This repository includes the complete source code, design files, and documentation for the Sparkle Robot, a versatile and feature-rich automation platform built for the EN2533 - Robot Design and Competition module.
- Line Following & Obstacle Avoidance 🚧: Enables the robot to navigate predefined paths while avoiding obstacles using phototransistors and ultrasonic sensors.
- Ramp Navigation & Box Dragging 📦: A robust mechanical design with a geared motor system enables the robot to ascend ramps and drag boxes.
- Box Picking & Color Detection 🎨: A custom SolidWorks-designed robotic arm, powered by a servo motor, allows for precise box picking. A color sensor integrated into the arm enables the robot to differentiate between different colored boxes.
- Maze Solving 🌀: Employs a
left-hand rule algorithm, guided by color sensing, to navigate mazes. The robot utilizes the box color to determine the correct path and destination within a maze environment. - Sound Detection 🎤: Incorporates an audio sensor that allows the robot to detect and respond to specific sound cues, enabling dynamic interactions and programmed actions based on sound triggers.
├── design
├── docs
│ └── assets
| └── requirements
├── src
└── scripts
Detailed Description:
- design/Robot-Arm-STL: Contains STL files for 3D printing the robotic arm components designed using SolidWorks.
- docs
- assets: Contains supplementary assets for documentation, such as images, diagrams, and videos.
- requirements: Contains competition requirements documents for the EN2533 module. This folder should include:
- Task_v1.pdf: The initial version of the competition guidebook.
- Task_v1.1.pdf: An updated version of the competition guidebook with revisions and clarifications.
- src: contains the Arduino source code for the Sparkle Robot.
- sparkle_robot_src.ino: The main Arduino program that controls all the robot functionalities.
- scripts: Contains scripts for each hardware part of robot for test their funcationality separately.
- Line Following:
- Implement a line-following algorithm using ir array.
- Use the analogRead() function to read sensor values.
- Implement a PID (Proportional-Integral-Derivative) controller to maintain a stable line-following trajectory.
- Obstacle Avoidance:
- Utilize ultrasonic sensors to detect obstacles in front of the robot.
- Implement a basic obstacle avoidance logic to stop or steer the robot away from detected objects.
- Ramp Navigation:
- Ensure a robust mechanical design that can handle the weight and friction of ascending ramps.
- Implement a motor control algorithm that can adjust motor speeds to smoothly navigate ramps.
- Box Dragging:
- Design a mechanism that allows the robot to grip and drag boxes without dropping them.
- Implement a motor control system that can accurately control the speed and direction of the dragging motion.
- Box Picking & Color Detection:
- Design a robotic arm in SolidWorks with appropriate dimensions and articulation.
- Utilize a servo motor to control the arm movement and gripping mechanism.
- Integrate a color sensor into the arm's gripping mechanism to detect the color of the box.
- Maze Solving:
- Implement the left-hand rule algorithm to navigate mazes.
- Use the color sensor to identify the correct path based on the color of the box being carried.
- Develop logic to determine the correct destination for placing the box.
- Sound Detection:
- Utilize an audio sensor to detect specific sound cues.
- Implement logic to trigger specific actions or movements based on detected sounds.
Sensors:
- Raykha S8 – TCRT5000 based 8 channel Reflective Sensor Array:
- Function: Line detection and color differentiation.
- Application: Line following.
- HC-SR04 Ultrasonic Sensors:
- Function: Distance measurement.
- Application: Obstacle detection, object picking, and guarding.
- TCS230 RGB Color Recognition Sensor:
- Function: Color detection and differentiation.
- Application: Competition box object colors identification.
- MAX9814 Electret Microphone Amplifier Stable Module with Auto Gain Control:
- Function: Sound detection and threshold adjustment using arduinoFFT library.
- Application: Interactive functionality, event triggering.
- MPU6050 Accelerometer and Gyroscope:
- Function: 3-axis motion tracking.
- Application: Motion tracking, orientation sensing.
Actuators:
-
DC Gear Motors (34:1 metal gear motors):
- Voltage: 12V
- Application: Linear motion, driving wheels, and providing torque.
-
Servo Motors (MG996R metal gear high torque servo motors):
- Voltage: 6V
- Rotation: 180 degrees
- Application: Robotic arm movement, gripping mechanisms, and slider operation.
Power and Battery:
- Battery: 3S 5200mAh 40C 11.1v LiPo battery.
- Power Management:
- Step-down buck converter (LM2596S): Reduces battery voltage to 9V for motor driver module operation.
- Independent buck converter: Converts voltage to 5V for sensor functionality.
Indicators:
- LEDs: Indicate infrared sensor status and provide visual feedback on sensor operation.
Other Components:
- Power Switch: Enables on/off control of the entire robot system.
- Task-Specific Switches: Control activation of specific robot functionalities during competition tasks.
Robot Arm and Mechanisms:
- The robot arm is designed in SolidWorks and is powered by a servo motor.
- The arm is responsible for picking up and placing boxes, and it incorporates a color sensor for identifying box colors.
- Gripping mechanisms and slider operations are controlled by servo motors, enabling precise manipulation of objects.
Software:
- Arduino Mega 2560: The main microcontroller that controls all robot functionalities.
- Source Code: The code for the Sparkle Robot is located in the
srcfolder. The main program file issparkle_robot_src.ino.
Tip
Individual hardware components and their functionalities can be independently verified using dedicated test scripts located within the scripts folder.
Warning
Modifying hardware component connections or device configurations will inevitably necessitate adjustments to the corresponding pin configurations within the source code or scripts.
Maze.Solving.mp4
Contributions are welcome!
- Bug Fixes: If you find any bugs or issues, feel free to create an issue or submit a pull request.
- Feature Enhancements: If you have ideas for new features or improvements, don't hesitate to share them.
Feel free to reach out with any questions or suggestions!
This project is licensed under the MIT License.