Embedded Files
Overview
Overview
LASSIE primarily consists of an ESP32 microcontroller, a robot chassis with embedded motors, and various sensors. The motor driver and motors work together to move the chassis when the ESP32 sends an appropriate signal. Similarly, the IMU reads the temperature when the ESP32 tells it to, the camera captures an image when the ESP32 tells it to, and the ultrasonic reads the distance when the ESP32 tells it to or when the motors are active so it can act as a failsafe to prevent LASSIE from running into objects. Additionally, a switch controls the power to the motors, allowing the system to save energy.
Parts List
Parts List
- ESP32 Microcontroller
- IMU
- Breadboard
- Wires
- Switch
- Dagu Rover 5 Tracked Chassis
- Arducam Mini Module Camera OV2640
- Ultrasonic Distance Sensor
- Stereo Enclosed Speaker
- DFPlayer Mini MP3 Player with SD Card
- L298N Dual H Bridge Stepper Motor Driver Board for Arduino
Block Diagram
Block Diagram
System Wiring Setup
System Wiring Setup
Power Management
Power Management
LASSIE can operate reliably for 40 minutes at moderate to heavy motor usage - less motor use largely determines the operational time. After 40 minutes, the system becomes less reliable, but still retains basic functionality. The motors draw a considerable amount of power, so without them it is possible to run the system for much longer, as monitoring from camera, temperature sensor, playing sounds, and measuring distances do not require as much power. However, the periodic requests made to the server in order to determine what commands should be read tend to take up a significant portion of the battery as well. A different solution would be to use 2 power banks, one specifically to drive motors, and one to run the computing side. This would ensure that even if the motor batteries died, consistent monitoring could still be attained.
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