User:Bzeher/enes100/RemoteCar

Write problem/project Goal
To create a robot car that drives itself with object avoidance.

My First Task
Find out information on collision control with Arduino hardware and software.

Summary of actual work over first weekend
I looked into basic programming and setup using Arduino. Here is a good series on YouTube

looked at previous groups work to test IR sensor. Code and hardware setup.

Week1 Narrative
Became familiar Arduino chips and software. I used the code from the previous team to test the sensors from the wowwe bot. I have three of them working that I will be using.

My Second Task
Design a circuit for the sensors to put on the robot car.

Summary of actual work over second weekend
I designed a circuit for the sensor. Built sensor and tested it.

Week2 Narrative
I designed the sensors with a 50 ohm resistor on a bread board with the the sensor next to the IR light. When testing the sensor it would only detect an object from and inch away. I got the schismatics of the IRM-105S sensors and the IR333-A IR LED light from the working integrated chip. The IR lights on the wowee bot does not have enough power. I need an IR LED with at least 95mW/sr as listed in the details of the working integrated chip. It needs this power to bounce off a wall and back to the sensor. The current IR LED i am using is only 20mW/sr.

My Third task
Develop program for motors working with IR sensors.

Summary of actual work over third weekend
Using sample code from Moto Sheild to control the motors. All details are mentioned in the code regarding the motors.

After some trial and error I designed code that works based off the sample code.

Week3 Narrative
Here is the code I wrote for 3 IR sensors working with the sped control and steering control IR Sensors - Arduino Code.

When IR light is detected by the sensors the output value of the sensor drops under 30, when IR light is not present the sensor outputs a value around 1020. The code takes 30 samples from each sensor every 30ms and counts how many times the IR sensors value drops below 30 within the sample period.

All code has been tested and is working on the robot car. I tested this by shining an IR light directly at different sides of the car and it stops and turns around successfully. However I could not get the sensors to detect the IR light bouncing off objects to the point where the car can move around by itself.

My Fourth task
Get the Ping sensor to work for obstacle detection.

Summary of actual work over fourth weekend
I found testing code for the ultrasonic sensor.

I found code for a small servo motor that I can attach the sonar sensor to so that it can scan multiple directions for an obsticle.

I used both the servo code and the sonar sensor code with the motor code to create a working system with the four motors on the car the servo motor, and ping sensor. See video Here.

Week4 Narrative
The code I used for the Sonar sensor is found here. I chose to use the NewPing library to make the code easier to work with. You must download the library from the link above and then place it in the ardiuno/library folder.

Here is testing code for the servo motor.

Here is the code I compiled. This code continuously scans 60 degrees in front of the car and stops the car and reverses when it detects something up to 40cm away. After the car detects an object it scans the 60 degrees again while stopped to decide which direction to take. The code is not yet perfected and has a lot of redundancies, It needs to be shortened with more functions.

Complete Team Page
Fill out the Team Form (should have already copied the form, created the team page, linked to it and started filling it out).