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Obstacle Avoiding Robot
Deja-‐‑Lee, Jeane:e and Nicolle Faculty Mentor: Dr. Uma Balaji Counselors: Christina and Davina
Ñ Obstacle Avoiding Robot Ó Sense nearby objects Ó Should not crash into an object Ó Stop at 10 cm from the object
Problem Definition
Required Parts
Ñ Chassis Ñ Wheels Ñ Arduino (motherboard + driver)
Ñ Wires Ñ Ba:eries (power) Ñ Nuts and Bolts
Ñ Ultrasonic Sensor Ñ Software
Ñ Binary Ó Converting from decimal Ó The language of computers
Ñ Software Ó The code itself Ó Learning how this works
Ñ Hardware Ó Circuit building Ó How the robot comes together
Methodology
Ñ What is the difference between series and parallel resistors circuits?
Ñ (colored bands on the resistors stand for a certain resistance)
Ñ Specific LEDs match with binary numbers to help it blink (video)
Learning circuit building
Ñ Assembled robots from chassis, wires, Arduino, motors….
Ñ We soldered wires to the motor shield, which would be used for controlling the sensor
The Hardware
Practice Codes Blink Ñ 1 or more LEDs Ñ High/Low
Fade Ñ Range of brightness
void setup() { pinMode(13, OUTPUT); } void loop() { digitalWrite(13, HIGH delay(1000); digitalWrite(13, LOW); delay(1000); }
Ñ Arduino Syntax Ó Setup Ó Loop
Ñ If, For, While statements Ó Arithmetic code
Software Examples if (thisByte == 126) { while (true) { continue; } } -‐‑-‐‑-‐‑-‐‑-‐‑-‐‑ for (int fadeValue = 0 ; fadeValue <= 255; fadeValue += 5) { analogWrite(ledPin, fadeValue); delay(30); }
Ñ Adafruit Motor Shield (version 1.2) Ñ We use it to connect with Arduino Ñ We added wires to the motor shield to connect to other robot components
Motor Shield
Ñ Motors came with manufacturing problems Ñ A chip on the Arduino board short circuited Ñ Ba:ery pack short circuited causing major issues on the actions of the robot
Ñ Wheels’ bolts were sometimes both too loose and too tight
Problems Encountered
Ñ What is open source? Ñ What does open source allow one to do?
Ó Community outreach (sharing)
Ethics
Ñ Increase Speed Ñ Add LEDs/more décor to chassis Ñ Turn to avoid obstacles Ñ Move in all directions Ñ Create hand-‐‑held controller
Future Additions/Ideas