Design

Electrical Design

The Electrical components use for this project include, an Arduino Mega, 1 dual h bridge sabertooth Motor controller, one L298N driver, 4 motors, 1 linear actuator, a pixycam2, an ultrasonic sensor, a 11.1V lipo battery, and a few passive components. We used an electrical schematic software called Kicad to design the schematic for the entire robot.

For this project, the Arduino will read the input from the Pixycam. From there, the Arduino will send information to the motor controller allowing the robot to move to the designated area. Once it has reached that area, the Arduino will send a signal to the linear actuator controller to lift the lid to drop off the package. LED lights will be used to tell what mode the robot is in. A 10-amp fuse will be used to protect in the case of the battery shorting to ground.

Final look of Robot

Early Underside of Robot

Schematic for robot

Mechanical Design

This robot is designed around a robot base provided by Georgia Southern University. There are four sections to the Robot. The first is the Robot base. The Robot base house the majority of the circuits; this includes the DC motors to the wheels, the motor H-bridge shields, and the Arduino. The second section is the robot the robot's head. This section is where the package sits and is discharged. It is also where the fuse, the power button, and the Pixy camera are housed. The third section is the Sensor array housing. This is for the housing sensors like the ultra sonic sensor. The final section is the batter pack. This battery pack section is where the battery sits and is designed to be easily access the battery. The parts for each section was designed in Auto Desk Inventor.

CAD Design

Software Design

The Robot's code is designed around following a Wave front Propagation map. The robot waits till the robot detects a bar code. Once the robot senses the bar code, it determine the map it needs to follow. The will follow the map till it reaches its goal, all the meanwhile it looks out for obstacles, such as humans and other robots. Once at the goal, the robot will drop off the package and return to the start.

Wavefront Propagation

Wave front Propagation Maps used for APDR.

Green = Goal

Yellow = Start

Wave front Propagation Code

//////////////// Wavefront Propogation Code /////////////*Author: Kenneth BradyManager: Dr. Fernando RiosCompany: Georgia Southern University
Description: This code is testing the Wavefront Propagation map on a arduino and controlling a Robot*////////// Set-up Wavefront Propgation Settings/////////// Declare the matrix for the first Wavefront Propagation mapint map1[6][9]={ {1,1,1,1,1,1,1,2,1}, {1,8,7,6,5,4,3,3,1}, {1,8,7,6,5,4,4,4,1}, {1,8,7,6,5,5,5,5,1}, {1,8,7,6,6,6,6,6,1}, {1,8,1,1,1,1,1,1,1}};// Declare the Series of arrays int Ora1[6]={0, -1, 1, -1, 0, 0}; // Robot Faces Forwardsint Ora2[6]={-1, 0, 0, 0, 1, -1}; // Robot Faces Leftint Ora3[6]={0, 1, -1, 1, 0, 0}; // Robot Faces Backwardsint Ora4[6]={1, 0, 0, 0, -1, 1}; // Robot Faces Rightint Orax[6]={0, -1, 1, -1, 0, 0}; // Base array used to set-up the orentation of the Robot////////////// Set-up Other Variables ////////////////bool Flag1 = false; // Test the first Loopbool Flag2 = false; // Test the Second Loopint a;int b;int c = 1;int A =0;int Ori=0;

void setup(){ Serial.begin(9600); Ori=map1[5][1]; Serial.print("Origin: "); Serial.println(Ori);}void Orentation(){ /* This Function tells the code what direction the robot is faceing */ if(c>=5){ c=c-4; } switch(c){ case 1: //Go Up for(int i = 0; i<=5; i++){ Orax[i]=Ora1[i]; } break; case 2: //Go Left for(int i = 0; i<=5; i++){ Orax[i]=Ora2[i]; } break; case 3: //Go Down for(int i = 0; i<=5; i++){ Orax[i]=Ora3[i]; } break; case 4: //Go Right for(int i = 0; i<=5; i++){ Orax[i]=Ora4[i]; } break; default: //Erreor - Go Up for(int i = 0; i<=5; i++){ Orax[i]=Ora1[i]; } break; }}
void movement(){ /* This Function is for telling the robot what action it needs to do */ switch (c){ case 1: //Go Up break; case 2: //Go Left break; case 3: //Go Down break; case 4: //Go Right break; default: //Erreor - Go Up break; }
void loop(){ A=Ori; a=5; b=1; //////// Go to Goal ///////// do{ Serial.println("/////////////////"); Serial.print("["); Serial.print(a); Serial.print(","); Serial.print(b); Serial.println("]"); if(map1[(a+Orax[3])][(b+Orax[0])] == (A) || map1[(a+Orax[3])][(b+Orax[0])] == (A-1)){ a=a+Orax[3]; b=b+Orax[0]; A=map1[a][b]; c=c+0; Serial.print("Go Straight: "); Serial.println(A); } else if(map1[(a+Orax[4])][(b+Orax[1])] == (A) || map1[(a+Orax[4])][(b+Orax[1])] == (A-1)){ a=a+Orax[4]; b=b+Orax[1]; A=map1[a][b]; c=c+1; Serial.print("Go Left: "); Serial.println(A); } else if(map1[(a+Orax[5])][(b+Orax[2])] == (A) || map1[(a+Orax[5])][(b+Orax[2])] == (A-1)){ a=a+Orax[5]; b=b+Orax[2]; A=map1[a][b]; c=c+3; Serial.print("Go Right: "); Serial.println(A); } else{ a=a+Orax[3]; b=b+Orax[0]; A=map1[a][b]; c=c+2; Serial.print("Go Back: "); Serial.println(A); } if(A==2){ Flag1=true; } else{ Flag1=false; } delay(500); movement(); Orentation(); }while(Flag1==false); c=2; //////// return to Start //////// do{ if(map1[(a-Orax[3])][(b-Orax[0])] == (A) || map1[(a-Orax[3])][(b-Orax[0])] == (A+1)){ a=a-Orax[3]; b=b-Orax[0]; A=map1[a][b]; c=c+0; Serial.print("Go Straight: "); Serial.println(A); } else if(map1[(a-Orax[4])][(b-Orax[1])] == (A) || map1[(a-Orax[4])][(b-Orax[1])] == (A+1)){ a=a-Orax[4]; b=b-Orax[1]; A=map1[a][b]; c=c+1; Serial.print("Go Left: "); Serial.println(A); } else if(map1[(a-Orax[5])][(b-Orax[2])] == (A) || map1[(a-Orax[5])][(b-Orax[2])] == (A+1)){ a=a-Orax[5]; b=b-Orax[2]; A=map1[a][b]; c=c+3; Serial.print("Go Right: "); Serial.println(A); } else{ a=a-Orax[3]; b=b-Orax[0]; A=map1[a][b]; c=c+2; Serial.print("Go Back: "); Serial.println(A); } Serial.println("/////////////////"); Serial.print("["); Serial.print(a); Serial.print(","); Serial.print(b); Serial.println("]"); if(A==Ori){ Flag2=true; } else{ Flag2=false; } delay(500); movement(); Orentation(); }while(Flag2==false); delay(1500); Serial.println("Complete");}

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