Mapping Robot - update 3

Progress since last week

• I added two ultra sonic sensor to my robot (one facing the front of the chassis and the other facing the right of the chassis).
• My robot can follow a wall on the right side and turn right when it see's an open path or turn left if threes a wall. 

Here is a picture of my mapping robot so far

A short video of it's operation (preset distance)

Problems/Difficulty encountered

• I realized that my encoder outputs were faster then my Arduino micro controller could read it when I had multiple serial print statements which was basically was taking longer than the encoder was switching states. Since i removed them from the loop that i was using to count how many times the encoder change state,  the accuracy greatly improved and stayed mostly constant with 1 or 2 state changes every now and again.

Proposed progress for the coming week

• Well since i completed my progress two weeks in advance, ill spend some time working on  future proposed progress or improving what i did so far.

Mapping Robot - update 2

Progress since last week

• I got both my proximity sensors (ultra sonic and infrared) and both are working. (i'm still testing both to see which ill use for measuring distance).
• headers for my graphic LCD (haven't soldered it on yet).
• I can now move my chassis with the arduino micro controller using the motor controller because my jumper wires came in.
• I can measure my distance traveled with the use of the encoders that came with the chassis.

Problems/Difficulty encountered

• I haven't gotten the current (amps) reading that each motor is using to work yet
• I had a problem with my LI-PO batteries because I didn't realize i had to buy an adapter to charge it it, so, I improvised and used jumper wires with alligator clips to charge it.

Proposed progress for the coming week

• Get my robot to dodge basic obstacles

Mapping Robot - update 1

Update 02/12/13

Progress since last post
A little more than half of the  parts that I have ordered came.
These are the parts so far...

Rover 5 Robot Platform (4 DC motor, 4 encoder)

9V Battery Power Cable for Arduino

Mini12864 Blue Backlight Dots Graphic LCD Display Module

Dagu 4 channel motor 4 encoder control unit ( 4A Stall Current)

Analog Servo Motor w/ Arms & Wheel, 360 degrees, 4.8V

Solder-less Flexible Breadboard Jumper Cable Wires

Rover 5 Expansion Plates

             Wide                                       Narrow

I also brought some batteries for the AA batteries for the motor and 9V batteries for the arduino for testing it when it is not connected to my computer.

I got the servo motor working using the arduino micro controller servo library, now all in need is my sensor to put on top of it to see if i'm going to use it or not to move sensor depending on the results of it..


Problems/Difficulty encountered
I haven't had the chance to get the chassis moving because I didn't realized when I ordered the motor control shield, it has to be connected with female jumper wire and unfortunately i have only male to male jumper wires. I'm also waiting on my male header for my graphic LCD so i can solder it on to it, so i can conveniently add it or remove it from a bread board.

Proposed progress for the coming week
Depending on what parts come in, will determine how much work I can actually do for the next update...

Robot proprosal

The purpose

To build a mapping robot that goes through a maze and maps it out.

Function, Structure and design

The robot will move by a chassis with four wheels. The robot chassis will be powered by its on dc power supply. The robot movement will be controlled by the arduino. The arduino micro controller will powered by a 9v battery adapter. The arduino will tell the chassis where to move by the result of the proximity sensor measurements. The robot will be using two (or one rotating) proximity sensors. One will be place on the right side of the chassis to detect if a wall on its right side and the other in the front to detect if a wall is in front of it.  The proximity sensors will keep the robot a certain distance from the walls. As the robot move, it will keep an equal distance from the side of the walls. When the robot detects a wall in front of it, it will make a right turn.  As it moves through the maze, it will record its movement. It will know that it is out of the maze once it detects a black (color may change) line. Once it completes the maze, it will display a simple view of the routes in the maze on a LCD.

Basic components

Arduino micro controller

Ultra sonic sensor or Infrared proximity sensor

Photo sensor (detecting light from the LED)

Robot chassis with motor

Jumper wires

LED’s

Resistors

LCD

Battery’s

Bump sensor

Bread board

Milestones

02/12/14 – At least one sensor demoed functioning using the microcontroller

02/19/14 - Robot platform fully assembled with electronics mounted on the platform (as well as all sensors on hand)

02/26/14 – Collision Avoidance demonstrated

03/12/14 – Sensor distance measurement working

03/19/14 - Line detection

04/02/14 – LCD display working

04/16/14 - Robot can go through the maze

04/23/14 – Mapping working

04/30/14 –Robot completed