/Suntracker-on-mobile-robot

It is an all-terrain mobile robot controlled by joystick bluetooth app and has solar panel over it which always point towards the Sun

Primary LanguageC++

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