Final Project Journal

For designing the fork lift bot, I used Autodesk Fusion 360.

1- Started by drawing the enclosure sketches and as shown in the picture there are

• 2 bases ( base1 and base 2 )

• 4 Down sides

• 4 Top sides

• 1 top base

• 2 T-Shapes

( for laser cutting )

• Links ( for 3D printing )

• I used 7.4 V Battery.(1000 MAH Lithium Polymer battery rechargeable ) to power the circuit because the fork lift bot move from place to another so it can't connect with adapter.

• the driver , 2 servo motor and the Arduino are connected in parallel with the battery.

• each of Pervious components are powered by about 5 v and for the driver it needs from 5 to 9 v to operate, so we used the battery to power the arduino, the arduino itself has a voltage regulator so it will be powered by the voltage needed and from the Vin pin the same voltage entered from the battery outgoes and that is exactly what we need for the driver so we will connect the 12 v pin of the driver to it.

• Ultrasonic sensor and the Bluetooth module operates with 5v so we will connect it to the 5v pin in the arduino uno board.

Bluetooth RC Controller app.

Download and install the app. in my phone then open it and go to setting to Know what character the program send when i press in its buttons and i Know that :

( upper arrow ) -->"F"

( Down arrow ) --> "B"

( left arrow ) --> "L"

( Right arrow ) --> "R"

( front light button ) --> "W"

( back light button ) --> "U"

( sound button ) --> "P"

and I used this characters in the Arduino code .

First, I started by

1. Defining the pins 4, 2, 8 and 7 and gave for each pin a name ( IN1 , IN2 , IN3 , IN4 ) for more readability of the code.

2. Defined a global variable which is "reading" and gave it the a data type "char" as it is going to store letters.

Then inside the void setup:

1. Using Serial.begin we intialise the communication between the arduino and the bluetooth module.

2. Set the mode of each pin using pinMode, here all the pins (IN1 , IN2, IN3, IN4) are output pins.

After that, I started to create some functions that I will call them inside the void loop.

And for each direction I started to create a function

• The Moving command is done by giving the one of the pins high and the other low while the stopping command is done by giving the 2 pins low.

void forward()

I gave for one of the pins high voltage and the other low voltage so that motion occurs,

I selected which of the pins should take the high and the other low according to the

wiring of the two motors with the motor driver

void backward()

The same was done in the backward() function but by reversing the high and low commands so that the motors will rotate in the opposite directions.

void left() and void right()

• For the left direction function I stopped the motion of motor on the left side of the bot and allowed the right side motor only to move.

• For the right direction I reversed the command were the right is stopped and the left is moving.

void stopp ()

The stopping command is done by giving the four pins Low.

void loop()

inside the void loop we called the functions as long as there is an input coming from the Bluetooth.

I started first by reading the value coming from the mobile application through the Bluetooth module and saving this value inside the variable "reading" that we created in a previous step, then by checking this value using the if condition, we are expecting to receive any of 5 characters (F, B ,S , L, R) for each of them we will call one of the functions we once created to move the fork

lift bot in a certain direction where:

F -> Forward direction movement

B -> Backward direction movement

S -> Stop movement

R-> Right direction movement

L-> Left direction movement

And if nothing of this values is received, it will call the function stop() to stop the motion.

1. i started with include (insert) the servo library to the code

2. Defining two servos by give two name servo_1 and Servo_2

3. Defined a global variable which is "pos" and gave it the a data type "int" as it is going to store numbers for the positions of servo motors.

4. Defined a global variable which is "reading" and gave it the a data type "char" as it is going to store letters.

Then inside the void setup:

1. Using Serial.begin we intialise the communication between the arduino and the bluetooth module.

2. servo1.attach(5) servo1.attach(6)

Set the pins 5 , 6 which attached with servo motors.

3- servo_1.write(0);

servo_2.write(45);

give the start plosion to the servo motors to start from it .

After that, I started to create functions that I will call them inside the void loop.

void lift()

to make the two servo motor lift the arms I Make a for loop from 0 degrees to 50 degrees in steps of 1 degree then tell servo_1 to go to position in variable 'pos'

and tell servo_2 to go to position in variable '50-position' and waits 15ms and repeat this loop until the servo_1 goes to 50 degree and servo_2 goes to 0 degree because the servos in opposite direction.

void lower()

The same was done in the lift function but by giving the steps a negative value to reverse the lift movement.

void loop()

inside the void loop we called the functions as long as there is an input coming from the Bluetooth.

I started first by reading the value coming from the mobile application through the Bluetooth module and saving this value inside the variable "reading" that we created in a previous step, then by checking this value using the if condition, we are expecting to receive any of 2 characters (W, U) for each of them we will call one of the functions we once created to move the arms.

W -> Lift the arms.

U -> lower the arms.

And if nothing of this values is received, it will do noting.

Link to the Bluetooth Test code

added this code to the minimum feature code

1- Defining the pin 3 as trigpin and 11 as echopin .

2- Defined a 2 global variable which are "duration" and "distance" and gave it the a data type "Long" as it is going to store long numbers.

"duration " store the time of sound wave it takes to echo to the Ultrasonic sensor.

"distance" store the distance after calculating it.

3- defining the mode for trig as OUTPUT.

and echo as INPUT.

4- do the process of calculating the distance by give the trigpin LOW for 2milsecond then HIGH to 10milesecond then LOW and that to emit the sound wave then receive the echo by the code pulseIn and restore the time it takes to echo in the duration variable.

speed of the sound wave = 0.0343

distance = Speed * time

time = duration / 2

then the distance = (duration/2)*0.0343

calculating the distance and store it.

if the Arduino receive a character "V" from the Bluetooth then chick the distance

while the distance >= 40 cm --> call the function forward to make the bot moves forward until the distance becomes <= 40

the bot will do these steps:

1-stop

2- move forward for 0.8 second then stop

4- lift it's arms

5- move back for 1 second then stop

6- move right for 1.5 second then stop

7- move forward for 3 second then stop

8- lower it's arms

9- move back for 1 second

then i use "break" to break the loop and do the pervious steps one time only and go to original code to receive another letter from Bluetooth and continue the main process.

Link for the Complete code

MIT App inventor

download and install the MIT App inventor on the computer and run its server the open it by write : localhost:8888 in the explorer.

1. create New project .

2. Design the Screen 1 and add the following :

• label1 : Fork Lift Bot

• Image1 :

upload forklift image

• List Picker1 :

connect to the bot

show me the named of Bluetooth names if i click on it to connect to a specific Bluetooth.

• Button1 : upper arrow

• Button2 : Down arrow

• Button3 : left arrow

• Button4 : Right arrow

• Button5 : Pause arrow

• Button6 : High arrow

• Button7 : Low arrow

• Button8 : Ultrasonic arrow

I used this buttons to send data to the Arduino Via Bluetooth according the following code

4- test the Bluetooth code and functionality of the two yellow motors and motor driver

• uploading the code in the Arduino by usb cable

• Download Bluetooth RC controller program in my mobile phone.

• activate the Bluetooth in the mobile.

• Pair the HC-06 Bluetooth module with my mobile.

• open the program and connect it with the Hc-06 module .

• use the program to send characters ( F,B,S,R,L) to the Arduino to control the moving of the fork lift bot .

• and it works fine as shown in the next video.

7- test the servo code and the functionality of the two servo motors

• uploading the code in the Arduino by usb cable

• use the Bluetooth RC controller program to send characters ( W , U ) to the Arduino to control the moving of the arms of fork lift bot .

• and it works fine as shown in the next video.

12- Download test code for servo motor By usb cable and test the functionality of the two servo motors with the links and shown in the next video.

recaching the battery and connect it with it's tester and it's on/off switch and connect the the other side of the switch to the female adapter connector and but them in the upper part of the pot and close the top base with screws and nuts.

13- test the Bluetooth and servo code with each other.

• integrate the first code with the second code.

• insert the battery in the upper part after charging it .

• uploading the code in the Arduino by usb cable

• use the Bluetooth RC controller program to send characters ( F, B, S, L, R , W , U ) to the Arduino to control the moving of the bot with moving of the arms

• and it works fine as shown in the next video.

A- when i had a problem with the code of servo motors which the pins 9,10 deactivate when include servo motor library in our code and i didn't understand why?

Mohamed Tarek helps me to understand the issue by sending me this link which explain the issue .

https://www.arduino.cc/en/Reference/Servo

A- in the Fabrication of the parts by laser cutter Amani Ayman helped me in the process of laser cutting and insure every thing is right before the fabrication and when the servo motors didn't fit in its holes she helped me to redesign the holes and refabricate the modified sketches.

the fab lab specialist helped me in 3D printing process and replace the filament when it finished and after the fabrication of the links by 3D printer and it's not completed due to error in the 3D printer.

He and Amani Ayman asked me to refabricate the links if i want but i hadn't the time to did that but thanks for them to ask that.

and i decide to use the printed links as it is and it works fine until now.