engineering concepts

Roiling Robot project

Automation project

In this project we are going to learn about robotics and how they influence the world.

Project plan

At the end of this project I will have a rolling robot that I can move and control with my phone.

IMG_3713.MOV

Servo back and forth on Tinkercad

Today we practiced wiring a servo using Tinkercad, we also learned where to find our own starter code.

IMG_3716.MOV

Servo back and forth

Today we coded a physical servo to move back and forth.

IMG_3718.MOV

Two servos back and forth

I have coded two servos together in unison, they are placed on the same pins and are not separate.

IMG_3720.MOV

Two servos back and forth independent

I have coded two servos to move back and forward independently(separate pins).

Code

#include <Servo.h> // incude in any code that incudes servos

Servo firstsrevo; //define a servo object and names it "firstsrevo"

Servo secondservo; // definded a "secondservo"

// int pos = 0;

void setup() {

firstsrevo.attach(9); //taches servo obecect to pin 9

secondservo.attach(8);

}

void loop() {

firstsrevo.write(0); //servo "firstsrevo" rotates full speed couter clockwises

secondservo.write(180); //in order to make the servo go clockwise at full speed use 180 as number

delay(1000);

firstsrevo.write(180);

secondservo.write(0);

delay(1000);

}

IMG_3741.MOV

Two independent servos powered by batteries

Today we powered our servos with batteries. We now have the freedom to move around with the robot.

TinkerCAD example of two servos powered by batteries

This is the circuit diagram we built.

IMG_3780.MOV

Prototype body

This is my prototype body for my robot. The design is made out of cardboard and is meant to have good center of gravity.

IMG_3781.MOV

Moving forward back right and left

I coded my robot to move forward backwards and left and right.

code

#include <Servo.h> // incude in any code that incudes servos

Servo rightservo; //define a servo object and names it "firstsrevo"

Servo leftservo; // definded a "secondservo"

// int pos = 0;

void setup() {

rightservo.attach(9); //taches servo obecect to pin 9

leftservo.attach(8);

}

void loop() {

rightservo.write(180); //servo "firstsrevo" rotates full speed couter clockwises

leftservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

delay(1000);

rightservo.write(0); // 180 foward 0 backwards for robot

leftservo.write(180); //0 fowrds 180 back

delay(1000);

//turn left

rightservo.write(0); // 180 foward 0 backwards for robot

leftservo.write(0); //0 fowrds 180 back

delay(2000);

//turn right

rightservo.write(1800); // 180 foward 0 backwards for robot

leftservo.write(180); //0 fowrds 180 back

delay(2000);

}

IMG_3837.MOV

Robot programed to follow a predesigned path

I programed my robot to follow a predesigned path. along the way i made some changes one of them being I turned the bread board around because it was hard to reach with where the battery pack was. The main code changes I made were at first the directions were off with left and right, but after I figured out how to turn each way the main changes I made were time changes.

Code for path done

#include <Servo.h> // incude in any code that incudes servos

Servo rightservo; //define a servo object and names it "firstsrevo"

Servo leftservo; // definded a "secondservo"

// int pos = 0;

void setup() {

rightservo.attach(9); //taches servo obecect to pin 9

leftservo.attach(8);

}

void loop() {

// foward

rightservo.write(180); //servo "firstsrevo" rotates full speed couter clockwises

leftservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

delay(3000);

//backwards

// rightservo.write(0); // 180 foward 0 backwards for robot

// leftservo.write(180); //0 fowrds 180 back

delay(1000);

//turn right

rightservo.write(1800); // 180 foward 0 backwards for robot

leftservo.write(180); //0 fowrds 180 back

delay(800);

// foward

rightservo.write(180); //servo "firstsrevo" rotates full speed couter clockwises

leftservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

delay(2500);

//turn right

rightservo.write(1800); // 180 foward 0 backwards for robot

leftservo.write(180); //0 fowrds 180 back

delay(740);

// foward

rightservo.write(180); //servo "firstsrevo" rotates full speed couter clockwises

leftservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

delay(3150);

//turn left

rightservo.write(0); // 180 foward 0 backwards for robot

leftservo.write(0); //0 fowrds 180 back

delay(770);

// foward

rightservo.write(180); //servo "firstsrevo" rotates full speed couter clockwises

leftservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

delay(4400);

//turn right

rightservo.write(1800); // 180 foward 0 backwards for robot

leftservo.write(180); //0 fowrds 180 back

delay(730);

// foward

rightservo.write(180); //servo "firstsrevo" rotates full speed couter clockwises

leftservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

delay(5800);

//turn left

rightservo.write(0); // 180 foward 0 backwards for robot

leftservo.write(0); //0 fowrds 180 back

delay(725);

// foward

rightservo.write(180); //servo "firstsrevo" rotates full speed couter clockwises

leftservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

delay(5750);

//turn left

rightservo.write(0); // 180 foward 0 backwards for robot

leftservo.write(0); //0 fowrds 180 back

delay(820);

// foward

rightservo.write(180); //servo "firstsrevo" rotates full speed couter clockwises

leftservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

delay(4000);

}

Forward back left right with functions

#include <Servo.h> // incude in any code that incudes servos

Servo rightservo; //define a servo object and names it "firstsrevo"

Servo leftservo; // definded a "secondservo"

// int pos = 0;

void setup() {

rightservo.attach(9); //taches servo obecect to pin 9

leftservo.attach(8);

}

void foward(){

rightservo.write(180); //servo "firstsrevo" rotates full speed couter clockwises

leftservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

}

void backwards(){

rightservo.write(0); // 180 foward 0 backwards for robot

leftservo.write(180); //0 fowrds 180 back

}

void left(){

rightservo.write(0); // 180 foward 0 backwards for robot

leftservo.write(0); //0 fowrds 180 back

}

void right(){

rightservo.write(1800); // 180 foward 0 backwards for robot

leftservo.write(180); //0 fowrds 180 back

}

void loop() {

foward();

delay(1000);

backwards();

delay(1000);

left();

delay(2000);

right();

delay(2000);

}

IMG_3939.MOV

Sensor working

I got an ultra sonic sensor to tell how far things are from the robot.

sensor

/*

* Ultrasonic Sensor HC-SR04 and Arduino Tutorial

*

* by Dejan Nedelkovski,

* www.HowToMechatronics.com

*

*/

// defines pins numbers

const int trigPin = 5;

const int echoPin = 6;

// 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

}

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);

}

IMG_3940.mov

Sensor with turns

I coded a ultra sonic sensor to move forward and turn when it senses a wall or object.

Sense and turn w/ functions

#include <Servo.h> // incude in any code that incudes servos

//sensor define

const int trigPin = 5;

const int echoPin = 6;

// defines variables

long duration;

int distance;

Servo rightservo; //define a servo object and names it "firstsrevo"

Servo leftservo; // definded a "secondservo"

// int pos = 0;

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

rightservo.attach(9); //taches servo obecect to pin 9

leftservo.attach(8);

}

void foward() {

rightservo.write(180); //servo "firstsrevo" rotates full speed couter clockwises

leftservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

}

void backwards() {

rightservo.write(0); // 180 foward 0 backwards for robot

leftservo.write(180); //0 fowrds 180 back

}

void left() {

rightservo.write(0); // 180 foward 0 backwards for robot

leftservo.write(0); //0 fowrds 180 back

}

void right() {

rightservo.write(1800); // 180 foward 0 backwards for robot

leftservo.write(180); //0 fowrds 180 back

}

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 < 6){

right();

delay(765);

foward();

}

// foward();

// delay(1000);

// backwards();

// delay(1000);

// left();

// delay(2000);

// right();

// delay(2000);

}

IMG_4067.MOV

Working gearbox

I built a gearbox, this makes the robot faster. Gearboxes increase the rotations per minute of the child gear.

IMG_4275.MOV

Bluetooth control

I was able to control my Arduinos light through Bluetooth. I was not able to control the light that was in the bread board.

IMG_4315.MOV

Final project moving

This robot Runs off one gear box in the back and has a drive shaft in the box. The front two wheels are connected by a wooden dowel glued to a angular servo.

Testing of robot body

The body was too wide so I had to shave down the base and cut indents in the bottom for wheels and servos.

Aesthetics of body

I added a lot of jutted out pieces to give the robot a junkyard feel. I changed the main body a little but I kept it mostly the same and added complemtary colors.

IMG_4461.mov

Bluetooth control

I coded a servo to look for devices and then control my robot when it is connected to a device.

IMG_2467.MOV

Final course

My robot is controled by bluethoth and is able to make it through the course.

Locked box project

Table saw safety brief

The table saw is used to make long straight cuts . You must wear safety glasses ,remove lose clothing, use a rip fence and use a feather board. Do not cross cut with the rip fence or put you fingers within 6" of the blade. remove triping hazards and gloves before use. Never stand in front of the blade. Today we used it to cut 2x4 into smaller pieces.

Planer breif

WHile using the planer wear ear protecion and saftey glases. While using it adjust the material to 1/16" of the material thickness before cuting, unpug after , and vacum after. Dont use any other material than wood through it and dont put your hadns near the oppning. the planner removes the top of meterials it does this to make the material smotth and make it have a unifor thickness.4

Miter saw

THe miter saw cuts up and down and is used to make wood shorter. When uing it wear saftey glases,unpulg after use, keep wood secure and reduce the exposure of you had to the blade. Dont touch use the blade gurd and dont mesure while using the mechine.

biscut jionter

Makes hoes in materials to help assemble your box. while using wear safety glassmaker sure the size is right ,set the highest in the middle of the material, mark both sides of the material, clamp a block infront of material. Never put your fingers near the blade while pugged in assume the blade wont come out of the material.

On shape documentation

In Onshape i have learned how to make simple sketches and use the sketch tools in a beginner setting.

avoid walls final dive shaft and front turn wheels.

#include <Servo.h> // incude in any code that incudes servos

//sensor define

const int trigPin = 5;

const int echoPin = 4;

// defines variables

long duration;

int distance;

Servo driveservo; //define a servo object and names it "firstsrevo"

Servo steer; // definded a "secondservo"

// int pos = 0;

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

driveservo.attach(9); //taches servo obecect to pin 9

steer.attach(8);

steer.write(90);

}

void foward() {

driveservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

}

void backwards() {

driveservo.write(180); //0 fowrds 180 back

}

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 < 20) {

steer.write(110);

delay(765);

backwards();

delay(1500);

steer.write(90);

}

foward();

// steer.write(180);

//delay(250);

//steer.write(90); //180 left 0 right 90 middle

//delay(250);

// foward();

// delay(1000);

// backwards();

// delay(1000);

// left();

// delay(2000);

// right();

// delay(2000);

}

buethoth move

/*

Gamepad module provides three different mode namely Digital, JoyStick and Accerleometer.

You can reduce the size of library compiled by enabling only those modules that you want to

use. For this first define CUSTOM_SETTINGS followed by defining INCLUDE_modulename.

Explore more on: https://thestempedia.com/docs/dabble/game-pad-module/

*/

#define CUSTOM_SETTINGS

#define INCLUDE_GAMEPAD_MODULE

#include <Dabble.h>

#include <Servo.h>

Servo steer; // definded a "secondservo"

Servo driveservo; // definded a "secondservo"

void setup() {

// put your setup code here, to run once:

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.

driveservo.attach(9);

steer.attach(8);

steer.write(90);

}

void foward(){

driveservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

}

void backwards(){

driveservo.write(180); //0 fowrds 180 back

}

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())

{ foward();

Serial.print("UP");

}

if (GamePad.isDownPressed())

{ backwards();

Serial.print("DOWN");

}

if (GamePad.isLeftPressed())

{ steer.write(110);

Serial.print("Left");

}

if (GamePad.isRightPressed())

{ steer.write(60);

Serial.print("Right");

}

if (GamePad.isSquarePressed())

{

Serial.print("Square");

}

if (GamePad.isCirclePressed())

{ driveservo.write(90);

steer.write(90);

Serial.print("Circle");

}

if (GamePad.isCrossPressed())

{

Serial.print("Cross");

}

if (GamePad.isTrianglePressed())

{ steer.write(90);

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();

}

new bluetoth

/*

Gamepad module provides three different mode namely Digital, JoyStick and Accerleometer.

You can reduce the size of library compiled by enabling only those modules that you want to

use. For this first define CUSTOM_SETTINGS followed by defining INCLUDE_modulename.

Explore more on: https://thestempedia.com/docs/dabble/game-pad-module/

*/

#define CUSTOM_SETTINGS

#define INCLUDE_GAMEPAD_MODULE

#include <Dabble.h>

#include <Servo.h>

Servo steer; // definded a "secondservo"

Servo driveservo; // definded a "secondservo"

void setup() {

// put your setup code here, to run once:

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.

driveservo.attach(9);

steer.attach(8);

steer.write(90);

}

void foward() {

driveservo.write(0); //in order to make the servo go clockwise at full speed use 180 as number

}

void backwards() {

driveservo.write(180); //0 fowrds 180 back

}

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())

{ foward();

Serial.print("UP");

}

if (GamePad.isDownPressed())

{ backwards();

Serial.print("DOWN");

}

if (GamePad.isLeftPressed())

{ steer.write(140);

Serial.print("Left");

}

if (GamePad.isRightPressed())

{ steer.write(50);

Serial.print("Right");

}

if (GamePad.isSquarePressed())

{

Serial.print("Square");

}

if (GamePad.isCirclePressed())

{ driveservo.write(110);

steer.write(90);

Serial.print("Circle");

}

if (GamePad.isCrossPressed())

{

Serial.print("Cross");

}

if (GamePad.isTrianglePressed())

{ steer.write(110);

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();

}

planner

lock Research

I wouldn't build the lock on a large scale but the lock being scaled up helped me understand how it works. There is a center lock core that sits in another cylinder. there are pins that drop down into the center core that would free spin without these pins. A key is inserted in to the center cylinder and pushes the pins up to allow the center cylinder to rotate. This lock is feasible in class(scaled down) by using 3d printers .

This lock is a password lock made using Arduino a screen and a numpad. I would have to order a numpad and led screen to be able to make the lock. I would also use different locking mechanism probably i would use the Arduino Door lock below an use the keypad to actuate the Arduino.

The lock above works with a wedge key and rubber bands pulling two sliding doors. The lock is able to be made in class and the lock is pretty simple to make.

This lock is made by using a Arduino and a normal pin door lock. We have the materials in class and the lock should be easy to make and feasible to do.

https://create.arduino.cc/projecthub/BuildItDR/bluetooth-door-lock-arduino-bc2035

staining

Do wear gloves, use a drop cloth, put a small amout of stain on the rag, use a cotton cloth

donts mix stanis, leave staning materials ou,leave stain rags out waste glovs

Lock /prototyping

Lock evaluation and testing

This is a rough sketch of the lock i am going to create and all the parts it contains. The materials are at the bottom.

This lock is made by using a Arduino and a normal pin door lock. We have the materials in class and the lock should be easy to make and feasible to do.

https://create.arduino.cc/projecthub/BuildItDR/bluetooth-door-lock-arduino-bc2035

THese are screenshots of the front lock face, one of the rotors, and the actuator arm. These all were lasre cut.

class lock working

THis is the final assembled class lock. In the video i talk about how the lock functions and some of the parts and mechanics used in i.

Arduino

This day i spent coding, As well as perfecting the angles of the code.

Video.mp4

lock prototype

This is my prototype lock, the bolt i made out of cardboard. The only part of the lock that will changes the bolt as it is the only moving part of the lock. the bolt will be metal and will be mounted inside m box.

On shape

This day i made the on shape files for the lock. I cut the files as well.

second laser cut prototype

This was the first laser cut version of my lock. I then used the same file but laseer cuted the lock out of wood.

final mounted lock

This is the final lock and the mounted version. It is laser cut out of wood.

IMG_1768.MOV

final video/explanation

IN this video I explain how the lock works as well as present the lock.

ML and the body poster

This is my ML and the body poster. In this poster I talk about how Facebook Ai advertisement.

What is machine learning?

Machine learning is the act of coding and telling a ai what is what. You provide a data set to ai and in that data set are images that are labeled for the ai. After the ai has looked over and process the images it will be able to predict the label for each image. Think of machine learning as raising a child, children become imprints of there parents as the parents taught them and molded them. that is exactly what a coder does to a machine learning algorithm.

My models goal

In my model I identify house hold items, ones normally found in the kitchen. With my model i hoped to identify each item with a acuracy of 90% or above.

Data collection

These are the items I used for my data set. When creating a data set you put each item in front of a camera and take photos to put in a google drive as you data. There are 250 images per item making total of 1,000 48x48 images.

Google Colaboratory

My model

This is my final machine learning model. It has a 100 percent correct prediction rate. This model is able to recognize a spoon, fork ,knife, and a can. The model is a machine larnin model and is written in python.

Data

These folders have the images used for my final. They are all grey scale and pixelated.

Building the model

This section of code builds and shows a summary of the model. Ost of the code is importing the keras model and setting the size of said model. After creating defining layer size and setting output of a dense layer you summarize the model.

labeling correctly

In this example you can see the Ai predicting what the image is based off the data set. The model has a 100% accuracy rate so there are no mislabel images