobotorial.blogspot.co.uk/[Last accessed 13

November 2013]
http://playground.arduino.cc/http://playground.arduino.cc/http://playground.arduino.cc/http://www.instructables.com/id/Autonomous-Control-of-RC-Car-Using-Arduino/http://www.instructables.com/id/Autonomous-Control-of-RC-Car-Using-Arduino/http://www.instructables.com/id/Autonomous-Control-of-RC-Car-Using-Arduino/http://www.instructables.com/id/Autonomous-Control-of-RC-Car-Using-Arduino/http://www.ladyada.net/make/mshield/http://www.ladyada.net/make/mshield/http://www.ladyada.net/make/mshield/http://letsmakerobots.com/node/26905http://letsmakerobots.com/node/26905http://letsmakerobots.com/node/26905http://cratel.wichita.edu/blogs/eecsseniordesignspring2013fall2013/files/2013/02/Hacking-a-RC-Car-%281%29.pdfhttp://cratel.wichita.edu/blogs/eecsseniordesignspring2013fall2013/files/2013/02/Hacking-a-RC-Car-%281%29.pdfhttp://cratel.wichita.edu/blogs/eecsseniordesignspring2013fall2013/files/2013/02/Hacking-a-RC-Car-%281%29.pdfhttp://cratel.wichita.edu/blogs/eecsseniordesignspring2013fall2013/files/2013/02/Hacking-a-RC-Car-%281%29.pdfhttp://www.makershed.com/Articles.asp?ID=263http://www.makershed.com/Articles.asp?ID=263http://www.makershed.com/Articles.asp?ID=263http://www.parallax.com/sites/default/files/downloads/28015-PING-Sensor-Product-Guide-v2.0.pdfhttp://www.parallax.com/sites/default/files/downloads/28015-PING-Sensor-Product-Guide-v2.0.pdfhttp://www.parallax.com/sites/default/files/downloads/28015-PING-Sensor-Product-Guide-v2.0.pdfhttp://www.parallax.com/sites/default/files/downloads/28015-PING-Sensor-Product-Guide-v2.0.pdfhttp://arthursrobotorial.blogspot.co.uk/http://arthursrobotorial.blogspot.co.uk/http://arthursrobotorial.blogspot.co.uk/http://arthursrobotorial.blogspot.co.uk/http://www.parallax.com/sites/default/files/downloads/28015-PING-Sensor-Product-Guide-v2.0.pdfhttp://www.parallax.com/sites/default/files/downloads/28015-PING-Sensor-Product-Guide-v2.0.pdfhttp://www.makershed.com/Articles.asp?ID=263http://cratel.wichita.edu/blogs/eecsseniordesignspring2013fall2013/files/2013/02/Hacking-a-RC-Car-%281%29.pdfhttp://cratel.wichita.edu/blogs/eecsseniordesignspring2013fall2013/files/2013/02/Hacking-a-RC-Car-%281%29.pdfhttp://letsmakerobots.com/node/26905http://www.ladyada.net/make/mshield/http://www.instructables.com/id/Autonomous-Control-of-RC-Car-Using-Arduino/http://www.instructables.com/id/Autonomous-Control-of-RC-Car-Using-Arduino/http://playground.arduino.cc/


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Appendix

Appendix A: Research Slides


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Appendix B: Ping Ultra Sonic Sensor data sheet


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Appendix C: Final Source code#include

#define trigPin3 // Ping))) Sensor

#define echoPin 2 // Ping))) Sensor

AF_DCMotormotor1(1, MOTOR12_8KHZ); // create motor #1, 8KHz pwm

AF_DCMotor motor3(3, MOTOR34_8KHZ); // create motor #2, 8KHz pwm

void setup()

{

Serial.begin (9600);

pinMode(trigPin, OUTPUT);

pinMode(echoPin, INPUT);

motor1.setSpeed(255); // set the speed to 200/255

motor3.setSpeed(255); // set the speed to 200/255}

intCheckDistance()

{

long duration, distance;

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH);

distance = (duration/2) / 29.1;

return distance;

}

void MotorForward(intdelaytime)

{

motor1.run(FORWARD);


delay(delaytime);

}

void MotorBackward(intdelaytime)

{

motor1.run(BACKWARD);


delay(delaytime);

}

void MotorRelease()

{

motor1.run(RELEASE);motor3.run(RELEASE);


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delay(1000);

}

voidMotorLeft()

{

motor1.run(FORWARD);motor3.run(BACKWARD);

delay(600);

}

voidMotorRight()

{



delay(500);

}

void loop()

{

inttestDistance = CheckDistance();

Serial.print(testDistance);

Serial.println( test);

if (testDistance>= 50|| testDistance

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