Suntracker_rocker-bogie
IV Labs summer project in which solar panels which always points towards sun is attached upon an all terrain robot base(Rocker-Bogie mechanism) that is controlled remotely by Bluetooth joystick app. Codes for suntracker and controlling of rocker bogie by bluetooth are seperated.
Note: bluetooth code is for app named 'joystick Bluetooth commander' for other apps modify it according to the output of the said app
Softwares Required
Theory
Rocker-Bogie Mechanism
X and Y values are used to have precise control of Left Hand Side(LHS) and Right Hand Side(RHS) motors. Simply,
if Y is +ve the LHS motors will have Y+X speed and RHS motor will have Y-X speed. If Y is -ve then LHS motors
will have Y-X speed and RHS motors will have Y+X speed. Direction of rotation will be decided according to the
signage of values of Y+X and Y-X in both the cases. This will the bot to move according to the position of
joystick on screen. It i seasy to figure out how this can take care of all possible cases of movement one
might require fromm bot.
Suntracker
In this case 4 ldrs are kept along +ve and -ve X-Y axis. Values obtained from ldrs along X-axis and Y-axis are
compared and then the whole apparatus is moved with the help of two servos such that the difference between
them becomes less than 50. After every comparisions solar panels moves by 1 deg reducing the differnce between
ldrs readings.
Credits
Team Members
- Aditya Wadichar
- Shravar Tanawde
- Shruti Murarka
- Abhijit Rehpade
- Dhruv Agrawal
Mentors
- Mohammad Saad
- Sharan Bajjuri
Special Thanks
Dr. Shital Chiddarwar
