Shiro-0 Project
My journey in learning Robotics and using Arduino. Mostly a log of my progress in trying different sensors. Overall, its kinda interesting but it's mostly me learning how to use Arduino and analyze parts. Hoping to have a way more interesting tech project for my Capstone.
This is was probably the most straight forward part. Just building the robot
Goal: Build the Robot
Infinity.MOVInfinite Loop Movement
Line.MOVLine Move
Testing different types of movement for Shiro
Goal: Shiro-0 can move in a loop, a single file line, a circle, and a swirl
Circle.MOVCircle Movement
Spiral.MOVSpiral Movement
Shiro-0 Breadboard Circuit
Robot Test Area
Navi_Test.MOVNavigation Test
Shiro-0 Closed Loop Navigation Test
Goal: Shiro-0 must continuously check for walls then react accordingly
The Original
Shiro-0 Breadboard Circuit for Grey Walter Tortoise replication.
Goal: Shiro-0 must be able to react to stimuli in the environment. Specifically light via the light sensors and touch via the whiskers
Calibration_Mode.MOVCalibration Mode
Operation_Mode.MOVOperation Mode
Goal: Analyze the infrared sensors effectiveness with different frequency ranges and resistances.
Set Points- Arbitrary distance from a surface (wall)
Gain - Proportional control constants
I’ll be honest, some of the data I recorded seems questionable, but overall it reveals a few ideas. As you reduce the range between initial and final PWM frequencies you have to decrease the resistance in the emitter circuit for an equivalent set point increment and for initial values greater than the default PWM frequency it's the opposite. For example after using the default PWM frequency 38kHz TO 42Khz and 2k ohms, I had to give the PWM frequency 37.5 kHz TO 42Khz and 2.2k ohms. I could be wrong, but this is the pattern my data presents.
#include <Servo.h> // Include servo library
Servo servoLeft; // Declare left and right servos
Servo servoRight;
// -- IR sensor 1
const int IRLED_L = 13;
const int IRDETECT_L = 12;
// -- IR sensor 2
const int IRLED_R = 2;
const int IRDETECT_R = 3;
const int setpointL = 2; // Target distances
const int setpointR = 2;
const int kpl = -10; // Proportional control constants
const int kpr = -50;
void setup() // Built-in initialization block
{
pinMode(IRLED_L, OUTPUT);
pinMode(IRDETECT_L, INPUT);
pinMode(IRLED_R, OUTPUT);
pinMode(IRDETECT_R, INPUT);
tone(4, 3000, 1000); // Play tone for 1 second
delay(1000); // Delay to finish tone
servoLeft.attach(10); // Attach left signal to pin 13
servoRight.attach(11); // Attach right signal to pin 12
}
void loop() // Main loop auto-repeats
{
int irLeft = irDistance(IRLED_L, IRDETECT_L); // Measure left distance
int irRight = irDistance(IRLED_R, IRDETECT_R); // Measure right distance
// Left and right proportional control calculations
int driveLeft = (setpointL - irLeft) * kpl;
int driveRight = (setpointR - irRight) * kpr;
maneuver(driveLeft, driveRight, 20); // Drive levels set speeds
}
// IR distance measurement function
int irDistance(int irLedPin, int irReceivePin)
{
int distance = 0;
for(long f = 41500; f <= 42000; f += 125) {////////////////////////////////////////////////////////////////////
distance += irDetect(irLedPin, irReceivePin, f);
}
return distance;
}
// IR Detection function
int irDetect(int irLedPin, int irReceiverPin, long frequency)
{
tone(irLedPin, frequency, 8);
delay(1); // Wait 1 ms
int ir = digitalRead(irReceiverPin); // IR receiver -> ir variable
delay(1); // Down time before recheck
return ir; // Return 1 no detect, 0 detect
}
void maneuver(int speedLeft, int speedRight, int msTime)
{
// speedLeft, speedRight ranges: Backward Linear Stop Linear Forward
// -200 -100......0......100 200
servoLeft.writeMicroseconds(1500 + speedLeft); // Left servo speed
servoRight.writeMicroseconds(1500 - speedRight); // Right servo speed
if(msTime==-1) // If msTime = -1
{
servoLeft.detach(); // Stop servo signals
servoRight.detach();
}
delay(msTime); // Delay for msTime
}
BPFveri_Video.MOVGoal: Attempt to replicate and verify the Band Pass Filter data for the servo motors.
BPF Verification.xlsx
Overall, my plot peaks at around the same place and it moves in a similar direction as the original, other than that not much is the same. This is most like noise from elements within my home, since I don't work in a lab.
#include <Servo.h>
#include <EEPROM.h>
Servo left, right;
const int reciPIN = 2;
const int ledPIN = 3;
const int whiskPIN = 4;
const int verifyCompleteLED = 13;
void setup() {
left.attach(10, 1300, 1700);// left wheel
right.attach(11, 1300, 1700);// right wheel
pinMode(reciPIN, INPUT); // Infrared Reciver
pinMode(ledPIN, OUTPUT); // Infrared LED
pinMode(whiskPIN,INPUT); // whisker
pinMode(verifyCompleteLED,OUTPUT); // LED to tell me bpfVerify(); is finished
delay(10000);
bpfVerify();
}
void bpfVerify(){
int c = 0;
int address = 1;
for (long freq = 34000; freq <= 42000; freq += 1000) {
for (int meas = 1; meas <= 3; meas += 1) {
moveLine(200);
while(digitalRead(whiskPIN) == 1){}//delay until whisker touches wall
moveLine(0);
delay(200);
moveLine(-200);
while(digitalRead(whiskPIN) == 0){}//delay until whisker stops touching wall
moveLine(0);
delay(200);
unsigned long start = millis();
moveLine(-200);
while(irDetect(ledPIN, reciPIN, freq, 8) == 0){}// delay until wall can't be seen
delay(500);
unsigned long fin = millis();
unsigned long diff = fin - start;
unsigned long high = (unsigned long)(diff / 256);
unsigned long low = (unsigned long)(diff % 256);
EEPROM.write(address, high);
address++;
EEPROM.write(address, low);
address++;
c++;
}
}
EEPROM.write(0, c);
}
void loop() {
digitalWrite(verifyCompleteLED, HIGH);
}
int irDetect(int irLedPin, int irReceiverPin, long frequency, int toneTime)
{
tone(irLedPin, frequency, toneTime); // modulate IR LED at specified frequency for at least 1 ms
delay(1); // Wait 1 ms
int ir = digitalRead(irReceiverPin); // IR receiver -> ir variable
delay(1); // Down time before recheck
return ir; // Return 1 no detect, 0 detect
}
void moveLine(int spd){
drive(spd, spd);
}
void drive(int leftpw, int rightpw){
left.writeMicroseconds(1500 + leftpw);
right.writeMicroseconds(1500 - rightpw);
}
