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autonomous mode
01-19-2020, 05:54 PM (This post was last modified: 01-24-2020 04:27 PM by radla.)
Post: #1
autonomous mode
now my brobot has an obstacle avoiding mode!
i use two sensors, an ultrasonic hc-sr04 on top of a servo and a sharp infrared distance sensor on the bottom.
the servo is connected to the brobot, but the other sensors are connected to an wemos d1 mini board. so the robot is still independent.
An ir receiver and an oled display are also connected to the external board, to control and display some parameter. The displayed sonar is not really used at the moment i only use one value for each side.
the basic code i get from here: https://create.arduino.cc/projecthub/ada...car-a192d9

VIDEO

[Image: front.jpg][Image: back.jpg]

External board:
[Image: addon.jpg]


Somebody knows more about the OSC control? I want so send some data from the robot to my board, but i have no luck. Sending is no problem:

Code:
void throttle(float fb)
{
    String addr_prefix = "/1/fader1/";
    const char *addr = addr_prefix.c_str();
    OSCMessage msg(addr);
    msg.add((float)fb);
    Udp.beginPacket(outIp, outPort);
    msg.send(Udp);
    Udp.endPacket();
    msg.empty();
}

edit:
add the Arduino Code for the Wemos D1 mini Board.
Description for Hard- and software inside! Remove the .txt suffix from the file!
stl File for the top shelf with the SG90 servo: download


Attached File(s)
.txt  obstacleAvoiding.ino.txt (Size: 14.65 KB / Downloads: 10)
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01-19-2020, 07:08 PM
Post: #2
RE: autonomous mode
wow, this is cool, so far no one has done it. Do you mind sharing the entire code?
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01-20-2020, 10:35 AM
Post: #3
RE: autonomous mode
wow! could you link a video?
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01-20-2020, 04:08 PM
Post: #4
RE: autonomous mode
(01-20-2020 10:35 AM)JJrobots JP Wrote:  wow! could you link a video?

Just click on the the tiny "video" link above the images Wink
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01-20-2020, 04:30 PM
Post: #5
RE: autonomous mode
@JJrobots JP, this might be a good project for you, design something like for the community Smile
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01-21-2020, 02:46 PM (This post was last modified: 01-21-2020 02:47 PM by JJrobots JP.)
Post: #6
RE: autonomous mode
(01-20-2020 04:30 PM)jimmy Wrote:  @JJrobots JP, this might be a good project for you, design something like for the community Smile

Of course that will be for the community if Radla agrees to share it :-D
Radla, would you mind if we create a post from it?. Of course, we will mention you were the creator of it.

We have been already using LIDAR sensor for the Pybot Robotic arm (and maybe, as it is more directional with its narrow "beam" and high refresh rate can be more suitable for mapping the surroundings)
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01-21-2020, 06:46 PM
Post: #7
RE: autonomous mode
yes sure, you can create a post if you like.
I also tried a 53LOX-Sensor, but I can't get it to work. Maybe it's because of a cheap clone. (https://www.makershop.de/sensoren/distan...-vl53l0x/)
A big problem is still the Sharp Sensor on the bottom, because of the dynamic movement, it detects often the ground as an obstacle. Cool would be a servo with stays parallel to the ground like a gimbal.
I can share the code, but i have to make some changes before. Maybe next weekend...
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01-22-2020, 10:57 AM
Post: #8
RE: autonomous mode
Excellent thread..!!!
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01-24-2020, 04:29 PM
Post: #9
RE: autonomous mode
(01-19-2020 07:08 PM)jimmy Wrote:  wow, this is cool, so far no one has done it. Do you mind sharing the entire code?
i attached the code and the stl-File to the first post.
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01-25-2020, 05:06 AM
Post: #10
RE: autonomous mode
(01-24-2020 04:29 PM)radla Wrote:  
(01-19-2020 07:08 PM)jimmy Wrote:  wow, this is cool, so far no one has done it. Do you mind sharing the entire code?
i attached the code and the stl-File to the first post.

Thank You so much!
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