Real robotic rally
From
Contents
Short term goals
lego
create a robot from lego for testing the driving
3x LV 8548 + serie weerstand robot: - met tank besturing 3x - battery pack... 3x ... - voor 6 packs aan batterijen en laad stations - arduino bordje.. tkkrlab - voeding arduino vanuit 9v -> 3.5 - 5 - 3x serial bluetooth - 2x serial rgb sensor
breadbord
small breadbord with arduino to test sensors
- 3 rgb sensors
We need rbs sensors to measure the light that falls on the robot. They can shoot each other, get damage from the environment, get moved by the environment or could win the game by entering the winning spot. Two sensors on top .. facing front/backwards .. one sensor at the bottom to read environment leds
- simple laser pointer with relative wide arc of light.. preferred green 532 .. is the best for our rgb sensor
For a range weapon for the robot, no too precise to allow to hit something without exact hitting the sensor. Laser is preferred to allow the game to run under daylight.
- bluetooth to serial module for programming, with their own id and not needed to point directly at to send it signals
http://dx.com/p/wireless-bluetooth-rs232-ttl-transceiver-module-80711?item=1
- motor driver electronics.. for better electric performance
We want to run a servo motor for turning and a normal motor to drive.. we could use multiple servos for a walking robot or two motors for tracks.
- battery pack that can be easily changed
- optional but cool to have a small smoke generator on every robot for cool effects when hit.
create a small form factor print that incorporates the above electronics
admega.. 4
bleutooth.. 7
rgb-sensor.. 3
motors.. 6
driver.. 3
battery.. 5
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arbiter program
On a laptop that polls the active robots if they have recieved all their programming and sends 'go' to all known robots.
- credential QR code op de robot = pair with server.. ip / fingerprint / cookie
- kaarten met QR.. action=23 .. geen uniek per robot wel per kaart.. er zijn al credential
is niet mooi vanwege accept vragen
- alternatief is robot app die geen vragen stelt en alleen naar zelfde site gaat .. simple http request
programma:
- stap 1
- stap 2 .. etc.
checklist
- 200 gram paper
- bluetooth modules
- rgb sensors
- doorzichtig plastic sheets
already there
- rgb leds
Arduino meten van rgb
RGB poten: 0 half, 1 lang, 2 half, 3 kort (en platte kant)
RGB led.. langste poot 1 = 5v 0 = R 2 = G 3 = B met alle 3 een 270 OHM weerstand naar poorten.. laag = uit, hoog = aan
RGB sensor: - base 5v - rood A1, groen A0, blauw A2 eerst meten daarna via 1 mega Ohm naar 0v
int vr = 0;
int vg = 0;
int vb = 0;
int c = 0;
int i = 0;
int thr = 25;
void setup() {
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
pinMode(11, OUTPUT);
Serial.begin(9600);
}
void loop() {
vr = analogRead(1);
vg = analogRead(0);
vb = analogRead(2);
thr = (vr + vg + vb) / 5 + 12;
Serial.println(thr);
vr -= thr * 0.8 + (vb / 4);
vg -= thr;
vb -= thr;
if (vr < 0) vr=0;
if (vg < 0) vg=0;
if (vb < 0) vb=0;
Serial.print("Read ");
Serial.print(vr);
Serial.print(", ");
Serial.print(vg);
Serial.print(", ");
Serial.println(vb);
int gain = 31; // max 63
Serial.print("Write ");
Serial.print((c & 1) * gain * 4);
Serial.print(", ");
Serial.print((c & 2) * gain * 2);
Serial.print(", ");
Serial.println((c & 4) * gain);
// turn the ledPin on
analogWrite(9, 255 - (c & 1) * gain * 4); // r
analogWrite(10, 255 - (c & 2) * gain * 2); // g
analogWrite(11, 255 - (c & 4) * gain); // b
delay(400);
if (i > 5) {
c++;
i = 0;
}
i++;
}
Arduino protocol
Send a 2 token command to the arduino. The arduino will respond with the same command if recognized. It will respond with a lower case version of the same commmand on completion. It is possible to send any command to break the current running command.
#define M1F 9
#define M1R 6
#define M2F 10
#define M2R 11
#define cmds 11
const char* cmd[]= {
"F1", "F2", "F3", "B1", "L3", "L6", "L9", "R3", "R6", "R9", "S1"
};
int program[cmds][5] = {
{ 3000, 250, 0, 250, 0 }, // Forward F1
{ 6000, 250, 0, 250, 0 }, // Forward F2
{ 9000, 250, 0, 250, 0 }, // Forward F3
{ 3000, 0, 250, 0, 250 }, // Back B1
{ 600, 255, 0, 0, 255 }, // Left 30 L3
{ 1200, 255, 0, 0, 255 }, // Left 60 L6
{ 1800, 255, 0, 0, 255 }, // Left 90 L9
{ 500, 0, 250, 250, 0 }, // Right 30 R3
{ 1000, 0, 250, 250, 0 }, // Right 60 R6
{ 1500, 0, 250, 250, 0 }, // Right 90 R9
{ 3000, 0, 0, 0, 0 } // Stop
};
void setup() {
pinMode(6, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
pinMode(11, OUTPUT);
Serial.begin(9600);
}
boolean first(char ch) {
for(int i=0; i < cmds; i++) {
if (cmd[i][0] == ch)
return true;
}
return false;
}
void doit(int action) {
int *step = program[action];
analogWrite(M1F, step[1]);
analogWrite(M1R, step[2]);
analogWrite(M2F, step[3]);
analogWrite(M2R, step[4]);
boolean stop = false;
for (int b=0 ; b< step[0] && !stop; b+=100) {
delay(100);
while (Serial.available() > 0 && !stop) {
if (!first(Serial.peek()))
Serial.read();
else
stop = true;
}
}
analogWrite(M1F, 0);
analogWrite(M1R, 0);
analogWrite(M2F, 0);
analogWrite(M2R, 0);
}
void listen() {
if (Serial.available() > 0) {
char c1 = Serial.read();
if (!first(c1))
return;
while (Serial.available() == 0)
delay(50);
char c2 = Serial.read();
for(int i=0; i < cmds; i++) {
if (cmd[i][0] == c1 && cmd[i][1] == c2) {
Serial.write(c1);
Serial.write(c2);
doit(i);
Serial.write(c1 + 32);
Serial.write(c2);
}
}
}
}
void loop() {
listen();
delay(50);
}
Pair met ubuntu
hcitool dev hcitool scan sudo rfcomm bind 2 00:19:5D:EE:A4:0C cd /usr/share/doc/bluez/examples ./list-devices commando's geven: echo "F1" > /dev/rfcomm2
