Embedded Files
Project Brief
Project Brief
Our first project in class is to create a rolling robot.
Project Plan
Project Plan
Above is our plan to create a rolling robot.
Circuit Diagrams
Circuit Diagrams
We learned what a circuit diagram is. They are drawings meant to represent electrical circuits using symbols
The purpose of a circuit diagram is to communicate information about an electrical circuit quickly without having to make a long description.
Circuits
Circuits
We practiced making circuit diagrams and circuit pictures using different websites, like tinker-cad.
Initial Research
Initial Research
We were asked to research three different examples of a rolling robot to help give us an idea of how to build it when it is our turn to try. The pictures below show what I found through my research. The links to the websites are in the titles of the sections.
This recourse shows how to build a rolling robot, and uses many supplies similar to the ones I have access to. It is helpful to see an example of how to do it when creating a robot, and this shows the idea of using a piece of plastic as a body to build off of, called a chassis.
This resource is a step by step instruction on how to build a Lego car. It provides ideas on what items to use, and how to improvise if something doesn't fit, or doesn't work, and will be helpful when making my robot, it also gave the idea of using a steel ball in the from to help deal with the balance issues of only having two wheels.
This resource was a video of a person building a rolling robot with some similar materials to mine. Although the supplies are not identical, there were similarities, and the video can give ideas about how to set up the robot, and where to place the similar pieces on my robot when I build it.
Servo "Sweep" Documentation
Servo "Sweep" Documentation
Circuit Picture
Circuit Picture
This circuit picture was used in class while we wired our servos
My Circuit Diagram
My Circuit Diagram
We made this circuit diagram to represent the servos we set up
Video of Servos
Video of Servos
After wiring and coding the servos, I took a video of the moving servos, here is a link to the code used
My Plan (Idea Development)
My Plan (Idea Development)
Starting Point
Starting Point
I decided to start with a configuration similar to the third idea I found as a prototype, except using cardboard as the base, and replacing the motors with servos, and the sensors will not have the stand. There might also be some alterations in positioning.
Circuit Picture
Circuit Picture
Here is a circuit picture that I used when wiring my robot
Circuit Diagram
Circuit Diagram
Here is an updated circuit diagram of my rolling robot
IMG_0164.MOVVideo of moving robot
Video of moving robot
Here is a video of my robot moving and turning.
Here is the Arduino code
#include <Servo.h> //only once
Servo myservoL; //declares myservoServo myservoR;
void setup()//set things up{ myservoL.attach(9); myservoR.attach(10);
}
void loop() {//on repeat //forward myservoL.write(180); //turn counter-clockwise at full speed myservoR.write(0); //turn clockwise at full speed
delay(2000); //delay two seconds
//backward myservoL.write(0); myservoR.write(180); delay(2000); //left myservoL.write(95); myservoR.write(0); delay(2000); //right myservoL.write(180); myservoR.write(85); delay(2000); //left tank turn myservoL.write(0); myservoR.write(0); delay(2000); //right tank turn myservoL.write(180); myservoR.write(180); delay(2000);}
Servo myservoL; //declares myservoServo myservoR;
void setup()//set things up{ myservoL.attach(9); myservoR.attach(10);
}
void loop() {//on repeat //forward myservoL.write(180); //turn counter-clockwise at full speed myservoR.write(0); //turn clockwise at full speed
delay(2000); //delay two seconds
//backward myservoL.write(0); myservoR.write(180); delay(2000); //left myservoL.write(95); myservoR.write(0); delay(2000); //right myservoL.write(180); myservoR.write(85); delay(2000); //left tank turn myservoL.write(0); myservoR.write(0); delay(2000); //right tank turn myservoL.write(180); myservoR.write(180); delay(2000);}
IMG_0163.MOVRobot Course
Robot Course
To the left is a video of the course my robot will take.
Pseudo Code
Pseudo Code
Forwardshort amount of timeLeft tank turnenough time to make a 90 degree turnForwardshort amount of timeRight tank turnenough time to make a 90 degree turnForwardundetermined amount of time to take it to the next turnRight turnenough time to make a 90 degree turnForwardundetermined amount of time to take it to the next turnRight turnenough time to make a 90 degree turnForward a long time, to take it to the next turnLeft tank turnenough time to make a 90 degree turnForwardshort amount of time to get to the stairs
IMG_0216.MOVVideo of Robot
Video of Robot
To the left is a video of my robot traversing the course. To the right is an explanation of my robot.
Robot
Labeling Wires
Labeling Wires
To ensure that I don't mess up the wiring later on, I put a label on each wire marking where it is supposed to be. This will be helpful when troubleshooting and adding parts to the robot.
Ultrasonic Sensor Research
Ultrasonic Sensor Research
This is a circuit picture of how to wire the Arduino nano and ultrasonic sensor. There is a link to the website I found in the heading. The website contains a video showing the sensor being used, a circuit picture to show the wiring, and an explanation and example of how to code the sensor using Arduino. The wiring diagram shows that from the Trig and Echo ports, the wires should connect to a spot designated int he code, the VCC port should connect to 5V on the Arduino, and the two GNDs should connect to each other.
This is a document that contains the data sheet for the ultrasonic sensor in the link titled Source 1. It also contains a a description of how it senses the distance of objects in the link titled Source 2. The sensor emits a short ultrasonic pulse, that is reflected back by an object. This is received by the sensor and converted into an electrical signal.
Robot Coding QuizRobot Coding Quiz
Robot Coding Quiz
In class, our teacher tested our ability to code our robots, and gave us an assignment to code. Mine was:
90 degree standard turn to the left
Forward for 5 seconds.
Stop for three seconds
Backwards for three seconds
For extra credit:
a full 360 tank turn to the right and
a full tank 360 degree tank turn to the left.
Coding Quiz Code
Coding Quiz Code
#include <Servo.h>
Servo myservoL;
Servo myservoR;
void setup()
{
myservoL.attach(9);
myservoR.attach(10);
}
void loop() {
//90 degree standard turn to the left
myservoR.write(0);
myservoL.write(90);
delay(3400);
//Forward for 5 seconds.
myservoR.write(0);
myservoL.write(180);
delay(2500);
//180 degree tank turn to the left
myservoR.write(0);
myservoL.write(0);
delay(3250);
//Stop for three seconds
myservoR.write(90);
myservoL.write(90);
delay(3000);
//Backwards three seconds
myservoR.write(180);
myservoL.write(0);
delay(3000);
//For extra credit: After the above commands get your robot to do
//a full 360 tank turn to the right and
myservoR.write(180);
myservoL.write(180);
delay(7500);
//a full tank 360 degree tank turn to the left.
myservoR.write(0);
myservoL.write(0);
delay(7500);
}
Circuit Picture
Circuit Picture
Above is a circuit picture of my Ultrasonic sensor and my Arduino
IMG_0320.MOVVideo
Video
Above is a video of my sensor displaying the results of a hand moving in front of it. The sensor works by emitting a short ultrasonic burst, and when it reflects back, it can determine the distance it traveled.
Sensor Code
// defines pins numbersconst int trigPin = 2;const int echoPin = 3;// defines variableslong duration;int distance;void setup() {pinMode(trigPin, OUTPUT); // Sets the trigPin as an OutputpinMode(echoPin, INPUT); // Sets the echoPin as an InputSerial.begin(9600); // Starts the serial communication}void loop() {// Clears the trigPindigitalWrite(trigPin, LOW);delayMicroseconds(2);// Sets the trigPin on HIGH state for 10 micro secondsdigitalWrite(trigPin, HIGH);delayMicroseconds(10);digitalWrite(trigPin, LOW);// Reads the echoPin, returns the sound wave travel time in microsecondsduration = pulseIn(echoPin, HIGH);// Calculating the distancedistance= duration*0.034/2;// Prints the distance on the Serial MonitorSerial.print("Distance: ");Serial.println(distance);}
Real-Life Example
Real-Life Example
A function in coding is a set of commands that can be referenced easily for repetitive motions.
An example of real-life functions is to the left
Arduino Code With Functions
Arduino Code With Functions
#include <Servo.h> //only once
Servo myservoL; //declares myservoServo myservoR;
void setup()//set things up{ myservoL.attach(9); myservoR.attach(10);
}
void Forward() { myservoL.write(180); myservoR.write(0);}
void Backward() { myservoL.write(0); myservoR.write(180);}
void Left() { myservoL.write(90); myservoR.write(0);}
void Right(){ myservoL.write(180); myservoR.write(90);}
void LeftTank() { myservoL.write(0); myservoR.write(0);}
void RightTank() { myservoL.write(180); myservoR.write(180);}
void loop() {//on repeat
myservoL.write(180); myservoR.write(55);
delay(4000); //leftLeftTank(); delay (760);
//forwardForward();
delay(1500); //rightRightTank(); delay (800);
//forwardForward();
delay(2000); //forward myservoL.write(180); myservoR.write(65);
delay(2000); //forwardForward();
delay(4000); //forward myservoL.write(180); myservoR.write(65);
delay(1120); //forwardForward();
delay(4000); //rightRight(); delay(1750); //forwardForward(); delay(7368); //rightRight(); delay(1500); //forwardForward(); delay(13000); //forward myservoL.write(160); myservoR.write(0); delay(2000); //forwardForward(); delay(25000); //leftLeftTank(); delay (770); //forwardForward(); delay(2000); //Stop myservoL.write(90); myservoR.write(90);
delay(10000);}
Servo myservoL; //declares myservoServo myservoR;
void setup()//set things up{ myservoL.attach(9); myservoR.attach(10);
}
void Forward() { myservoL.write(180); myservoR.write(0);}
void Backward() { myservoL.write(0); myservoR.write(180);}
void Left() { myservoL.write(90); myservoR.write(0);}
void Right(){ myservoL.write(180); myservoR.write(90);}
void LeftTank() { myservoL.write(0); myservoR.write(0);}
void RightTank() { myservoL.write(180); myservoR.write(180);}
void loop() {//on repeat
myservoL.write(180); myservoR.write(55);
delay(4000); //leftLeftTank(); delay (760);
//forwardForward();
delay(1500); //rightRightTank(); delay (800);
//forwardForward();
delay(2000); //forward myservoL.write(180); myservoR.write(65);
delay(2000); //forwardForward();
delay(4000); //forward myservoL.write(180); myservoR.write(65);
delay(1120); //forwardForward();
delay(4000); //rightRight(); delay(1750); //forwardForward(); delay(7368); //rightRight(); delay(1500); //forwardForward(); delay(13000); //forward myservoL.write(160); myservoR.write(0); delay(2000); //forwardForward(); delay(25000); //leftLeftTank(); delay (770); //forwardForward(); delay(2000); //Stop myservoL.write(90); myservoR.write(90);
delay(10000);}
Sensor Arrangement
Sensor Arrangement
I made sure that my sensor was facing the front of the robot, with an unobstructed view forward.
Real-Life If/Else Statement
Real-Life If/Else Statement
To the left is a real-life example of an if/else statement.
An if/else statement is a set of commands that is only used when certain conditions are met
Updated Code
Updated Code
#include <Servo.h>Servo Left;Servo Right;const int trigPin = 2;const int echoPin = 3;// defines variableslong duration;int distance;
void setup(){ Left.attach(9); Right.attach(10); 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}
void Forward() {//define forward Left.write(180); Right.write(0);}
void Lefttankturn() {//define left tenk turn Left.write(0); Right.write(0);}
void Righttankturn() {//define right tank turn Left.write(180); Right.write(180);}
void Backward() {//define backward Left.write(0); Right.write(180);}
void loop(){ // Clears the trigPin digitalWrite(trigPin, LOW); delayMicroseconds(2); // Sets the trigPin on HIGH state for 10 micro seconds digitalWrite(trigPin, HIGH); delayMicroseconds(10); digitalWrite(trigPin, LOW); // Reads the echoPin, returns the sound wave travel time in microseconds duration = pulseIn(echoPin, HIGH); // Calculating the distance distance = duration * 0.034 / 2; // Prints the distance on the Serial Monitor Serial.print("Distance: "); Serial.println(distance);
if (distance < 15) { Backward(); delay(1000); Righttankturn(); delay(1000); } else(Forward);
}
void setup(){ Left.attach(9); Right.attach(10); 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}
void Forward() {//define forward Left.write(180); Right.write(0);}
void Lefttankturn() {//define left tenk turn Left.write(0); Right.write(0);}
void Righttankturn() {//define right tank turn Left.write(180); Right.write(180);}
void Backward() {//define backward Left.write(0); Right.write(180);}
void loop(){ // Clears the trigPin digitalWrite(trigPin, LOW); delayMicroseconds(2); // Sets the trigPin on HIGH state for 10 micro seconds digitalWrite(trigPin, HIGH); delayMicroseconds(10); digitalWrite(trigPin, LOW); // Reads the echoPin, returns the sound wave travel time in microseconds duration = pulseIn(echoPin, HIGH); // Calculating the distance distance = duration * 0.034 / 2; // Prints the distance on the Serial Monitor Serial.print("Distance: "); Serial.println(distance);
if (distance < 15) { Backward(); delay(1000); Righttankturn(); delay(1000); } else(Forward);
}
IMG_0352.MOVRobot Reactions
Robot Reactions
In class we coded our robots to avoid obstacles by backing up and turning. To the left is a video of my robot reacting to objects in its path.
Circuit Picture
Circuit Picture
To the left is an updated circuit picture. It shows the wiring and parts of my robot, and is color-coded. The wires for power are all red, the ground wires are all black, the servo wires that connect to the Arduino are both yellow, and the remaining wires on the ultrasonic sensor are green and blue.
Robot Design
Robot Design
Robot Design Constraints
Robot Design Constraints
All Electronic Components Must be Enclosed (includes everything but the servo horns and the wheels).
Function requirements/constraints
Needs to function (can’t bee too heavy).
No slipping allowed.
The weight must balance equally-- needs to be stable, not having the body of the robot touching the ground.
Select materials that are rigid enough for their intended function (not sagging).
Usability Constraints
Have some type of easily removable door/cover/etc?
Easy battery Access
Easy access to Arduino 5V
Easy access to breadboard Red Row
Easy access to the reset button.
Easy access to the “B” end of the arduino A-B Cable port.
Aesthetic Requirements/Constraints
Size--not bigger than a microwave.
Covering is colorful and neatly crafted / uses any materials that you have at home.
Craftsmanship--
Neat
Clean Glue edges
Pieces and parts match up (edges fit together).
This is a picture of a robot that was made out of wood. Although it does not fit my constraints, it is an example of a robot that is similar to the one I want to make, and the way that they fit the "eyes" of the sensor into the robot without it standing out.
This is a video showing how to make the robot. Again, it does not perfectly fit my materials of constraints, but it is a good example of how to fit pieces together well, and make the electronics not stand out.
This is a robot that has very little to do with my assignment, but it does show another way to incorporate the ultrasonic sensor, and so could be useful.
Ideas
Ideas
Below are three possible designs for my robot
Detailed Picture
Detailed Picture
Below is a more detailed drawing of my chosen design, that includes arrows, explaining how it meets the constraints
Beginning
Beginning
I began cutting and then assembling the cardboard shell of my newly designed robot
Modification
Modification
Some pieces needed to be shortened to fit in the shell
Shell
Shell
I finished the shell of the robot. The top is open, but there will be a covering for it that will also hang onto the sides
IMG_0400.MOVConstraints
Constraints
Avbove is a video of me describing how my robot fits the constraints
IMG_0404.MOVFunction
Function
Above is a video of my robot functioning and avoiding obstacles
IMG_0417.MOVHow Do We Convert Rotational Motion to Linear Motion
How Do We Convert Rotational Motion to Linear Motion
To the left is a video of my Cardboard Automata. It coverts rotational motion into linear motion by turning an egg-shaped piece of cardboard. This pushes another component up, and will allow it to fall when the point turns away. This converts the rotational movement of the egg into linear motion for the straight piece. This is a cam, a device used for converting rotational motion into linear motion. My creative piece is a drawing of a Dalek attached to the linear moving part, so that it moves up and down with the rotation.
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