Engineering Concepts

Rolling Robot Project

Project Brief

Automation Project

For this project we'll be learning robotics

Project Plan

Following the directions I will have a rolling robot that can be controlled by my phone.

Servo - back and forth Tinkercad

We practiced using wires and an Arduino to make a servo go back and forth on Tinkercad.

Servo - back and forth

We put together our servo and Arduino and then uploaded the code into the Arduino program to make the servo spin.

Two servos back and forth

Added an Arduino by putting wires in the same spots as the first Arduino. Two servos are spinning using the same Arduino and code in the Arduino program.

Two independently functioning servos

We typed a new code into the Arduino program to make two servos spin independently.

Independent functioning servos code 8/6/21

#include <Servo.h> //this refers to a "library" that knows how to control servos

Servo ABservo; //defines a "servos" object and names it "ABservo"

Servo BAservo; //defines a "servos" object and names it "BAservo"

//int pos = 0;

void setup() {

ABservo.attach(9); //attach "servo" object named "ABservo" to pin 9

BAservo.attach(11); //attach "servo" object named "BAservo" to pin 11

}

void loop() {

ABservo.write(0); //make the "servo" object named "ABservo" rotate at full speed counterclockwise

BAservo.write(180); //make the "servo" object named "BAservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(500);

ABservo.write(90); //make the "servo" object named "ABservo" rotate at full speed counterclockwise

BAservo.write(90); // make the "servo" object name "BAservo" rotate at full speed counterclockwise

delay(500);

}

Two servos powered by batteries only

We wired two servos powered by batteries, the servos are allowed to spin because the Arduino saved the code from the Arduino program.

Tinkercad Circuit

We built/modeled our Arduino and servos on Tinkercad first before wiring everything with the bread board and servos in real life.

Stable Robot Body Prototype

We created our robot prototypes from cardboard and glued the batteries, bread board, and servos to it. There's also a caster wheel on the bottom to help with turning.

Robot Moving Forward, Backwards, Left, and Right

We added more writing to our previous code to make the servo turn left and right and also move backwards.

Forward, backwards, left, and right servo 8/12/21

#include <Servo.h> //this refers to a "library" that knows how to control servos

Servo leftservo; //defines a "servos" object and names it leftservo"

Servo rightservo; //defines a "servos" object and names it "rightservo"

//int pos = 0;

void setup() {

leftservo.attach(9); //attach "servo" object named "leftservo" to pin 9

rightservo.attach(10); //attach "servo" object named "rightservo" to pin 10

}

void loop() {

leftservo.write(0); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(180); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(1000);

leftservo.write(180); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(0); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(1000);

leftservo.write(0); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(0); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(1000);

leftservo.write(180); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(180); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(1000);

leftservo.write(180); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(0); // make the "servo" object name "rightservo" rotate at full speed counterclockwise

delay(5000);

}

Going through a course code 8/19/21

#include <Servo.h> //this refers to a "library" that knows how to control servos

Servo leftservo; //defines a "servos" object and names it leftservo"

Servo rightservo; //defines a "servos" object and names it "rightservo"

//int pos = 0;

void setup() {

leftservo.attach(9); //attach "servo" object named "leftservo" to pin 9

rightservo.attach(10); //attach "servo" object named "rightservo" to pin 10

}

void loop() {

leftservo.write(180); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(0); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(5000);

leftservo.write(90); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(90); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(500);

leftservo.write(180); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(180); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(700);

leftservo.write(90); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(90); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(500);

leftservo.write(180); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(0); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(700);

leftservo.write(180); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(180); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(500);

leftservo.write(180); //make the "servo" object named "leftservo" rotate at full speed counterclockwise

rightservo.write(0); //make the "servo" object named "rightservo" rotate at full speed counterclockwise

//in order tomake the go clockwise at full speed, use "180" as the number

delay(1000);

}

Robot Course Update 8/19/2021

When going through the course we had to update our codes a lot mostly just changing the delay when going forward or turning. If my robot went too far forward or turned too far then I would just reduce the delay.

Function Definitions 8/24/2021

#include <Servo.h> //this refers to a "library" that knows how to control servos

Servo leftservo; //defines a "servos" object and names it leftservo"

Servo rightservo; //defines a "servos" object and names it "rightservo"

//int pos = 0;

void setup() {

leftservo.attach(9);

rightservo.attach(10);

}

void forward () {

leftservo.write(0); //make the "servo" object named "leftservo" rotate at full speed counter clockwise

rightservo.write(180);

}

void backwards () {

leftservo.write(180); //make the "servo" oject named "leftservo" rotate at full speed clockwise

rightservo.write(0);

}

void left () {

leftservo.write(180);

rightservo.write(180);

}

void right () {

leftservo.write(0);

rightservo.write(0);

}

Ultrasonic Sensor 8/31/2021

#include <Servo.h> //this refers to a "library" that knows how to control servos

Servo leftservo; //defines a "servos" object and names it leftservo"

Servo rightservo; //defines a "servos" object and names it "rightservo"

int pos = 0;

// defines pins numbers

const int trigPin = 4;

const int echoPin = 5;

// defines variables

long duration;

int distance;

void setup() {

pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output

pinMode(echoPin, INPUT); // Sets the echoPin as an Input

Serial.begin(9600); // Starts the serial communication

leftservo.attach(9);

rightservo.attach(10);

}

void forward () {

leftservo.write(180); //make the "servo" object named "leftservo" rotate at full speed counter clockwise

rightservo.write(0);

}

void backwards () {

leftservo.write(0); //make the "servo" oject named "leftservo" rotate at full speed clockwise

rightservo.write(180);

}

void left () {

leftservo.write(180);

rightservo.write(180);

}

void right () {

leftservo.write(0);

rightservo.write(0);

}

void loop() {

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH);

distance= duration*0.034/2;

Serial.print("Distance: ");

Serial.println(distance);

if(distance < 10) {

right();

delay(750);

forward();

delay(1000);

}

// foward();

// delay(3000);

// backwards();

// delay(3000);

// left();

// delay(3000);

// right();

// delay(3000);

}

Arduino Ultrasonic Sensor

We wired an ultrasonic sensor to our robot that is also connected to our Arduino. We combined two codes, first our previous function definitions code and then the code for the sensor.

Robot With Sensor Avoiding Walls 9/30/21

Gear Box

Working gear box with servo from our old robot, the parent gear is connected to the servo and is pushing the child gear.

Robot 9/21/21

This is my robot currently. My robot has the gearboxes and wiring inside with the sensor poking out on the top.

Robot Requirements

Functional Requirements:

Limited to no slipping --currently not meeting/currently meeting/currently can't evaluate
Weight must be balanced --currently not meeting/currently meeting/currently can't evaluate
Must be stable --currently not meeting/currently meeting/currently can't evaluate
Avoids walls/objects when desired --currently not meeting/currently meeting/currently can't evaluate
Can be controlled by Bluetooth --currently not meeting/currently meeting/currently can't evaluate
Can fit into bin (width and length only) --currently not meeting/currently meeting/currently can't evaluate
Usability Requirements
Fully enclosed .--currently not meeting/currently meeting/currently can't evaluate
Has a removable door/ cover. --currently not meeting/currently meeting/currently can't evaluate
Has easy access to batteries. --currently not meeting/currently meeting/currently can't evaluate
Has easy access to red row/5V. --currently not meeting/currently meeting/currently can't evaluate
Has easy access to the reset button. --currently not meeting/currently meeting/currently can't evaluate
Has easy access to the "B" end of the A-B Cable --currently not meeting/currently meeting/currently can't evaluate
Aesthetic Requirements
Pieces and parts match up --currently not meeting/currently meeting/currently can't evaluate
Clean Glue Edges --currently not meeting/currently meeting/currently can't evaluate
Design is unique --currently not meeting/currently meeting/currently can't evaluate
Complimentary Colors are Implemented --currently not meeting/currently meeting/currently can't evaluate

Combined Bluetooth Code

#include <Servo.h> // this refers to a "library" that knows how to control servos

Servo rightservo; //defines a "servo" object and names it "firstservo"

Servo leftservo; //defines a "servo" object and names it "secondservo"

#define CUSTOM_SETTINGS

#define INCLUDE_GAMEPAD_MODULE

#include <Dabble.h>

void setup() {

leftservo.attach(9); // attach the "servo" object named "myservo" to pin 9

rightservo.attach(10); // attach the "servo" object named "myservo" to pin 10

Serial.begin(250000); // make sure your Serial Monitor is also set at this baud rate.

Dabble.begin(9600); //Enter baudrate of your bluetooth.Connect bluetooth on Bluetooth port present on evive.

}

void forward(){

leftservo.write(0); //make the "servo" object named "firstservo" rotate at full speed counterclockwise

rightservo.write(180);

}

void backwards(){

leftservo.write(180); //make the "servo" object named "firstservo" rotate at full speed counterclockwise

rightservo.write(0);

}

void left(){

leftservo.write(180); //make the "servo" object named "firstservo" rotate at full speed counterclockwise

rightservo.write(180);

}

void right(){

leftservo.write(0);

rightservo.write(0);

}

void stopping(){

leftservo.write(90);

rightservo.write(90);

}

void loop() {

Dabble.processInput(); //this function is used to refresh data obtained from smartphone.Hence calling this function is mandatory in order to get data properly from your mobile.

Serial.print("KeyPressed: ");

if (GamePad.isUpPressed())

{

Serial.print("UP");

forward();

}

if (GamePad.isDownPressed())

{

Serial.print("DOWN");

backwards();

}

if (GamePad.isLeftPressed())

{

Serial.print("Left");

left();

}

if (GamePad.isRightPressed())

{

Serial.print("Right");

right();

}

if (GamePad.isSquarePressed())

{

Serial.print("Square");

stopping();

}

if (GamePad.isCirclePressed())

{

Serial.print("Circle");

}

if (GamePad.isCrossPressed())

{

Serial.print("Cross");

}

if (GamePad.isTrianglePressed())

{

Serial.print("Triangle");

}

if (GamePad.isStartPressed())

{

Serial.print("Start");

}

if (GamePad.isSelectPressed())

{

Serial.print("Select");

}

Serial.print('\t');

int a = GamePad.getAngle();

Serial.print("Angle: ");

Serial.print(a);

Serial.print('\t');

int b = GamePad.getRadius();

Serial.print("Radius: ");

Serial.print(b);

Serial.print('\t');

float c = GamePad.getXaxisData();

Serial.print("x_axis: ");

Serial.print(c);

Serial.print('\t');

float d = GamePad.getYaxisData();

Serial.print("y_axis: ");

Serial.println(d);

Serial.println();

}

Robot Navigating Final Course

Table Saw Safety

Wear safety glasses
Remove loose clothing
Use either the rip fence or the miter gauge
Use the feather board
Rip cuts with fence
Cross cuts with miter gauge
Use a push stick

Don't

Table Saw

Table saw makes straight long cuts

What I made

I cut a line down a wooden plank making two separate pieces

Planer Safety

Wear ear protection
Wear safety glasses
Adjust the cutting thickness to with 1/16" of the material thickness prior to cutting
Unplug when finished
Attach the vacuum before use

Don't

Put fingers near the opening
Pass any material but wood through the planner
Pass wood with nails/screws through the planer

Planer

It removes material from the top of the material to perform three functions:

Reduce the thickness of your material
Make the material a uniform thickness
Make your material smooth/nice

What I Made

I smoothed out a plank of wood making it even on both sides

Miter Safety

Wear safety glasses
Firmly secure the material with your hand outside of the hand placement line and up againist the fence
Vacuum after use
Unplug the saw after use
Reduce exposure to blade

Don't

Touch or manually move the blade guard
Cut material that requires your hand to be inside of the hand placement line
Plug the saw in with your cord across your body
Measure while material is on the saw

Miter

It cuts across the length of the wood, this type of cut is a cross cut

What I Made

I cut 9 pieces of wood using the measurements I wanted for my lock box

Biscuit Jointer Safety

Wear safety glasses
Make sure it is set for the appropriate size of biscuit
Make sure you set the height in the middle of the material
Mark both sides of the material
Clamp a block in front of material each time

Don't

Put your fingers near the blade when it is plugged in
Assume the blade won't come out of the material

Biscuit Jointer

What I Made

Navigating OnShape

I learned how to navigate my OnShape account and the basics of OnShape use.

Introduction To Sketching

I've completed the basic sketch exercise and tutorials for navigating OnShape documents.

Basic Sketch Exercise

Basic sketch I made on OnShape. I used the line button, circle button, and found the diameter of certain lines.

Biscuit Jointer Safety

Biscuit Jointer

Cuts "biscuit shaped" holes on your material so that you can assemble your part to be both

Perfectly aligned
Sturdy

Once you biscuit, you glue your parts together creating what is called a "glue up"

What I Made

CNC Machine Safety

Run the dust collector
Vacuum after use
Wear ear protection
Wear safety glasses
Secure your material (with screws or clamps)
Design around your screws

Don't

Leave the CNC while it's running
Don't go near the gantry while it's running

CNC Machine

Uses input from a CAD file to cut, or carve pieces /parts

What I Made

Orbital Sander

What I Made

Lock Research

Arduino Electrical Lock

How does it work?

Connect the keypad to the Arduino pins and when the code is typed in on the keypad it will be right according to the code imputed on the code uploaded to the Arduino. A servo will also be connected to the Arduino which will spin a wire that's connected to the deadbolt lock which open and close based on the code put in.

Is it feasible to make in class, why?

I think this lock is feasible to make in class because of the materials are openly ready and if not they can be easily made

Does it meet the constraints of the project?

This definitely meets the constraints of the project

3D Printed Pin Lock

How does it work?

The pins are positioned vertically so that the key can be inserted and push on the pins in the right which then triggers the bolt to open.

Is it feasible to make in class, why?

I believe this design is feasible to make because of uncomplicated the actual design of the pins has to be for the lock to work and also the lock can be 3D printed.

Does it meet the constraints of the project?

This meets all constraints, I would only be worried about how durable the material of the lock and not the lock itself.

Push Button Lock

How does it work?

The Arduino consists of a 6 buttons and eight LEDS which when clicked on in the right order will produce the green light and if not a red light. You can change the code by updating the code uploaded to the Arduino.

Is it feasible to make in class, why?

I think between all my other locks this is definitely the easiest to make with the most ready materials.

Does it meet the constraints of the project?

I think this lock would fit perfectly anywhere on the box and would be even more customizable by creating a personal combination.

Wooden Combination Lock

How does it work?

When the combo knob is turned the right way in the right turns will fall into a notch which starts the combination

Is it feasible to make in class, why?

I think this lock is completely feasible to make in class because of all the parts could be 3D printed or cut out by a CNC machine

Does it meet the constraints of the project?

I think this fits most of the constraints, the only constraint I could possibly see being an issue would be is it fitting into the box or around it without overtaking the size of the box.

Wood Stain Safety

Wear gloves
Always wear stain over a drop cloth
Put a small amount on stain on your rag
Use cotton cloth to apply stain

Don't

Mix stains
Leave staining materials out
Leave stain rags out
Leave waste gloves out

Wood Stain

What I made

Inspiration For Lock

The lock has a preset code written into the code which is then uploaded to the Arduino. When the code is typed in correctly the servo will spin with wire connected to it which will then put the slider from the deadbolt thus unlocking the mechanism.

Lock Sketches

I drew every material and all the materials put together.

Lock Materials

MDF Board
Arduino Uno
4x4 Type Keypad
Servo Motor
Wires
Metal Wire
Battery 9V
Blue Cord

Class Lock

Actuator

This was one of the harder parts to create on OnShape only because some of the lengths weren't identified and you had to find them based on the lengths that were provided.

Lock Front

Out of the three this was the easiest to make because it's a basic shape, the points where the circles had to be and their radius' were provided, and the weird hump piece half shape diameter was also given.

Rotor

This piece was only difficult when placing the grooves because it was hard placing them on a curve and getting their lengths to fit right.

IMG_8545.MOV

Final Functioning Lock

The process making the final mechanical model was so frustrating because you had to figure out putting it together dry so that meant no glue. When you thought you would make a break through it would all fall apart or would be too stuck to take back apart. But I finally did it and got everything glued together to having it working efficiently. When you first start turning the knob you turn it until the first rotor's groove catches on the second rotor's rectangular groove which would then hit the third rotor's groove and would have the actuator bolt's indentations lined up. After that the final steps are to move the first rotor until it's indentation lined up with the second and third and pull the bolt in the middle to have the actuator's bolt slide through.

Day 1 Progress

I started wiring my Arduino and finished making my prototype lock and bolt slider out of cardboard.

Day 2 Progress

I completed my final cardboard model with laser cut cardboard with measurements that will fit into the wooden enclosure.

Day 3 Progress

I've finished wiring the keypad and servo and I've put it in the laser cut enclosure.

Day 4 Progress

I finished making the lock and bolt from laser cut wood, the servo is connected to the bolt with a paper hot glued to the handle.

Day 5 Progress

I cut holes on the left side of my box for the switch and the html cable for when the batteries die. I also cut a hole up higher for the lock's latch to come out and actually lock the box.

Day 6 Progress

I finally put all the pieces to my project together to have a fully functioning lock in my box.

Arduino Keypad Lock Code

#include <Keypad.h>

#include <Servo.h>

// Set up keypad variables:

int numKeyPresses = 0; // Track number of key presses

int maxKeyPresses = 3; // Only allow 3 digits to be entered

int keyPresses[3] = { 0, 0, 0 }; // Initialize an empty array to hold input

const byte numRows= 4; // # of rows on the keypad

const byte numCols= 4; // # of columns on the keypad

// Set up servo variables:

int angle = 0; // Angle in degrees to position servo [0-180]

int angleMultiplier = 1; // Multiply by each digit, divide by 10 on each input

Servo servo; // Create the servo object

int servoPin = 3; // Set the servo pin

char keymap[numRows][numCols]= // Setup the keypad layout

{

{'1', '2', '3', 'A'},

{'4', '5', '6', 'B'},

{'7', '8', '9', 'C'},

{'*', '0', '#', 'D'},

};

// Connect keypad ROW0, ROW1, ROW2 and ROW3 to these Arduino pins.

byte rowPins[numRows] = { 11, 10, 9, 8 };

// Connect keypad COL0, COL1 and COL2 to these Arduino pins.

byte colPins[numCols] = { 7, 6, 5, 4 };

// Create the Keypad

Keypad kpd = Keypad( makeKeymap( keymap ), rowPins, colPins, numRows, numCols );

void setup()

{

Serial.begin(9600); // Start up serial comms

resetAngleMultiplier(); // Start accepting numeric input

servo.attach( servoPin ); // Attaches the servo to the servo object

} // setup

void loop()

{

char key = kpd.getKey();

if( key ) // Check for a valid key

{

if( key >= 0x41 && key <= 0x44 || key == 0x23 || key == 0x2A )

{

resetInput();

Serial.println( "ERROR: Numeric input only!" );

} // ^ if invalid entry

else // Else, entry is valid:

{

angle += angleMultiplier * ( key - 0x30 );

angleMultiplier /= 10;

if( numKeyPresses == maxKeyPresses - 1 )

{

setServo( angle ); // Use the input to turn servo

resetInput();

}

else

{

numKeyPresses++;

}

Serial.println( (String) angle );

}

} // if( key )

} // loop

void setServo( int angle )

{

if( angle > 180 )

angle = 180;

Serial.println( "Setting servo to " + (String) angle + " degrees." );

servo.write( angle ); // Set the servo position

} // setServo

void resetAngleMultiplier()

{

angleMultiplier = 1;

/* We started out with a multiplier of 10^0 (or 1). For each

number we want to accept, we want to have a multiplier one

order of magnitude greater. So, for example, for 5 digits, the

multiplier starts out as 10 000. */

for( int i = 0; i < maxKeyPresses - 1; i++ )

angleMultiplier *= 10;

} // resetAngleMultiplier

void resetInput()

{

resetAngleMultiplier(); // Reset the numeric input

angle = 0; // Reset the angle

numKeyPresses = 0; // Reset number of key presses

}

IMG_8929.MOV

Final LockBox Presentation

Machine Learning Project

What Is Machine Learning?

Machine learning is the development of computer systems that are able to learn and adapt without following explicit instructions on what to do.

The Goal Of My Model

The goal of my model was for it to be able to tell the difference between four distinctly different phone cases. The labels I used for my objects were Cartoon case (top left), Butterfly case (top right), Wallet case (bottom left), and Circle case (bottom right).

My Model

In this project we had to choose four or more objects to be predicted, I chose my classmate's phone cases. The data for this project is pulled from the folder "Phone Cases" in my google drive where all 804 of my photos are. I had to test and train the model so it would accurately predict the labels for each image. I can proudly say that my model has 100% accuracy and can correctly predict the labels for all the images.

My Data

My data is in my google drive under a folder called Phone Cases, under the folder there's four other sub-folders with 200 images each of their corresponding cases.

Accurately Labeled Images

Circle Case

Cartoon Case

Wallet Case

These 3 images shows that my model can correctly predict the images of the cases with 100% accuracy.

Mislabeled Images

I had zero incorrectly labeled images, my model has 100% accuracy.

Data Collection Process

In the folders of my data set there are 201 pictures in each one, every picture is 48 by 48 pixels. In all my model runs through and can correctly predict around 800 pictures. Getting all the images only took a few minutes, the process included holding our items in front of Ms. White's computer and turning it in different directions.

Building The Model

1st line: Inputs keras library

2nd line: Creates a layer the size of 1024

3rd line: Outputs dense layer

4th line: Creates the keras model

5th line: Prints a summary of the model

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