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/ Friday, 31 March 2017 / 2 Comments / arduino projects , Projects , Robotics

Arduino smart and fast line following Robot

<h2 style="text-align: center;"><span style="font-size: x-large;">Arduino Line following Robot</span></h2><div class="separator" style="clear: both; text-align: center;"><a href="http://www.makeitmech.com/2017/03/arduino-simple-and-smart-line-following-advance-LFR.html" target="_blank"><img alt="Arduino line following robot with complete code files" border="0" height="426" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEif28VF7DVsrMCsUXejNEK5GjMX1MvdDr2SbVTKzLwQ7U4D6v6yLd3xADYa-wfBFA03BbYOenJbZLhZtZQ_0fNA-Z2kru5PNti9vSl9UR5cpYhZ8-4-lUGskmw9Rbq6Lc7IY0Tp8dML494/s640/received_1194292883937345g.jpg" title="advance Line following robot using arduino" width="640" /></a></div><div><span style="font-size: x-large;"><br /></span></div><div>Line Following Robots are the most common icon for building any robot.Line followers are the stepping stone towards robotics.The most basic,easy and very first part in robotics starts with line following.the most common Robot all the time.<br />Well Making line follower for the first time is not really easy as we thought.some of the things could be turned to make simple stuff into complex.i mean some times sensor calibration, comparison and other related things could be more difficult.<br />For this we have to be more smart and more tricky.we have to choose those parts that can not create any sort of disturbance for us.I'm talking about those days when there were not much revolution in Robotics.we had to make robots using circuits with LDR'S IR'S and other messy and complex things.</div><div>Now we have been blessed with Arduino and bunch of good not just good but great sensors.<br />so be smart and don't waste your time in making complex circuits with separate sensors.<br />There are bunch of sensor modules available in the market with built in comparators.</div><div>so wisely choose what you are going to do and what you have to do.</div><div>We will see some of the very common and effective ways of making line following robot.We will start from basics and in further tutorials we will follow some complex algorithms.we will see PID implemented robots and some advance techniques in making smart robots.</div><div><br /></div><div><h2>Step # 1 : Gather all the Stuff at one place</h2><h3><span style="font-size: large;">Required Components:</span></h3></div><div><ol><li>Arduino board/uno/nano/mega</li><li>3x IR sensor modules</li><li>2x Dc/servo motors</li><li>Chassis </li><li>Wheels</li><li>Battery </li><li>Caster wheel</li><li>Jumper wires</li></ol><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjcOglC46tO1jWjhxCwBU6AKfXZczzaWmr7jaNcGtMLZL9GzB_ZapnOttDCwS4mwzecXqEy9eLxg29IVJ8NcklWmwPPIzSow2WxVIKUABx5lmAr80aQpfXm6-uNLD2p00mx2tEtOk43Ons/s1600/A+New+Design+%252815%2529.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img alt="complete guide of arduino line following robot with code files" border="0" height="336" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjcOglC46tO1jWjhxCwBU6AKfXZczzaWmr7jaNcGtMLZL9GzB_ZapnOttDCwS4mwzecXqEy9eLxg29IVJ8NcklWmwPPIzSow2WxVIKUABx5lmAr80aQpfXm6-uNLD2p00mx2tEtOk43Ons/s640/A+New+Design+%252815%2529.jpg" title="line following robot components" width="640" /></a></div><div><br /></div><div>These are the basic components you have to buy before making any further decision.now i will explain how to choose the right component and which one will be more suitable.<br /><br /><h3>1-Arduino board:</h3>As arduino is the main part so we have to be clear about which arduino board we are going to use.for making line followers the arduino uno is the best choice.we don't need a lot of pins or very few pins that's why we are not going for the nano and mega.<br />For arduino guidance and Example codes understanding go through these following posts.<br /><a href="http://www.makeitmech.com/2017/02/guide-of-all-arduino-boards.html" target="_blank"><br /></a> <a href="http://www.makeitmech.com/2017/02/guide-of-all-arduino-boards.html" target="_blank">GUIDE OF ALL ARDUINO BOARDS</a><br /><div style="background-color: white; border: 0px; color: #444444; font-family: helvetica, arial, sans-serif; font-stretch: inherit; font-variant-numeric: inherit; line-height: normal; margin: 0px 0px 0.6em; padding: 0px; position: relative; vertical-align: baseline;"><br /></div><div style="background-color: white; border: 0px; color: #444444; font-family: helvetica, arial, sans-serif; font-stretch: inherit; font-variant-numeric: inherit; line-height: normal; margin: 0px 0px 0.6em; padding: 0px; position: relative; vertical-align: baseline;"><span style="border: 0px; content: "["; font-family: inherit; font-stretch: inherit; font-style: inherit; font-variant: inherit; left: -0.1em; line-height: inherit; margin: 0px; padding: 0px 0.25em; transform: translatex(-100%); transition: 0.2s; vertical-align: baseline;"><a href="http://www.makeitmech.com/2017/02/getting-started-with-arduino-micro.html" target="_blank">Getting started with arduino micro-controller</a></span></div><div style="background-color: white; border: 0px; color: #444444; font-family: helvetica, arial, sans-serif; font-stretch: inherit; font-variant-numeric: inherit; line-height: normal; margin: 0px 0px 0.6em; padding: 0px; position: relative; vertical-align: baseline;"><br /></div><h3 style="background-color: white; border: 0px; font-family: helvetica, arial, sans-serif; font-stretch: inherit; font-variant-numeric: inherit; line-height: normal; margin: 0px 0px 0.6em; padding: 0px; position: relative; vertical-align: baseline;"><span style="font-size: small;">2-IR Sensor Modules:</span></h3>IR sensor module is the best choice for making line following robot.instead of using IR leds we have to buy IR modules.<br />The pin out Configuration for IR modules and arduino is very simple.<br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg66qmruo78cVqHZY21XBVML15-WZcJLAaGYD2Jja8tylj1AE4HmbtntUYozT0liQwRPfbpcXYOieGl0KstI2VOyBzeHrjtNMVJZw-ekD8ggSThxbRireyMizaskOp9ioV_VRfWt1zgXGE/s1600/A+New+Design+%252813%2529.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="210" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg66qmruo78cVqHZY21XBVML15-WZcJLAaGYD2Jja8tylj1AE4HmbtntUYozT0liQwRPfbpcXYOieGl0KstI2VOyBzeHrjtNMVJZw-ekD8ggSThxbRireyMizaskOp9ioV_VRfWt1zgXGE/s400/A+New+Design+%252813%2529.jpg" width="400" /></a></div>If you are using 3 sensors connect 3 in the same manner.The IR module has 1-pin for input and other 2 are vcc and ground.<br />So join all VCC and GRound seperatly at one place and then connect to the arduino.and the input pins are placed randomly on the digital pins of arduino.<br /><h3>3-DC/Servo motors:</h3>The selection of motors depends upon your choice.if you are going to  but the LFR Kit then you got the servo motors with in the package.<br />but my recomendation is to use DC geared motors.As i have used in this project we can handle more wieght and current as compared to simple motors.so there are other several benefits of using these motors.<br />DC gear motors having high rpm and high<br />torque they are PMDC typed. The advantages of these motors are constant magnetic field which<br />is uncontrolled by external source.<br /><h3><br />Line follower KIT:</h3>There are lots of LFR kits  are available in the market.buying a kit is the easiest solution for any mechanical work load or any sort of disturbance.<br /><br /><h4>Chassis:</h4>Chassis could be of any thing.I'm not going in the depth there are so many things already discussed over the internet.<br />The chassis could be of an acrylic sheet or use any home made things for robot base.<br /><h4>Wheels:</h4>There are standard size wheels are available in the market.if you are using KIT then youo don't need to worry about these things.<br /><h4>Ball caster:</h4>For making 2 wheel LFR you have to buy an extra wheel that is caster wheel the ball caster.For balancing the robot.<br /><br /><h3>Battery:</h3>Battery is the most important part in this project.we need a good and an efficient timing battery.dry lithium ion 12 volt rechargeable battery is the best choice.we can also go for other choices use simple rechargeable  two 4-volts batteries in series.<br /><br /><h3>Pin out Configuration and Assembling:</h3>Assemble all the parts.place evrything on your kit.and now wire up.<br /><br />Connect 3 IR modules with your arduino board.the vin pin of IR module will be connected on any of analog or digital pin of arduino remember these pin configurations you have to use in the code.so if you are connecting on analog pins then you have to write analog in the code.<br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgvl_tkZ0lwO2jsMbeYclZLQo_Xd29TedLMmhsCI7c0VepbD7XMosNSsv9bUVrYYV07vfe4-bptW17K6QZ9xAg-rMQxZnQOQsQsnm2xzUV10h05NIuaQzJkxYppv1np14Dw4GBs1gXFAuI/s1600/A+New+Design+%252814%2529.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="336" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgvl_tkZ0lwO2jsMbeYclZLQo_Xd29TedLMmhsCI7c0VepbD7XMosNSsv9bUVrYYV07vfe4-bptW17K6QZ9xAg-rMQxZnQOQsQsnm2xzUV10h05NIuaQzJkxYppv1np14Dw4GBs1gXFAuI/s640/A+New+Design+%252814%2529.jpg" width="640" /></a></div><h3>Motor Driver:</h3>The motor drivr we are using here is L298N module. This is my recommendation to use this module instead of going for any shield or downloading libraries and other stuff this one is the simplest and easy.<br />For the working principle pin out configuration and why we are using this module you have to read this following post.<br /><div class="separator" style="clear: both; text-align: center;"><a href="http://www.makeitmech.com/2017/02/motor-drivers-and-dual-h-bridge-l298.html" target="_blank"><img border="0" height="213" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh8oGE2c_pabpGnoxd1YSR_WpWI8DiXxEYOq-kFtHB6GoUnuu8HqCVpKd4CJqPMuXm8QrVYGaylUZEgJzTdHaXWrXiADA3Isit_jk058RTaXem7kp6Bcn76UaFaE_Ic4GP3JeIh-PcMcTw/s320/L298N-Dual-H-Bridge-Stepper-Motor-Driver-Controller-Board-Arduino-Raspberry-Pi.jpg" width="320" /></a></div><br /><a href="http://www.makeitmech.com/2017/02/motor-drivers-and-dual-h-bridge-l298.html">http://www.makeitmech.com/2017/02/motor-drivers-and-dual-h-bridge-l298.html</a><br /><br /><h3>Code Construction:</h3></div></div><div>There are three main steps in the construction of coding.</div><div>1-defining the pins according to the connecting / inputs and outputs</div><div>2-Logic for sensors / The switch case</div><div>3-functions for motor directions</div><div><br /></div><div>The very first part Before coding is to calibrate the sensor.Set a threshold for a sensor.</div><div><br /></div><div>For working principle of line follower you must have some knowledge about how we move motors according to the logic.</div><h3><br /> Logic and Sensors placement:</h3><div>We have to place all the sensor with equal distance lets say 1.5 in each.you middle sensor must be at the center of the line;</div><div><br /></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"><a href="http://www.makeitmech.com/2017/03/arduino-simple-and-smart-line-following-advance-LFR.html" target="_blank"><img alt="logic of line following robot" border="0" height="331" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhBfPS6DlmLOtrQHWoWitJAvtfMwxptK_IpNphyphenhyphen0j_Ifa7C4QSf5MOX-n_1p3Kqufz8fMh-A5C0fk2HobaB6mprOszXFV1XKtss-GuOsu-pwvplL6yHFl9gUAQFt86RgJF9OfEk_Xl8y6I/s400/lfr.png" title="line following robot logic" width="400" /></a></div><div class="separator" style="clear: both; text-align: center;"><a href="http://www.makeitmech.com/2017/03/arduino-simple-and-smart-line-following-advance-LFR.html" target="_blank"><img alt="guide of line following robot" border="0" height="331" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjaT5sHs_G5Jz2zJ7XJuWZGSVuzrSPofTAsjwZCCq39Z2sDi9OdyrKeiyEHydYGOPbGsxZvZGOf3OyzJYIxJDX9T9QV6KaSWn9zixhHOid94AhnGsTBL4-OgfFwsy6-uYW1swPUdMCjB-c/s400/lfr.png" title="line following robot logic" width="400" /></a></div><div class="separator" style="clear: both; text-align: center;"><a href="http://www.makeitmech.com/2017/03/arduino-simple-and-smart-line-following-advance-LFR.html" target="_blank"><img alt="complete guide of line following robot" border="0" height="331" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg8aYn3oQUpM06gtUeknP5CBtzhQF2Yv4f_uala6dCjowV8F1aJhxAfdzNZrZ0_bnhYqOXoZcUcRcZGL6crnbulTg_9JveQnNT-jXO773xil00GoEQdQCsK_bltkwBfXxpFVygvk-aEJ-U/s400/lfr.png" title="logic of line following robot" width="400" /></a></div><div><br /></div><div>This is the basic principle for line following robot.Now we will move towards arduino code.</div><div><br /></div><h3>Arduino Code:</h3><div>For three sensors the logic will be :</div><div><b>010</b>  Robot is on the line drive forward</div><div><b>100</b>  turn medium Left</div><div><b>001</b>  turn  medium Right</div><div><b>110</b>  Sharp turn left</div><div><b>011</b> Sharp turn Right</div><div><b>000</b> stop</div><div><br /></div><div><br /></div><h4>Complete Code:</h4><div><div><br /></div><div><span style="color: orange;">#define LS 2      // left sensor</span></div><div><span style="color: orange;">#define MS 3      // middle sensor</span></div><div><span style="color: orange;">#define RS 4      // right sensor</span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;">/*-------Outputs------*/</span></div><div><span style="color: orange;">#define LM1 5       // left motor</span></div><div><span style="color: orange;">#define LM2 7       // left motor</span></div><div><span style="color: orange;">#define LM3 6       // left motor Enable pin for controlling speed</span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;">#define RM1 8       // right motor</span></div><div><span style="color: orange;">#define RM2 9       // right motor</span></div><div><span style="color: orange;">#define RM3 10       // right motor Enable pin for controlling speed</span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;">void setup()</span></div><div><span style="color: orange;">{</span></div><div><span style="color: orange;">  pinMode(LS, INPUT);</span></div><div><span style="color: orange;">  pinMode(MS, INPUT);</span></div><div><span style="color: orange;">  pinMode(RS, INPUT);</span></div><div><span style="color: orange;">  pinMode(LM1, OUTPUT);</span></div><div><span style="color: orange;">  pinMode(LM2, OUTPUT);</span></div><div><span style="color: orange;">  pinMode(LM3, OUTPUT);</span></div><div><span style="color: orange;">  pinMode(RM1, OUTPUT);</span></div><div><span style="color: orange;">  pinMode(RM2, OUTPUT);</span></div><div><span style="color: orange;">  pinMode(RM3, OUTPUT);</span></div><div><span style="color: orange;">}</span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;">void loop()</span></div><div><span style="color: orange;">{</span></div><div><span style="color: orange;">  if(!(digitalRead(LS)) && digitalRead(MS) && !(digitalRead(RS)))    // Move Forward (010)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,250);</span></div><div><span style="color: orange;">    digitalWrite(RM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,250);</span></div><div><span style="color: orange;">  }</span></div><div><span style="color: orange;">  </span></div><div><span style="color: orange;">  if(!(digitalRead(LS)) && !(digitalRead(MS)) && digitalRead(RS))     // Turn medium right (001)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,230);</span></div><div><span style="color: orange;">    digitalWrite(RM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,80);</span></div><div><span style="color: orange;">  }</span></div><div><span style="color: orange;">  </span></div><div><span style="color: orange;">  if(digitalRead(LS) && !(digitalRead(MS)) && !(digitalRead(RS)))     // turn medium left (100)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,80);</span></div><div><span style="color: orange;">    digitalWrite(RM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,230);</span></div><div><span style="color: orange;">  }</span></div><div><span style="color: orange;">  </span></div><div><span style="color: orange;">  if(!(digitalRead(LS)) && !(digitalRead(MS)) && !(digitalRead(RS)))     // stop (000)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,0);</span></div><div><span style="color: orange;">    digitalWrite(RM1, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,0);</span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;">  }</span></div><div></div><div><span style="color: orange;">  if(digitalRead(LS) && (digitalRead(MS) && !(digitalRead(RS))))     // Turn Sharp left 90 degree (110)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,0);</span></div><div><span style="color: orange;">    digitalWrite(RM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,250);</span></div><div><span style="color: orange;">  }</span></div><div><span style="color: orange;">  if(digitalRead(RS) && (digitalRead(MS) && !(digitalRead(LS))) )    // Turn Sharp Right 90 degree (011)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,250);</span></div><div><span style="color: orange;">    digitalWrite(RM1, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,0);</span></div><div><span style="color: orange;">  }</span></div><div><span style="color: orange;">}</span></div></div><div><br /></div><div>Upload the code and test it.Before testing check your connection and compare with your code.<br />I have skipped most of the mechanical parts in this post.you have to take them on your own.these were some common and unnecessary steps.<br />I hope you got the concept.If you have nay query comment below to notify.<br />Read the coming post about advance line following Robot and PID implemented line following Robot.<br />Follow to get the latest updates....<br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9CGrdvu3Jyy4yZ-aCqbzJHhatZ4AugOVawT7kF23lcePGxSARakm9Nc2XFjpXWm13UoeJDdIG7etRyay8Ejruj-AH4k_HLIjK_NjFJgJPNsu2iNGCtXc2ZKOKtlzuGOP8EOQFMBTT_sw/s1600/IMG_20160423_133045b.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9CGrdvu3Jyy4yZ-aCqbzJHhatZ4AugOVawT7kF23lcePGxSARakm9Nc2XFjpXWm13UoeJDdIG7etRyay8Ejruj-AH4k_HLIjK_NjFJgJPNsu2iNGCtXc2ZKOKtlzuGOP8EOQFMBTT_sw/s640/IMG_20160423_133045b.jpg" width="640" /></a></div><br /></div>

arduino projects, Projects, Robotics

Arduino smart and fast line following Robot

Arduino Line following Robot Line Following Robots are the most common icon for building any robot.Line followers are the stepping stone tow...

/ Saturday, 25 February 2017 / 2 Comments / arduino projects , Projects , Robotics

Wireless remote control robot using nrf and arduino

<span style="font-family: inherit;">Hey everyone</span><br /><span style="font-family: inherit;">A wireless controlled Omani directional robot.a wireless controlled robot can be used in many ways.i made this for playing a soccer because there was an event of soccer playing robots in my institute.it's quit easy to communicate between two arduino's using nRF 24L01+ module.there are few simple steps to make Omani directional wireless controlled robot.First thing is to make it wireless controlled then turn it to soccer,pick and place,cleaning or any other purpose whatever you want.</span><br /><span style="font-family: inherit;"><br /></span> <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEghSX3gQ9I7pBYUck9wU6zpIsJOGaKPnsZiRrleAy95hYwRV2jWRAsmJeh349oe3PbGZr42FBHGGkWmDODaAd0glK8RYj-uH7PxQsy15IKKZO5yqxoBHyIEH_4kYQsncmSPX7ojLNaEGhQ/s1600/12226583_1086849304670689_2020964523_n.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img alt="soccer robot design.robot for robocup , wireless remote control robot using nrf" border="0" height="296" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEghSX3gQ9I7pBYUck9wU6zpIsJOGaKPnsZiRrleAy95hYwRV2jWRAsmJeh349oe3PbGZr42FBHGGkWmDODaAd0glK8RYj-uH7PxQsy15IKKZO5yqxoBHyIEH_4kYQsncmSPX7ojLNaEGhQ/s640/12226583_1086849304670689_2020964523_n.jpg" title="Wireless remote control robot for robocup" width="640" /></span></a></div><span style="font-family: inherit;"><br /></span> <span style="font-family: inherit;"><br /></span> <b><span style="font-family: inherit; font-size: large;">Getting started:</span></b><br /><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">Components Required:</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6O2BcA4DU38ODNA4fLK6o692C3a4NgHYHOmfxhVGWvZ3nFxVmjNGzygtdZEjDNvhwTZXVtNjw2XsVCiaKqmpi_bJoXLjfCH2n0IUrh2-PrtLqFePVvwIyJB9DHrq0KrBJWt1TS6vTeeg/s1600/127mm-aluminum-omni-wheel-14153.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="132" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6O2BcA4DU38ODNA4fLK6o692C3a4NgHYHOmfxhVGWvZ3nFxVmjNGzygtdZEjDNvhwTZXVtNjw2XsVCiaKqmpi_bJoXLjfCH2n0IUrh2-PrtLqFePVvwIyJB9DHrq0KrBJWt1TS6vTeeg/s200/127mm-aluminum-omni-wheel-14153.jpg" width="200" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhca4NF1kVhfk9RqgmWg5CG35CxWMYr_7khvTAdlKH8-GfNutLZPnWwWJ5ULBOKNsPN1BXONQFdnjCCm01_4bm3oDfHoDS-K7s_EAvngS2H-H7-K0nuamSS7IHD-7SawpwdMlzqyIUK5L4/s1600/15149.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="150" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhca4NF1kVhfk9RqgmWg5CG35CxWMYr_7khvTAdlKH8-GfNutLZPnWwWJ5ULBOKNsPN1BXONQFdnjCCm01_4bm3oDfHoDS-K7s_EAvngS2H-H7-K0nuamSS7IHD-7SawpwdMlzqyIUK5L4/s200/15149.jpg" width="200" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgScGMCK1D0iqnNJfh16cDzTOKW21zFsewKpuF842vGwr8bx8tiU09Kf7ZAyNe5wrnL06dEYKoseGp3eFTwSv4lix6IrljucGlKY-a5Zpp7bNR-1dAs4bW9ErYAIh9td9JMXFudUwz4D7o/s1600/DC-GEARED-MOTOR-TG-38ZYJ-.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="146" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgScGMCK1D0iqnNJfh16cDzTOKW21zFsewKpuF842vGwr8bx8tiU09Kf7ZAyNe5wrnL06dEYKoseGp3eFTwSv4lix6IrljucGlKY-a5Zpp7bNR-1dAs4bW9ErYAIh9td9JMXFudUwz4D7o/s200/DC-GEARED-MOTOR-TG-38ZYJ-.jpg" width="200" /></a></span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;"><br /></span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><strong><span style="font-family: inherit;">Mechanical:</span></strong></div><ul style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin: 0px 0px 10px; padding: 0px 0px 0px 2em;"><li style="line-height: normal;"><span style="font-family: inherit;">An acrylic or aluminium chassis</span></li><li style="line-height: normal;"><span style="font-family: inherit;">4x DC Geared motors</span></li><li style="line-height: normal;"><span style="font-family: inherit;">4x omani wheels</span></li></ul><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><strong><span style="font-family: inherit;">Electronics:</span></strong></div><ul style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin: 0px 0px 10px; padding: 0px 0px 0px 2em;"><li style="line-height: normal;"><span style="font-family: inherit;">2x arduino uno</span></li><li style="line-height: normal;"><span style="font-family: inherit;">2x nRF 24L01+ module</span></li><li style="line-height: normal;"><span style="font-family: inherit;">2x L298 H-bridge module</span></li><li style="line-height: normal;"><span style="font-family: inherit;">jumper wires</span></li><li style="line-height: normal;"><span style="font-family: inherit;">battery</span></li></ul><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">There are three components in mechanical section.first thing is to make a base i used four aluminium sheets (28cm diameter) and these were much costly.we can also use two acrylic sheets.we can use already made robotics kits but for making soccer robot we need a little much bigger size so i will prefer you to make it your own.make a sketch design in solids works or sketch up.these are best software in 3D designing.</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">The four DC Geared motors needed i used around 350 RPM,and 4 Omani wheels these were i bought from online store.I used 12 volt 5A battery .Two arduino uno boards will be used for wireless communication with each other.</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">nRF24lo1+ is the best choice for wireless communication and it has a very good range.but remember it works on 3 volt.i will not explain much about the components here but you can read about it on google or Wikipedia etc.</span></div><div style="background-attachment: initial !important; background-clip: initial !important; background-image: none !important; background-origin: initial !important; background-position: initial !important; background-repeat: initial !important; background-size: initial !important; border: 0px; box-shadow: none !important; line-height: 1.5rem; margin-bottom: 10px !important;"><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b> Pin out Configuration making transmitter(TX) and receiver(RX):</b></span></span><br /><span style="font-family: inherit;"><br /></span> <span style="font-family: inherit;"><br /></span> <span style="font-family: inherit;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhDbo1jJw8AOFsOjMQWjTQfpRW9YGx_hpN-CHaizi2bTv2E-DmbKJOx7JQUCs6Gd1x5uGVjiAFEvAiFBOpby2G0RpPhOT8te-cdbqXd5DUG2B1OknpePP1eGy4Dnn4No6DS3hZL6foKLQw/s1600/nRF24L01%252B+Arduino+Uno_bb.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="200" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhDbo1jJw8AOFsOjMQWjTQfpRW9YGx_hpN-CHaizi2bTv2E-DmbKJOx7JQUCs6Gd1x5uGVjiAFEvAiFBOpby2G0RpPhOT8te-cdbqXd5DUG2B1OknpePP1eGy4Dnn4No6DS3hZL6foKLQw/s200/nRF24L01%252B+Arduino+Uno_bb.png" width="185" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSCG72rEAY0HUmZnKb4pA2JnS1ixcGd2W8AOpi5XzmQIzOKz3RlhZI8GCpMe0rRIOUegr6G857uraFJ_YTbzeYnKUbS5Bt-ws3mKO9mO7OJSYmEQySLJw4ggqPdW970SNm-AsZzoDjOyU/s1600/NRF24L01-Receiver.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="212" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSCG72rEAY0HUmZnKb4pA2JnS1ixcGd2W8AOpi5XzmQIzOKz3RlhZI8GCpMe0rRIOUegr6G857uraFJ_YTbzeYnKUbS5Bt-ws3mKO9mO7OJSYmEQySLJw4ggqPdW970SNm-AsZzoDjOyU/s320/NRF24L01-Receiver.jpg" width="320" /></a></span></div><span style="font-family: inherit;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg29rRm20CujEByKUgGT_3esZUAKCBgTQL5B3YozV2Rh43FX-Kn8sD0777pjLIoZ99jKkjq-wWZjMnb1WLFBXcXCaixbcXR4OqkU-zysbU4QvpWxTcwzgjTiCAEKZbjt07yddm-JHbMXbI/s1600/687474703a2f2f7777772e6e6f646f2d646f6d6f746963612e6e6c2f696d616765732f622f62352f4e524632344c30315f70696e6f75742e706e67.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="139" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg29rRm20CujEByKUgGT_3esZUAKCBgTQL5B3YozV2Rh43FX-Kn8sD0777pjLIoZ99jKkjq-wWZjMnb1WLFBXcXCaixbcXR4OqkU-zysbU4QvpWxTcwzgjTiCAEKZbjt07yddm-JHbMXbI/s320/687474703a2f2f7777772e6e6f646f2d646f6d6f746963612e6e6c2f696d616765732f622f62352f4e524632344c30315f70696e6f75742e706e67.png" width="320" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg-7t67w-L-5hmZIfCABSCPcbBIVJC7PkuuTPW-wXQeDJIebsGR65iRhL3TQbXoWB9clJF8sNuWFN1RYMnbQQjFKIl3e5jbaD5Bl3rsas06dzPnOP_NbxSy9j9E5dUzZdFmp0JPhom4UVM/s1600/L298N-Dual-H-Bridge-Stepper-Motor-Driver-Controller-Board-Arduino-Raspberry-Pi.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="133" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg-7t67w-L-5hmZIfCABSCPcbBIVJC7PkuuTPW-wXQeDJIebsGR65iRhL3TQbXoWB9clJF8sNuWFN1RYMnbQQjFKIl3e5jbaD5Bl3rsas06dzPnOP_NbxSy9j9E5dUzZdFmp0JPhom4UVM/s200/L298N-Dual-H-Bridge-Stepper-Motor-Driver-Controller-Board-Arduino-Raspberry-Pi.jpg" width="200" /></a></span><br /><div style="background-attachment: initial !important; background-clip: initial !important; background-image: none !important; background-origin: initial !important; background-position: initial !important; background-repeat: initial !important; background-size: initial !important; border: 0px; box-shadow: none !important; line-height: 1.5rem; margin-bottom: 10px !important;"><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b><br /></b></span></span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">The second step is the pin out configuration of nRF24L01+ with arduino. we have to make one one nRF module TX and other Rx.</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">Here is the pin out of nRF24l01+ as you can see in the figure.</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">1-GND</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">2-VCC</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">3-CE</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">4-CSN</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">5-SCK</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">6-MOSI</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">7-MISO</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">8-IRQ</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">First make the Transmitter part (TX):</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">Before connecting with arduino don't forget to add a capacitor at both the ends of TX and RX of nRF between the pin VCC and GND.connect a 50 Uf or higher Capacitors with both modules because sometimes they will not work properly.the TX will send but RX will not recieve.</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">Connect CE and CSN in 7 and 8 SCK and MOSI in 11 and 12 MOSI in 13 GND and VCC in 3V</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><strong><span style="font-family: inherit;">See the photos for pinout of RX and H-bridge</span></strong><br /><span style="font-family: inherit;">Connect the h-bridge with motors and enable pins in pwm pins on arduino and others with any digital pin of arduino.</span></div><div style="background-attachment: initial !important; background-clip: initial !important; background-image: none !important; background-origin: initial !important; background-position: initial !important; background-repeat: initial !important; background-size: initial !important; border: 0px; box-shadow: none !important; line-height: 1.5rem; margin-bottom: 10px !important;"><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b>Assembling and Coding:</b></span></span></div><div style="background-attachment: initial !important; background-clip: initial !important; background-image: none !important; background-origin: initial !important; background-position: initial !important; background-repeat: initial !important; background-size: initial !important; border: 0px; box-shadow: none !important; line-height: 1.5rem; margin-bottom: 10px !important;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiFTCptBnspHgzSv2TQSO7BQ2pSffvLWuxwow78HA__3ZAE04PEN4cH9kK2ji32enlQt_nt5qWVhQBlpeZgbuGV3pR_zhwGFU9qztIDFMyPAKOyBMRhul4F23mjQqfOcTo1JSRAyjJcfkw/s1600/IMG_20160116_131255.jpg" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em; text-align: center;"><span style="font-family: inherit;"><img alt="assembling of robot with chassis.remote control robot using nrf." border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiFTCptBnspHgzSv2TQSO7BQ2pSffvLWuxwow78HA__3ZAE04PEN4cH9kK2ji32enlQt_nt5qWVhQBlpeZgbuGV3pR_zhwGFU9qztIDFMyPAKOyBMRhul4F23mjQqfOcTo1JSRAyjJcfkw/s320/IMG_20160116_131255.jpg" title="Robot chassis and assembling" width="320" /></span></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvI4VshHscM_-rnMcu5YZAvBMchuWtgqdsJtLmtHtSiGVH99QZflJF3dUPL06mBeYfhQAVWdB4wX31IUT7sqLlSaZT8NbP35T877IWdZ7ShrOV58hpI4w9kYi-6vZYJRjhCCzr1kg5UwU/s1600/IMG_20151107_035014.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><span style="font-family: inherit;"><img border="0" height="198" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvI4VshHscM_-rnMcu5YZAvBMchuWtgqdsJtLmtHtSiGVH99QZflJF3dUPL06mBeYfhQAVWdB4wX31IUT7sqLlSaZT8NbP35T877IWdZ7ShrOV58hpI4w9kYi-6vZYJRjhCCzr1kg5UwU/s200/IMG_20151107_035014.jpg" width="200" /></span></a></div><div style="background-attachment: initial !important; background-clip: initial !important; background-image: none !important; background-origin: initial !important; background-position: initial !important; background-repeat: initial !important; background-size: initial !important; border: 0px; box-shadow: none !important; line-height: 1.5rem; margin-bottom: 10px !important;"><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b><br /></b></span></span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;"><br /></span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">Once you complete assembling of parts there comes the main part that is programming.start with initializing as according to your pin out arduino board with nRF and h-bridge.don't forget to add the library for nRF.The library file is attached.</span></div><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">#include</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">#include "nRF24L01.h"</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">#include "RF24.h"</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">// 13 is SCK on nRF</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">// 12 is MISO on nRF</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">// 11 is MOSI on nRF</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">// 10 is CSN on nRF</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">RF24 radio(9,10); // 9 is CE on nRF</span></b><br /><ul style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin: 0px 0px 10px; padding: 0px 0px 0px 2em;"></ul><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">After initialization there is a pipeline between two arduino's it should be the same on both transmitter and receiver. now initialize the radio and it will begin the conversation between two pipelines.</span></div><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">void setup(void)</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">{Serial.begin(9600);</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">radio_initialize();</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">Serial.println("RADIO STARTED");}</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">Now in loop function it checks if receiving serial available then it will start sending data.</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">char data[] = "1";</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">void loop()</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">{ if(millis()%1000==0)</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">{ data[0]++;</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">Serial.print("Sending: ");</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">Serial.print(data[0],DEC);</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">bool ok = radio.write( data, 2 );</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">if (ok) Serial.println("ok\n\r");</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">else Serial.println("failed\n\r");</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">if(data[0]=='6') data[0]='1'; } }</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">void radio_initialize(void)</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">{ radio.begin();</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">radio.openWritingPipe(pipes[1]);</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">radio.openReadingPipe(1,pipes[0]);</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">radio.startListening(); }</span></b><br /><ul style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin: 0px 0px 10px; padding: 0px 0px 0px 2em;"></ul><div><span style="background-color: white; font-family: inherit; font-size: 15px;">Don't just copy and past .it will only work according to your connections.i hope you will understand the code easily if you are aware about the adruino's coding.here is the sample code for both Tx and Rx.now open the serial monitor in both Tx and Rx side and send 1 from Tx and it will receive on Rx serial monitor window.as it is for other number we initialize 1 in the code for forward function now initialize 2 for back and so on.</span></div><div><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b><br /></b></span></span></div><div><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b>Submit your E-mail and get complete Code files:</b></span></span><br /><span style="font-family: inherit;"><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-size: 15px;"><b><br /></b></span></span></span></div><div></div><div><span style="background-color: white; font-family: inherit; font-size: 15px;">I hope you understand how to communicate between two arduino's. the main purpose is to make the wireless controlled once it's done add whatever you want.now we can use it in many ways...have fun...!!!</span></div><div><span style="background-color: white; font-family: inherit; font-size: 15px;">I have covered this topic in another post of making soccer robot so you can get the additional information from it.</span></div><div><span style="background-color: white; font-family: inherit; font-size: 15px;">See the similar posts on  <a href="http://www.makeitmech.com/2017/02/how-to-make-soccer-robot-for-robocup.html">how to make robot for robocup </a> and how to control it from keyboard or joystick.</span></div><div><span style="background-color: white; color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif; font-size: 15px;"><br /></span></div><div class="mailmunch-forms-widget-450946"></div>

arduino projects, Projects, Robotics

Wireless remote control robot using nrf and arduino

Hey everyone A wireless controlled Omani directional robot.a wireless controlled robot can be used in many ways.i made this for playing a so...

How to make Soccer Robot for Robocup

<h2 style="text-align: center;"><span style="font-family: inherit;">How to make Soccer Robot for Robocup</span></h2><span style="font-family: inherit;">Hey Everyone..!!!</span><br /><span style="font-family: inherit;">The news is that We have some great and most exciting events coming ahead.Some of us are very curious about robotics.Sometimes just for the fun and sometimes for the sake of academic projects.</span><br /><span style="font-family: inherit;">And believe me when first time i made a robot i was too much excited to play with it.After that i participated in some robotics competitions and then i heard about something that could be the</span><br /><span style="font-family: inherit;">Dream.That is something Big..!!.I hope You are aware about this event.Yes i'm talking about Robocup.</span><br /><span style="font-family: inherit;"> I made a robot for small soccer league that was held in my institute.On that basis we were preparing for the robocup. So here i'm going to tell you about small soccer league (SSL).After that we will see some setup for robocup senior category.</span><br /><span style="font-family: inherit;">we will design an omni directional robot for small size soccer league.</span><br /><span style="font-family: inherit;"><br /></span> <br /><h4><span style="font-family: inherit;"> This guide will cover the following topics:</span></h4><h2><span style="font-family: inherit;"> Contents:</span></h2><span style="font-family: inherit;"><br /></span> <br /><ol><li><b><span style="font-family: inherit;">Introduction to Soccer Robot and Robocup SSL</span></b></li><li><span style="font-family: inherit;">Basics of Robot</span></li><li><span style="font-family: inherit;">Manual Controlling of Robot</span></li><li><span style="font-family: inherit;">Basics of Autonomous Robots</span></li><li><b><span style="font-family: inherit;">Mechanical design</span></b></li><li><span style="font-family: inherit;">Mechanical Parts</span></li><li><span style="font-family: inherit;">Designing of robot base</span></li><li><span style="font-family: inherit;">Omni Wheels design </span></li><li><span style="font-family: inherit;">Dribbler</span></li><li><span style="font-family: inherit;">Kicker</span></li><li><b><span style="font-family: inherit;">Electronic design</span></b></li><li><span style="font-family: inherit;">Electronic Parts</span></li><li><span style="font-family: inherit;">Wireless Communication using nRF24L01</span></li><li><span style="font-family: inherit;">Solenoid</span></li><li><span style="font-family: inherit;">Ball Detector Circuit</span></li><li><span style="font-family: inherit;">Booster</span></li><li><span style="font-family: inherit;">Motor Driver</span></li><li><b><span style="font-family: inherit;">Programming and Algorithms</span></b></li></ol><br /><h2><span style="font-family: inherit;"> Introduction to Soccer Robot and Robocup SSL</span></h2><div><span style="font-family: inherit;">This guide is based on Small Size League (SSL) and making of Soccer playing Robot .The entire</span></div><div><span style="font-family: inherit;">system has been divided into four main parts, the first one is Vision system second one is Artificial</span></div><div><span style="font-family: inherit;">Intelligence (AI) system, third is Referee Box and finally five remotely controlled robots. It includes</span></div><div><span style="font-family: inherit;">mechanics, electronics, mechatronics and programming skills</span></div><div><span style="font-family: inherit;">The vision system is digitally processed with two signals capturing from camera mounted on top of the field. The position and orientation of ball and robots are computed by the vision system through camera. The information of vision system is transmitted to AI system which is responsible for making, deciding and providing the strategic game decisions. The roles of robots provide the teams to be acted according to the commands transmitted by database. The controls are goalkeeper, defense and forward. The main factor is to avoid the collision with the robots and specifically avoid the collisions with opponents. The decisions for game are to play with commands given to the wireless receiver. The robot is capable enough to execute the commands that converted by the AI system. This cycle is repeated 30 times per second. Moreover, the referee transmits relevant decisions such as penalties, goals, start of game, end of game, etc. These commands are sent to the AI system through a serial link. All robots are responsible and capable enough to execute effectively the commands sent via AI system. Our robot includes specialized and effective electronics with such accuracy to communicate with remote computer and control locomotion and all defined actions. Similarly mechanical section which is explained ahead and has four main parts movements, control of ball, shoot and protection, strong chases and reduced friction Omni wheels.</span></div><div><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhRwlwFC7ebGEzafaR55BgUAOwqxPdScs8ptnMoqcdAacpOucAZ3tX0mSA1yIzhpFAQbebdes5PqxNPNIhDrzfsMvgmfu7ViPxEylnomaJZGcbTlHJcq5ZAGYEad-8QtOc93N4owxtmiQg/s1600/ssl.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img alt="Complete guide on how to make robot for robocup. soccer robot with autonomous and manual controlling" border="0" height="352" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhRwlwFC7ebGEzafaR55BgUAOwqxPdScs8ptnMoqcdAacpOucAZ3tX0mSA1yIzhpFAQbebdes5PqxNPNIhDrzfsMvgmfu7ViPxEylnomaJZGcbTlHJcq5ZAGYEad-8QtOc93N4owxtmiQg/s640/ssl.JPG" title="How to make soccer robot for robocup" width="640" /></span></a></div><div><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit;"><br /></span></div><h2><span style="font-family: inherit;"> Basics of Robot</span></h2><div><div><span style="font-family: inherit;">Robot is the machine</span></div><div><span style="font-family: inherit;">which performs the human work and tasks automatically or manually. Therefore the robot is</span></div><div><span style="font-family: inherit;">defined as the mechanical devise which can be programmed to let work as per command defined,</span></div><div><span style="font-family: inherit;">such as moving, picking the tools, dropping the tools and dragging etc. The action of robot can</span></div><div><span style="font-family: inherit;">be categorized with three steps that are sense, think and act.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div><div><span style="font-family: inherit;">This project is based on the AI ( Artificial intellegence )system and the control signals are given and processed through wireless module. The basic is the design of AI system, communication done through NRF wireless module, strong chases and selection of the motors using required motor drivers.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><h2><span style="font-family: inherit;"> Manual Controlling of Robot</span></h2><div><div><span style="font-family: inherit;">The robots are designed with a test bench where you can test your algorithms and signal processing. The batteries to power-up the modules must be efficient and their current rating must meet the requirement.</span></div><div><span style="font-family: inherit;">The motors are selected such that their RPM should be enough to bear the weight of the robot. The speed must not be reduced. Chases of the robot and structure of the robot must be designed with sharp precision.</span></div><div><span style="font-family: inherit;">The tires must be selected as to have locomotion in large number of varieties. Manual controlling of robot works through wireless remotes and through other medium of wireless communication like Bluetooth, infra-red, internet protocol using router and or joystick. The block diagram for manually controlling robot.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgW4goHh6YitlEkQ2Ig4JZcOaq8N2rQEDP8ZYsIJSkjwoAVqJVbygFtA-g8AVcoUyAZwr9ZnPzA-T_pHTkuG-jZSop7XqPbTR75nfKv8k0M5FMcQdudqyF4yOeT3ey_7JvPS2JS3dQeEds/s1600/robobo.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img border="0" height="112" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgW4goHh6YitlEkQ2Ig4JZcOaq8N2rQEDP8ZYsIJSkjwoAVqJVbygFtA-g8AVcoUyAZwr9ZnPzA-T_pHTkuG-jZSop7XqPbTR75nfKv8k0M5FMcQdudqyF4yOeT3ey_7JvPS2JS3dQeEds/s640/robobo.JPG" width="640" /></span></a></div><div><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit;"><br /></span></div><h2><span style="font-family: inherit;"> Basics of Autonomous Robots</span></h2><div><div><span style="font-family: inherit;">The autonomous robots have their own algorithms otherwise it can be easy by connecting sensors at different places of the robots. Autonomous robot is entirely different with respect to its controlling explained in next section. The basic of Autonomous robot is mainly consists of AI and the vision system. The vision system is designed to give information of the field to AI system and the AI has algorithms built in it. The decisions are taken according to the information received. The game decisions are totally dependent on AI system.</span></div></div><div><div><span style="font-family: inherit;">AI works on two algorithms mainly. Programmer</span></div><div><span style="font-family: inherit;">can go with Dijktra Algorithm or A* Algorithm. Dijktra is old one and it is not followed these days</span></div><div><span style="font-family: inherit;">usually, but A* is being followed and many projects of AI has been designed using many other algorithm. The other operation and working is same as the defined in manual controlling section. The robots have their locomotion defined and all the signals are always predefined, therefore the main part of robot is the motors. The motors get the signals from their respective drivers and the drivers get signals from the receiver of the wireless module. The communication is totally based on wireless and between two nodes there will be no wired connections. The receiver is NRF module and getting signals from database wirelessly. The programming and algorithms are built for the receiver to understand the transmitting signals coming from the transmitter of the database. These all summarize the basics of Autonomous robot and its controlling.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><h2><b><span style="font-family: inherit;">Mechanical design</span></b></h2><div><div><span style="font-family: inherit;">This section explains about the details of mechanical work and design of robot and its</span></div><div><span style="font-family: inherit;">mechanics. Since we are designing the robot having circular base with omni wheels therefore we</span></div><div><span style="font-family: inherit;">have to be very carefully about alignment and chases. The purpose of using omni wheels is to</span></div><div><span style="font-family: inherit;">provide a motion in different direction like front, back, diagonal, left, right, clockwise and</span></div><div><span style="font-family: inherit;">counter clockwise. The base of the robot is such that it supports the rigidity to the structure. The</span></div><div><span style="font-family: inherit;">base of any robot must be dynamically strong that it must be following the direction and must</span></div><div><span style="font-family: inherit;">not be distract from the given commands. The design must be chosen that the integration of body</span></div><div><span style="font-family: inherit;">parts is easy.The chapter aims to create the locomotion of robot and such mechanism to</span></div><div><span style="font-family: inherit;">create base of complete autonomous robot therefore on follow the commands by</span></div><div><span style="font-family: inherit;">avoiding each obstacle to complete the desired tasks the study of motion of robot mechanism and</span></div><div><span style="font-family: inherit;">also the dynamics and mechanics should be done.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEid1tSCSVzG01bX4D321SCRt8k2ILz1a_LdkhWjGLrYeGkt_8X32uLv9-E3WlM4pBgG3GTVT-vhla9srenOZ55UDQFS8qnayk7-twk4LuIfe68U9GcudrwmpF8Yix_cEu9ZVGqK_10zrP0/s1600/cuucutlia.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img alt="complete design of omni wheel robot for soccer playing.complete design guide with design files" border="0" height="500" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEid1tSCSVzG01bX4D321SCRt8k2ILz1a_LdkhWjGLrYeGkt_8X32uLv9-E3WlM4pBgG3GTVT-vhla9srenOZ55UDQFS8qnayk7-twk4LuIfe68U9GcudrwmpF8Yix_cEu9ZVGqK_10zrP0/s640/cuucutlia.JPG" title="Omni wheel robot base" width="640" /></span></a></div><div><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit;"><br /></span></div><h2><span style="font-family: inherit;"> Mechanical Parts</span></h2><div><div><span style="font-family: inherit;">Robot consists of such mechanical parts that they cannot be considered as simple. The dimension</span></div><div><span style="font-family: inherit;">of the parts with complete weight of the robot is required to join each with structure of the robot.</span></div><div><span style="font-family: inherit;">The Robot consists of following mechanical parts.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div><div><span style="font-family: inherit;">1- Acrylic Sheet</span></div><div><span style="font-family: inherit;">2- Omni wheels</span></div><div><span style="font-family: inherit;">3- Dribbler</span></div><div><span style="font-family: inherit;">4- Kicker</span></div><div><span style="font-family: inherit;">5- Motors</span></div></div><div><span style="font-family: inherit;"><br /></span></div><h2><span style="font-family: inherit;"> Designing of robot base</span></h2><h3><span style="font-family: inherit;"> Acrylic Sheet (base)</span></h3><div><div><span style="font-family: inherit;">We have designed the base of robot from acrylic sheet which is cut by using laser cutting</span></div><div><span style="font-family: inherit;">machine. The shape of base is circle having the diameter of 250mm and the upper portion is</span></div><div><span style="font-family: inherit;">about 230mm.The upper two wheels are at the angle of 35dergree from centre and the lower two wheels are at the angle of 45 degree this designed is inspired from one of the team who participated in Robocup. This design gives the drag to the robot when moving forward and also a movement in</span></div><div><span style="font-family: inherit;">the respective angle. The thickness of acrylic sheet is about 5mm we choose acrylic because it is</span></div><div><span style="font-family: inherit;">light weight and its cutting is less expensive then the metal.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjO-R8neD-ldGKQHvBOgyGL9ANyP6dUv-oIsqTyhcfS9vttcFs2QmhYbmVZ1-UHjRm7TNW8K90t8XXvfbX7Z1rmohucXsxP96cB3PYkfOuTK_C07jxoUKk49ECsbwvUn04ZOHbnoVuxw6g/s1600/kakaka.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img alt="Acrylic design of omni wheel robot.Complete guide on making robot chassis with sketch files" border="0" height="390" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjO-R8neD-ldGKQHvBOgyGL9ANyP6dUv-oIsqTyhcfS9vttcFs2QmhYbmVZ1-UHjRm7TNW8K90t8XXvfbX7Z1rmohucXsxP96cB3PYkfOuTK_C07jxoUKk49ECsbwvUn04ZOHbnoVuxw6g/s640/kakaka.JPG" title="Robot design for omni wheel soccer playing robot" width="640" /></span></a></div><div><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit;">You can also check out this post about <a href="http://www.makeitmech.com/2017/02/how-to-design-robot-chassis.html">Aluminium base of Robot</a> instead of acrylic sheet.click on the image of aluminium base for more information about designing.</span></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"></div><div><span style="font-family: inherit;"><br /></span></div><table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody><tr><td style="text-align: center;"><span style="font-family: inherit; margin-left: auto; margin-right: auto;"><a href="http://www.makeitmech.com/2017/02/how-to-design-robot-chassis.html" target="_blank"><img alt="how to make robot chassis.Complete design guide with sketch files.Robot for soccer playing .Robot for robocup" border="0" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh8vUvNM1QSXH6ATrxlDBJDTJQZEGfQ4ilHb1BEBQ38Lt4blb3pEql_5-tFDc8EWBLdjsxJGf5WX7YWlS-xsQK3TBQZ4W-lTWa_GEXx1t3dpbqvZu0SJL2FpH_PCnp7aibnCUfZlcz35Jc/s640/best.JPG" title="Robot aluminium chassis " width="640" /></a></span></td></tr><tr><td class="tr-caption" style="text-align: center;"><span style="font-family: inherit;"><a href="http://www.makeitmech.com/2017/02/how-to-design-robot-chassis.html" target="_blank">how-to-design-robot-chassis</a></span></td></tr></tbody></table><div><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit;"><br /></span></div><h2><span style="font-family: inherit;"> Omni Wheels design </span></h2><div><div><span style="font-family: inherit;">In the robot we have used the omni-directional wheels because these wheels give us the</span></div><div><span style="font-family: inherit;">advantage of the movement in any direction it can also slide the robot and reduces the friction.</span></div><div><span style="font-family: inherit;">The diameter of each wheel is 60 mm. Omni-wheels are advised on the abstraction of an</span></div><div><span style="font-family: inherit;">accustomed caster that has the adeptness to cycle or 'slip' sideways.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh7M9ENpnypNRknYXyhzxf1w2ncXkbasBgDlB4KubWiFCNgGeyENwAC62rYQOAWEKVAYGrusgZCOfsW_aq-QzjZF4Vt358JmaRWumSLh2a9zszK1qQqp0bgWyZ22rRzCDnwxoCBSTmSios/s1600/omni.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img border="0" height="211" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh7M9ENpnypNRknYXyhzxf1w2ncXkbasBgDlB4KubWiFCNgGeyENwAC62rYQOAWEKVAYGrusgZCOfsW_aq-QzjZF4Vt358JmaRWumSLh2a9zszK1qQqp0bgWyZ22rRzCDnwxoCBSTmSios/s400/omni.JPG" width="400" /></span></a></div><div class="separator" style="clear: both; text-align: left;"><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhf26tH4kxJeB7HQ860a2G-x7MHr1Rkb2Q33YXpiXG_cl2TCsQSmUn_KwqPMvaJvN1reTT1xXL_paReEEkXWbeiKcHtNi9LI5a5TUQeA2Ag951814_I4w2SCo3PhsfsgjWklmIy9VhiG_8/s1600/aaaaaa.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img border="0" height="263" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhf26tH4kxJeB7HQ860a2G-x7MHr1Rkb2Q33YXpiXG_cl2TCsQSmUn_KwqPMvaJvN1reTT1xXL_paReEEkXWbeiKcHtNi9LI5a5TUQeA2Ag951814_I4w2SCo3PhsfsgjWklmIy9VhiG_8/s400/aaaaaa.JPG" width="400" /></span></a></div><div class="separator" style="clear: both; text-align: center;"><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: left;"><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: left;"><span style="font-family: inherit;">This is the sketch diagram of coupler. These coupler couple the shaft of the</span></div><div class="separator" style="clear: both;"><span style="font-family: inherit;">motors. This links the wheels and motors to be connected.</span></div><div class="separator" style="clear: both;"><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: center;"><span style="font-family: inherit;"><a href="https://go.ad2up.com/afu.php?id=1070744"><img alt="motor coupler sketch.coupler for omni wheel fitting" border="0" height="444" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0jysZSJ_LVAXdcp6sdL7jmQefIhWYBSWdU_1BZ8pgPJjynEItWXOPjXdHZGQXaomlAhe-aoAjPqb8ggLGmB6P0QRWMAvcmZDhPaqE1EcH2374gQdCbCgektUsYxYDWsN3YKr3gSb6OcY/s640/coupler.JPG" title="Motor coupler sketch" width="640" /></a></span></div><div class="separator" style="clear: both;"><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: left;"><span style="font-family: inherit;"><br /></span></div><h2 style="clear: both; text-align: left;"><span style="font-family: inherit;"> Dribbler</span></h2><div><div><span style="font-family: inherit;">The dribbler is used to have the ball in the possession of the robot it is located on the front of</span></div><div><span style="font-family: inherit;">robot a rod which is attached to the helical gear and the other helical gear is located at the</span></div><div><span style="font-family: inherit;">90degree which is rotated due to the motor and revolve the dribbler rod. The dimension of the</span></div><div><span style="font-family: inherit;">dribbler is given.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiCVJzewGHdBxq1s7CS544_lEuNQ5f5bBxrhrxxIJYc_qPPmyQa-Z2dsSqOm-ETq2oSaNJYqLfb9GSU1PX6Go7kPT6SuBKL0_AlgvQuZIab1MBUvX4xHnD1eaAio3-kFYVB4vhAEg6Sk7I/s1600/dribb.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img alt="Design of dribbler of soccer robot.soccer robot guide for robocup" border="0" height="450" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiCVJzewGHdBxq1s7CS544_lEuNQ5f5bBxrhrxxIJYc_qPPmyQa-Z2dsSqOm-ETq2oSaNJYqLfb9GSU1PX6Go7kPT6SuBKL0_AlgvQuZIab1MBUvX4xHnD1eaAio3-kFYVB4vhAEg6Sk7I/s640/dribb.JPG" title="Dribbler design of soccer robot" width="640" /></span></a></div><div><span style="font-family: inherit;"><br /></span></div><h2><span style="font-family: inherit;"> Kicker</span></h2><div><span style="font-family: inherit;">The kicker material is of aluminum at the front end which will be kicking the ball.The rod</span></div><div><span style="font-family: inherit;">which is passing inside from solenoid coil is the mixture of aluminum and MS rod. The</span></div><div><span style="font-family: inherit;">mechanism of how the kicker will be acting force towards the ball.The front dimension off the kicker is given in this figure.</span></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj4ZAW2-c6yKg2-yI5JZCqLZcasw0UzSqux3uHWF9FLT0jNXWUNRfWsL9gFEZyJt7u_mVbQTka6tdkzbtOBdeJ4PBQ37dDRcv8uR-tgP_K-K2VxjcY_8y5EISdhC6uI3jX5mdkk6g1E2zI/s1600/kicker+mechansim.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img border="0" height="233" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj4ZAW2-c6yKg2-yI5JZCqLZcasw0UzSqux3uHWF9FLT0jNXWUNRfWsL9gFEZyJt7u_mVbQTka6tdkzbtOBdeJ4PBQ37dDRcv8uR-tgP_K-K2VxjcY_8y5EISdhC6uI3jX5mdkk6g1E2zI/s400/kicker+mechansim.JPG" width="400" /></span></a></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzkW_nR85cm8axnGNYpNEj0gbsurpvkvCCCsBL0FgCuJb4fTIUYhx26EwxmOkIGCrsnjWG1dSd5yCGxE_DgoUhKDo_7pxSaJmD1fm3qZZVHOL6hGOmVZN2vcDRJv-g3nh4GZgBrSZ2WVQ/s1600/dfdfdfdf.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img alt="kicker mechanism design for soccer robot.robot guide for robocup" border="0" height="504" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzkW_nR85cm8axnGNYpNEj0gbsurpvkvCCCsBL0FgCuJb4fTIUYhx26EwxmOkIGCrsnjWG1dSd5yCGxE_DgoUhKDo_7pxSaJmD1fm3qZZVHOL6hGOmVZN2vcDRJv-g3nh4GZgBrSZ2WVQ/s640/dfdfdfdf.JPG" title="Kicker design for soccer robot" width="640" /></span></a></div><div class="separator" style="clear: both; text-align: center;"><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit;">See the Detailed post about Kicker mechanism and solenoid.The solenoid is also discussed in electronics section.</span></div><h2><span style="font-family: inherit;"> Selection of motor</span></h2><div><div><span style="font-family: inherit;">The motors which we have used in this robot are a DC gear motors having high rpm and high</span></div><div><span style="font-family: inherit;">torque they are PMDC typed.The advantages of these motors are constant magnetic field which</span></div><div><span style="font-family: inherit;">is uncontrolled by external source.We have used four motors of same rpm assembled with Omni</span></div><div><span style="font-family: inherit;">wheels. The locomotion of the robot is controlled with the logics designed using H-bridge with</span></div><div><span style="font-family: inherit;">each motor to control the direction of the motor.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div><div><span style="font-family: inherit;">The specification of motor (Model Number:JGY37-545) is</span></div><div><ol><li><span style="font-family: inherit;"> 12 to 24 V</span></li><li><span style="font-family: inherit;"> 1.2A</span></li><li><span style="font-family: inherit;"> stall Current = 1.4A</span></li><li><span style="font-family: inherit;"> speed = 1120 rpm (on no load)</span></li><li><span style="font-family: inherit;"> Torque = 1.5 kg.cm</span></li></ol><span style="font-family: inherit;">The Dimension of motor are</span><br /><ol><li><span style="font-family: inherit;"> Motor Size: 51mm(L) x 36mm(D)</span></li><li><span style="font-family: inherit;"> Shaft Diameter: 6mm</span></li></ol></div></div><div><span style="font-family: inherit;"><br /></span></div><h2><span style="font-family: inherit;"> ELECTRONIC DESIGN </span></h2><h3><span style="font-family: inherit;"> Electronic Parts</span></h3><div><ol><li><span style="font-family: inherit;"> Battery</span></li><li><span style="font-family: inherit;"> Power distribution circuit</span></li><li><span style="font-family: inherit;"> H-bridge</span></li><li><span style="font-family: inherit;"> Arduino</span></li><li><span style="font-family: inherit;"> NRF-module</span></li><li><span style="font-family: inherit;"> Boost Converter</span></li><li><span style="font-family: inherit;"> Ball detector circuit</span></li><li><span style="font-family: inherit;"> Solenoid</span></li></ol><h3><span style="font-family: inherit;"> Battery</span></h3></div><div><div><span style="font-family: inherit;">The battery is providing source to each component and it is selected as per requirement of</span></div><div><span style="font-family: inherit;">the current. We have selected the lipo battery for our robot because it’s a light weight and</span></div><div><span style="font-family: inherit;">provide us our required current. Our Battery consist of 5 lipo cells each cell having</span></div><div><span style="font-family: inherit;">3.7volts total of 18.5volts battery having 5000mAh current.</span></div></div><div><ul><li><span style="font-family: inherit;">Output voltage 18.5V</span></li><li><span style="font-family: inherit;">Initial Current 5A Max</span></li><li><span style="font-family: inherit;">Discharge (c) 25</span></li><li><span style="font-family: inherit;">Max Charge Rate (C) 2</span></li><li><span style="font-family: inherit;">Weight (g) 640</span></li><li><span style="font-family: inherit;">Length(mm) 146</span></li><li><span style="font-family: inherit;">Height(mm) 51</span></li><li><span style="font-family: inherit;">Width(mm) 42</span></li></ul><h3><span style="font-family: inherit;"> Power Distribution circuit</span></h3></div><div><div><span style="font-family: inherit;">In the robot we needed 3 different voltages to operate our devices first our battery contain</span></div><div><span style="font-family: inherit;">18.5 volts which are needed to operate motors secondly we needed 12 volts to operate our</span></div><div><span style="font-family: inherit;">motor driver IC IR2104, dribbler motor and for booster circuit because input of our booster is</span></div><div><span style="font-family: inherit;">12 volts. In last we needed 5 volt to operate our controller Arduino and for ball detector</span></div><div><span style="font-family: inherit;">circuit.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div><div><span style="font-family: inherit;">For this purpose we design two regulators for step down voltages by using LM7812 and</span></div><div><span style="font-family: inherit;">LM7805 the circuit diagram are as follow.</span></div><div><span style="font-family: inherit;">12 volt regulator circuit consists of</span></div><div><ol><li><span style="font-family: inherit;"> LM7812</span></li><li><span style="font-family: inherit;"> diode</span></li></ol><div class="separator" style="clear: both; text-align: center;"><span style="font-family: inherit;"><a href="https://go.ad2up.com/afu.php?id=1070744"><img alt="power distribution circuit for robot.complete circuit details.guide of power circuits" border="0" height="200" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj_UBLDBd-17n3RjdNWiALQHiN3vFfPIdAyKXhLiFMVep3atsijKMFTmEtPbFf5JmO8oRVUH45rSwgx5ZOHOVFiZlPoWHsEcbVNvU9zPoeIUGjYmDMItNUpcY-beruqYVzETV3-aq3TvaU/s640/power+disss.JPG" title="Power distribution circuit diagram" width="640" /></a></span></div><div><span style="font-family: inherit;"><br /></span></div></div></div><div><div><span style="font-family: inherit;">5volt regulator circuit consists of</span></div><div><ol><li><span style="font-family: inherit;">LM7805</span></li><li><span style="font-family: inherit;">diode</span></li><li><span style="font-family: inherit;">capacitor</span></li></ol><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-yStlDUbXvEp_Sr5tH8JmaUMESO8VXcfqdIUmEfv1DEY5E_7uK6UY_1_EeSALziBmW4q_8cdpodH3nFfLSxdUImE9yrPrxjP7JHMlc_WHpzwmB9XXppbvJidEeMbDkKkN6ejY7mJYOVo/s1600/kahJKB.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img border="0" height="132" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-yStlDUbXvEp_Sr5tH8JmaUMESO8VXcfqdIUmEfv1DEY5E_7uK6UY_1_EeSALziBmW4q_8cdpodH3nFfLSxdUImE9yrPrxjP7JHMlc_WHpzwmB9XXppbvJidEeMbDkKkN6ejY7mJYOVo/s400/kahJKB.JPG" width="400" /></span></a></div><div><span style="font-family: inherit;"><br /></span></div></div></div><h2><span style="font-family: inherit;"> Arduino Development Board</span></h2><div><span style="font-family: inherit;">I am not going to discuss about the basics of arduino here.you can read about arduino in these following posts.</span></div><div><a href="http://www.makeitmech.com/2017/02/getting-started-with-arduino-micro.html"><span style="font-family: inherit;">Getting-started-with-arduino-microoController</span></a></div><div><span style="font-family: inherit;"><br /></span></div><div><a href="http://www.makeitmech.com/2017/02/guide-of-all-arduino-boards.html"><span style="font-family: inherit;">Guide of arduino boards</span></a></div><h2><span style="font-family: inherit;"> Wireless Communication using nRF24L01</span></h2><div><div><span style="font-family: inherit;">The wireless communication is done between various nodes. Since we are at the node of between</span></div><div><span style="font-family: inherit;">receiving data from GUI, therefore wireless module is used. The controlling of robot is being</span></div><div><span style="font-family: inherit;">done by using joystick. The module which we used for wireless communication is nRF24L01.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit;">I already discussed complete details about nrf and arduino interfacing.Read the detailed post of nrf24Lo1+. Arduino codes for nrf are also available in that post.</span></div><div><span style="font-family: inherit;"><br /></span></div><div><a href="http://www.makeitmech.com/2017/02/wireless-remote-control-robot-using-nrf.html"><span style="font-family: inherit;">Wireless Communication using arduino and nrf24lo1+</span></a></div><h2><span style="font-family: inherit;"> Solenoid</span></h2><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg7YoUOxc6dGx_JFlviXVwn9k3Wr2fmfIJqUQcvoCg_IP8DiYYSjRADGf0cW1LZRqEq8HV90KIpjJCLcL8XsYp3qtwIONKoA16poe8wbeNR59EguiuynGeeb_cSLGMU3vQYcGHP2LYCYfI/s1600/sasaas.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img border="0" height="316" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg7YoUOxc6dGx_JFlviXVwn9k3Wr2fmfIJqUQcvoCg_IP8DiYYSjRADGf0cW1LZRqEq8HV90KIpjJCLcL8XsYp3qtwIONKoA16poe8wbeNR59EguiuynGeeb_cSLGMU3vQYcGHP2LYCYfI/s320/sasaas.JPG" width="320" /></span></a></div><div class="separator" style="clear: both; text-align: left;"><span style="font-family: inherit;"><br /></span></div><div class="separator" style="clear: both;"><span style="font-family: inherit;">A solenoid consists on coil of insulated wire. We have to design solenoid to provide strong inner</span></div><div class="separator" style="clear: both;"><span style="font-family: inherit;">magnetic field in order to fulfill our purpose of kicking mechanism. For this purpose Teflon</span></div><div class="separator" style="clear: both;"><span style="font-family: inherit;">material is used on which copper is wounded, when current flowsthrough the coil then strong</span></div><div class="separator" style="clear: both;"><span style="font-family: inherit;">magnetic field is produced within the core due to which kicking mechanism of the robot will</span></div><div class="separator" style="clear: both;"><span style="font-family: inherit;">work.</span></div><div class="separator" style="clear: both;"><span style="font-family: inherit;">One more post is available for kicker mechanism and solenoid.You can get the design files from there.</span></div><div class="separator" style="clear: both;"><span style="font-family: inherit;"><br /></span></div><h3 style="clear: both;"><span style="font-family: inherit;"> specification of the solenoid:</span></h3><div><ol><li><span style="font-family: inherit;">Wire gauge 30 AWG</span></li><li><span style="font-family: inherit;">Input voltage 230 V</span></li><li><span style="font-family: inherit;">Number of turns of Cu wire 1800</span></li><li><span style="font-family: inherit;">Resistance/meter of Cu wire 0.339</span></li><li><span style="font-family: inherit;">Diameter of Teflon 8mm</span></li></ol><h2><span style="font-family: inherit;"> Ball Detector Circuit</span></h2></div><div><div><span style="font-family: inherit;">To start the dribbler we have designed the ball detector circuit which is mounted on the sides of</span></div><div><span style="font-family: inherit;">dribbler by using IR sensor. When there is no object the receiver receive the signal from</span></div><div><span style="font-family: inherit;">transmitter and when the ball comes to our robot the signal will be disconnected the receiver will</span></div><div><span style="font-family: inherit;">not generate the output signal and then this logic is inverted through using NOT gate and it will</span></div><div><span style="font-family: inherit;">generate a signal to operate the motor driver for the dribbler. The circuit is shown in the figure</span></div></div><div><span style="font-family: inherit;">Read Detailed post of Ball detector circuit with circuit diagram.</span></div><div class="separator" style="clear: both; text-align: center;"><span style="font-family: inherit;"><a href="https://go.ad2up.com/afu.php?id=1070744"><img alt="Ball detector circuit diagram.circuit diagram for soccer robot.guide of making robot for robocup" border="0" height="274" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh1wkAIWpqpOTIjW1Dbdp1yJVZeLcrshyphenhyphen2HbetLGTmAOJr02gL2ivhttwZp-RAEm-CT3lVoR0EKHDyxuvbZqiuxqYmf7PcCoO7xluCD5S1m-AbGZqs1EjHrLFlSvz8slbzKQYvcCjGQ2kA/s640/ball+detector.JPG" title="Ball detector circuit" width="640" /></a></span></div><div><span style="font-family: inherit;"><br /></span></div><h2><span style="font-family: inherit;"> Booster</span></h2><div><div><span style="font-family: inherit;">For the kick we have to energize our coil and to energize the coil we needed high voltages for</span></div><div><span style="font-family: inherit;">this purpose we have designed the boost converter which convert the 12 volt into 220 volts.</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit;">See the Detailed post about Booster </span></div><div><span style="font-family: inherit;"><br /></span></div><div><a href="http://www.makeitmech.com/2017/02/booster-circuit-boost-converter-circuit-solenoid.html"><span style="font-family: inherit; font-size: large;">Booster circuit for solenoid mechanism</span></a></div><h2><span style="font-family: inherit;"> Motor Driver</span></h2><div><span style="font-family: inherit;">To control the direction and speed of motor we have to use motor drivers.</span></div><div><span style="font-family: inherit;">I have done this part using L298 ic and also with L298 module.</span></div><div><span style="font-family: inherit;">See the related post to this part.</span></div><div><span style="font-family: inherit;"><br /></span></div><div><span style="font-family: inherit; font-size: large;"><a href="http://www.makeitmech.com/2017/02/motor-driver-circuit-l298-and-ir2104.html">L298 and IR2104 motor driver circuits</a></span></div><div><span style="font-family: inherit; font-size: large;"><br /></span></div><div><a href="http://www.makeitmech.com/2017/02/motor-drivers-and-dual-h-bridge-l298.html"><span style="font-family: inherit; font-size: large;">motor-drivers-and-dual-h-bridge-l298</span></a></div><h2><span style="font-family: inherit;"> PROGRAMMING AND ALGORITHMS</span></h2><div><div><span style="font-family: inherit;">First step was to control robot manually by using remote and wireless communication this step</span></div><div><span style="font-family: inherit;">was done by using arduino and nrf we first manually control the robot and check its parts are</span></div><div><span style="font-family: inherit;">properly working and seeing its direction by controlling motors.</span></div></div><div><span style="font-family: inherit;">Here is the Code for arduino boards:</span></div><div><h4><span style="font-family: inherit;"> Code</span></h4><h4><span style="font-family: inherit;"> 1. TX</span></h4><div><span style="font-family: inherit;">#include <SPI.h></span></div><div><span style="font-family: inherit;">#include <nRF24L01.h></span></div><div><span style="font-family: inherit;">#include <RF24.h></span></div><div><span style="font-family: inherit;">#define CE_PIN 9</span></div><div><span style="font-family: inherit;">#define CSN_PIN 10</span></div><div><span style="font-family: inherit;">#define JOYSTICK_X A0</span></div><div><span style="font-family: inherit;">#define JOYSTICK_Y A1</span></div><div><span style="font-family: inherit;">#define JOYSTICK_A A2</span></div><div><span style="font-family: inherit;">#define JOYSTICK_B A3</span></div><div><span style="font-family: inherit;">const uint64_t pipe = 0xF2E4F3F6E9LL;</span></div><div><span style="font-family: inherit;">RF24 radio(CE_PIN, CSN_PIN);</span></div><div><span style="font-family: inherit;">int joystick[4];</span></div><div><span style="font-family: inherit;">void setup()</span></div><div><span style="font-family: inherit;">{</span></div><div><span style="font-family: inherit;">Serial.begin(9600);</span></div><div><span style="font-family: inherit;">radio.begin();</span></div><div><span style="font-family: inherit;">radio.openWritingPipe(pipe);</span></div><div><span style="font-family: inherit;">}</span></div><div><span style="font-family: inherit;">void loop()</span></div><div><span style="font-family: inherit;">{</span></div><div><span style="font-family: inherit;">joystick[0] = analogRead(JOYSTICK_X);</span></div><div><span style="font-family: inherit;">joystick[1] = analogRead(JOYSTICK_Y);</span></div><div><span style="font-family: inherit;">joystick[2] = analogRead(JOYSTICK_A);</span></div><div><span style="font-family: inherit;">joystick[3] = analogRead(JOYSTICK_B);</span></div><div><span style="font-family: inherit;">radio.write( joystick, sizeof(joystick) );</span></div><div><span style="font-family: inherit;">}</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div><h4><span style="font-family: inherit;"> 2. RX</span></h4><div><span style="font-family: inherit;">#include <SPI.h></span></div><div><span style="font-family: inherit;">#include <nRF24L01.h></span></div><div><span style="font-family: inherit;">#include <RF24.h></span></div><div><span style="font-family: inherit;">#define CE_PIN 9</span></div><div><span style="font-family: inherit;">#define CSN_PIN 10</span></div><div><span style="font-family: inherit;">const uint64_t pipe = 0xF2E4F3F6E9LL;</span></div><div><span style="font-family: inherit;">RF24 radio(CE_PIN, CSN_PIN);</span></div><div><span style="font-family: inherit;">int joystick[4];</span></div><div><span style="font-family: inherit;">int x,y,a,b;</span></div><div><span style="font-family: inherit;">// Motor A</span></div><div><span style="font-family: inherit;">int dir1PinA = 36;</span></div><div><span style="font-family: inherit;">int dir2PinA = 37;</span></div><div><span style="font-family: inherit;">int speedPinA = 5;</span></div><div><span style="font-family: inherit;">// Motor B</span></div><div><span style="font-family: inherit;">int dir1PinB = 34;</span></div><div><span style="font-family: inherit;">int dir2PinB = 35;</span></div><div><span style="font-family: inherit;">int speedPinB = 4;</span></div><div><span style="font-family: inherit;">// Motor C</span></div><div><span style="font-family: inherit;">int dir1PinC = 24;</span></div><div><span style="font-family: inherit;">int dir2PinC = 25;</span></div><div><span style="font-family: inherit;">int speedPinC = 2;</span></div><div><span style="font-family: inherit;">// Motor D</span></div><div><span style="font-family: inherit;">int dir1PinD = 26;</span></div><div><span style="font-family: inherit;">int dir2PinD = 27;</span></div><div><span style="font-family: inherit;">int speedPinD = 3;</span></div><div><span style="font-family: inherit;">void setup()</span></div><div><span style="font-family: inherit;">{</span></div><div><span style="font-family: inherit;">Serial.begin(9600);</span></div><div><span style="font-family: inherit;">pinMode(dir1PinA,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(dir2PinA,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(speedPinA,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(dir1PinB,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(dir2PinB,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(speedPinB,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(dir1PinC,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(dir2PinC,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(speedPinC,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(dir1PinD,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(dir2PinD,OUTPUT);</span></div><div><span style="font-family: inherit;">pinMode(speedPinD,OUTPUT);</span></div></div><div><div><span style="font-family: inherit;">delay(1000);</span></div><div><span style="font-family: inherit;">Serial.println("Nrf24L01 Receiver Starting");</span></div><div><span style="font-family: inherit;">radio.begin();</span></div><div><span style="font-family: inherit;">radio.openReadingPipe(1,pipe);</span></div><div><span style="font-family: inherit;">radio.startListening();;</span></div><div><span style="font-family: inherit;">}</span></div><div><span style="font-family: inherit;">void loop()</span></div><div><span style="font-family: inherit;">{</span></div><div><span style="font-family: inherit;">if ( radio.available() )</span></div><div><span style="font-family: inherit;">{</span></div><div><span style="font-family: inherit;">bool done = false;</span></div><div><span style="font-family: inherit;">while (!done)</span></div><div><span style="font-family: inherit;">{</span></div><div><span style="font-family: inherit;">done = radio.read( joystick, sizeof(joystick) );</span></div><div><span style="font-family: inherit;">//Serial.print("X = ");</span></div><div><span style="font-family: inherit;">Serial.print(joystick[0]);</span></div><div><span style="font-family: inherit;">//x=joystick[0];</span></div><div><span style="font-family: inherit;">//Serial.print(" Y = ");</span></div><div><span style="font-family: inherit;">Serial.println(joystick[1]);</span></div><div><span style="font-family: inherit;">//y=joystick[1];</span></div><div><span style="font-family: inherit;">//Serial.print(" A = ");</span></div><div><span style="font-family: inherit;">Serial.print(joystick[2]);</span></div><div><span style="font-family: inherit;">//a=joystick[2];</span></div><div><span style="font-family: inherit;">//Serial.print(" B = ");</span></div><div><span style="font-family: inherit;">Serial.print(joystick[3]);</span></div><div><span style="font-family: inherit;">//b=joystick[3];</span></div><div><span style="font-family: inherit;">if(joystick[0]<2){ // Forward</span></div><div><span style="font-family: inherit;">analogWrite(speedPinA, 180);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinB, 180);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinC, 150);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinD, 150);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinA, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinA, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinB, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinB, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinC, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinC, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinD, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinD, LOW);}</span></div></div><div><div><span style="font-family: inherit;">downward</span></div><div><span style="font-family: inherit;">else if(joystick[0]>1022){</span></div><div><span style="font-family: inherit;">analogWrite(speedPinA, 180);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinB, 190);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinC, 150);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinD, 150);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinA, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinA, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinB, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinB, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinC, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinC, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinD, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinD, HIGH);}</span></div><div><span style="font-family: inherit;">//ccw</span></div><div><span style="font-family: inherit;">else if(joystick[3]>1021){</span></div><div><span style="font-family: inherit;">analogWrite(speedPinA, 120);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinB, 135);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinC, 60);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinD, 60);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinA, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinA, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinB, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinB, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinC, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinC, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinD, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinD, LOW);}</span></div><div><span style="font-family: inherit;">//cw</span></div><div><span style="font-family: inherit;">else if(joystick[3]<2){</span></div><div><span style="font-family: inherit;">analogWrite(speedPinA, 120);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinB, 120);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinC, 60);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinD, 60);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinA, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinA, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinB, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinB, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinC, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinC, HIGH);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinD, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinD, HIGH);}</span></div></div><div><span style="font-family: inherit;"><br /></span></div><div><div><span style="font-family: inherit;">else {// Stop (Freespin)</span></div><div><span style="font-family: inherit;">analogWrite(speedPinA, 0);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinB, 0);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinC, 0);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinD, 0);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinA, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinA, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinB, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinB, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinC, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinC, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinD, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinD, LOW);}</span></div><div><span style="font-family: inherit;">//kick</span></div><div><span style="font-family: inherit;">if(joystick[2]<2){</span></div><div><span style="font-family: inherit;">digitalWrite(40,HIGH);}</span></div><div><span style="font-family: inherit;">else{</span></div><div><span style="font-family: inherit;">digitalWrite(40,LOW);}</span></div><div><span style="font-family: inherit;">}</span></div><div><span style="font-family: inherit;">}</span></div><div><span style="font-family: inherit;">else</span></div><div><span style="font-family: inherit;">{</span></div><div><span style="font-family: inherit;">analogWrite(speedPinA, 0);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinB, 0);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinC, 0);</span></div><div><span style="font-family: inherit;">analogWrite(speedPinD, 0);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinA, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinA, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinB, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinB, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinC, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinC, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir1PinD, LOW);</span></div><div><span style="font-family: inherit;">digitalWrite(dir2PinD, LOW);</span></div><div><span style="font-family: inherit;">Serial.println("No radio available");</span></div><div><span style="font-family: inherit;">}</span></div><div><span style="font-family: inherit;">}</span></div></div><div><span style="font-family: inherit;"><br /></span></div><h2><span style="font-family: inherit;"> Concluding Statement:</span></h2><div><div><span style="font-family: inherit;">After these step we proceed to the Artificial intelligence, after controlling manually robot. First we</span></div><div><span style="font-family: inherit;">serially communicate it with GUI through NRF module. One end of NRF is interfaced with</span></div><div><span style="font-family: inherit;">Arduino UNO R3 and on another end we used Arduino MEGE 2560.</span></div><div><span style="font-family: inherit;">in SSL vision the camera captures the image of the robots playing and ball by using color pattern</span></div><div><span style="font-family: inherit;">embed on them. This information is broadcasted though WIFI modem. This than is received by</span></div><div><span style="font-family: inherit;">our PCs and this information extracted through the file provided by management of the event</span></div><div><span style="font-family: inherit;">named as ‘protobuf.’ This information is further utilized to calculate and make the strategy for</span></div><div><span style="font-family: inherit;">our robots on the field and predict the movement of opponent and ball using Line equations and</span></div><div><span style="font-family: inherit;">orientation. This smart intelligence is used to make strategy. This strategy is used to calculate the</span></div><div><span style="font-family: inherit;">directions and PWMs of all the motors mounted on each robot. Than transmitted to our robot</span></div><div><span style="font-family: inherit;">through NRF modules. For this AI server, we are using multi threading in C# to process for 2</span></div><div><span style="font-family: inherit;">robots at the same time.</span></div></div><div><span style="font-family: inherit;">I hope you understand the method and sequence of steps.Half of the things i have covered in separate posts so that's why i didn't discussed everything here.</span><br /><span style="font-family: inherit;">In coming post we will see how to setup the field for autonomous robot.Installation of SSL software and testing with example code.</span><br /><span style="font-family: inherit;">Follow for upcoming updates as still there is much more left about autonomous robot.so we will cover up everything in coming posts.</span><br /><span style="font-family: inherit;">I hope you enjoyed it...keep making robots...!!!</span></div><input name="IL_IN_ARTICLE" type="hidden" />

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