Hi everybody , this is my obstacle avoiding robot. It is controlled by an " R-duino micro controller " from robosoft systems. It can do 2 things - one is obstacle avoiding and the other is line tracing ( also grid solving ) . The sensors used in the robot are all IR sensors (transmitters and receivers ) and acrylic is used for the base . It is powered by an 8 volt li-ion battery and has a robosoft motor shield. ( the parts i used for my robot are from robosoft systems ).
Step 1: Parts
part 1: acrylic base ( any acrylic sheet would do but needs to have holes)
part 2: robosoft motor shield (www.robosoftsystems.co.in)
part 3: R-duino micro controller (very similar to arduino but manufactured by robosoft)
part 4: line tracing and grid solving sensor (www.robosoftsystems.co.in)
part 5: wheels (any wheels that fit a bo motor)
part 6: clamps for the motors ( c clamps)
part 7: wires for the sensors ( IR sensors )
part 8: bo motor with wire soldered on it ( 25 rpm )
part 9: IR transmitter and receiver circuit
part 10: ball for castor wheel
part 11: screw drivers for tightening
part 12: 8v lithium ion battery from robosoft
part 13: castor wheel parts screws and bolts
products listed above are available in www.robosoftsystems.co.in (if some products are not available like screws and bolts it may be available at the local hardware stores)
Step 2: Assembly
step 1 :
Parts needed: Acrylic , Clamps , Screws and Bolts
Procedure: screw the clamps onto the base with the help of a screw drive in a way that the c side is facing inwards.
step 2 :
parts needed: Motor shield , Base , Screws and Bolts
Procedure: screw the shield on top of the clamps using screw drivers.
step 3 :
Parts needed : Bo motors , Screws , Base and Bolts.
Procedure: take the motors and fit it into the gap between the motor shield and the acrylic (at the ends). screw the motors into place with the help of a screw driver.
step 4 :
Parts needed : Screw , Wheels and Base
Procedure : After tightening the motor screw the wheels with the help of SD(screw driver)
step 5 :
Parts needed : IR line tracing and grid solving sensor (this not actually needed for this instructable but i'm planning to use it for the next one) , Base , screws and Bolts.
Procedure : screw the sensor under the base and connect the wire to the motor shield.
step 6 :
Parts needed : castor wheel , Sensor , Screws and Bolts.
Procedure : assemble the castor wheel and sensor as shown in the picture.
step 7 :
Parts needed : R-duino , battery
Procedure : slide the battery into the space between the acrylic and the shield. fit the R-duino on the shield. See the connections for the battery, motor and the sensors in the photos.
Step 3: Code
if you are a programmer and knows Arduino programming language i leave it to you.
the IR sensor in the front is pin 3
the right motor pins are 8 and 12 . the enable for the right motor is 6
the left motor pins are 7 and 4 . the enable for the left motor is 5
there are 5 sensors for the grid solving sensor
the far right sensor is A0
the right sensor is A1
the middle sensor is A2
the left sensor is A3
the far left sensor is A4 .
if you don't know programming i have given a code that should hopefully work for your robot
I have uploaded a video to show that the robot works and a picture of the final product.
the motor shield has an L293D IC.
any questions please do leave a comment and i will get back to you as fast as i can !!.