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Obstacle  Avoiding  Robot

Deja-­‐‑Lee,  Jeane:e  and  Nicolle Faculty  Mentor:  Dr.  Uma  Balaji Counselors:  Christina  and  Davina

Ñ  Obstacle  Avoiding  Robot Ó  Sense  nearby  objects Ó  Should  not  crash  into  an  object Ó  Stop  at  10  cm  from  the  object

Problem  Definition

Required  Parts

Ñ  Chassis Ñ  Wheels Ñ  Arduino  (motherboard  +  driver)

Ñ  Wires Ñ  Ba:eries  (power) Ñ  Nuts  and  Bolts

Ñ  Ultrasonic  Sensor Ñ  Software  

Ñ  Binary   Ó  Converting  from  decimal Ó  The  language  of  computers

Ñ  Software   Ó  The  code  itself Ó  Learning  how  this  works

Ñ  Hardware Ó  Circuit  building Ó  How  the  robot  comes  together

Methodology

Ñ  What  is  the  difference  between  series  and  parallel  resistors  circuits?

Ñ  (colored  bands  on  the  resistors  stand  for  a  certain  resistance)

Ñ  Specific  LEDs  match  with  binary  numbers  to  help  it  blink  (video)

Learning  circuit  building

Ñ  Assembled  robots  from  chassis,  wires,  Arduino,  motors….

Ñ  We  soldered  wires  to  the  motor  shield,  which  would  be  used  for  controlling  the  sensor

The  Hardware

Ñ  The  Microcontroller Ñ  The  Coding Ñ  Community

The  Arduino

Practice  Codes   Blink Ñ  1  or  more  LEDs Ñ  High/Low

Fade Ñ  Range  of  brightness

void  setup()  { pinMode(13,  OUTPUT); } void  loop()  {    digitalWrite(13,  HIGH                          delay(1000);   digitalWrite(13,  LOW);      delay(1000); }

Ñ  Sonar  (Bats) Ñ  4  pins Ñ  Close-­‐‑up  Picture

Ultrasonic  sensor

Ñ  Arduino  Syntax Ó  Setup Ó  Loop

Ñ  If,  For,  While  statements Ó  Arithmetic  code

Software  Examples  if  (thisByte  ==  126)  {    while  (true)  {            continue;        }    } -­‐‑-­‐‑-­‐‑-­‐‑-­‐‑-­‐‑ for  (int  fadeValue  =  0  ;  fadeValue  <=  255;  fadeValue  +=  5)  { analogWrite(ledPin,  fadeValue); delay(30);    }

Ñ  Adafruit  Motor  Shield  (version  1.2) Ñ  We  use  it  to  connect  with  Arduino Ñ  We  added  wires  to  the  motor  shield  to  connect  to  other  robot  components

Motor  Shield  

Ñ  Library Ñ  Motor  Shield  Code Ñ  Sensor  Code

Robot  Control  Software

Ñ  Motors  came  with  manufacturing  problems Ñ  A  chip  on  the  Arduino  board  short  circuited Ñ  Ba:ery  pack  short  circuited  causing  major  issues  on  the  actions  of  the  robot

Ñ  Wheels’  bolts  were  sometimes  both  too  loose  and  too  tight

Problems  Encountered

Ñ  What  is  open  source? Ñ  What  does  open  source  allow  one  to  do?

Ó  Community  outreach  (sharing)

Ethics

Ñ  Increase  Speed Ñ  Add  LEDs/more  décor  to  chassis Ñ  Turn  to  avoid  obstacles Ñ  Move  in  all  directions Ñ  Create  hand-­‐‑held  controller

Future  Additions/Ideas  

Photos  of  Robots

Thank  you

Our  Third  Group  Member, Nicolle

Teaching  Dr.  Balaji  how  to  Dab