/robot

2024 Eng8 Robot

Primary LanguageC++GNU General Public License v3.0GPL-3.0

This is for the 2024 Eng8 Robot

Robot Code

Transmitter Code

Hardware

Robot

Electronics

  • Arduino Uno
  • nRF24L01
  • L298P Motor Shield
  • 2 12v DC Motors
  • DC-DC Buck Converter 12v->9v
  • 2 High-Power Servos (not 9g, metal gears)

Structural

  • Lasercut Chassis
  • 3d Printed Wheels with Rubber bands
  • Transfer Bearing Caster

Pin Assignments

  • BUZZER = 4
  • Servo1 = A0
  • Servo2 = A1
  • x1(Leftmost Dst Sensor) = TBD
  • x2(Middle Dst Sensor) = 8
  • x3(Rightmost Dst Sensor) = TBD
  • Trigger(for activating dst sensors) = 7

Motor Shield

  • ENA = 5
  • INA = 3
  • ENB = 6
  • INB = 2

Transmitter

Electronics

  • Ardiuno Uno
  • nRF24L01
  • Fundiuno Shield
  • 9v Battery
  • SSD1306 128x64 OLED Screen i2c

Structural

  • 3d Printed Transmitter Body

Pin Assignments

  • Joystick X = A0
    • Used for Motor and Scoop Control
  • Joystick Y =A1
    • Used for Motor and Scoop Tilt Control
  • Joystick Button = 8
    • Hold to turn on fine control mode
  • Button A = 2
    • Hold to use Joystick is to control Scoop
  • Button B = 3
    • Not used currently
  • Button C = 4
    • Not used currently
  • Button D = 5
    • Hold with ButtonA to use old servo control method
  • Button E = 6
    • Used to switch vScreen
  • Button F = 7
    • Used to switch on/off Low Latency Mode

Motor Shield Docs

The shield is built to directly interface pins 10, 11, 12, 13 to the motor control ic for pwm control. However, those exact pins are the hardware SPI interface for the wireless module so we must use different motor control pins.

Since the arduino uno has hardware PWM on pins 3, 5, 6, 9, 10, 11 we can use these pins instead by bending the shield pins to the side so we can connect them manually to the arduino.

Wiring

nRF24

nRF24

  1. nRF24 pin1 -> Arduino Gnd
  2. nRF24 pin2 -> Arduino +3.3v. If you hook it up to +5v it will probably break.
  3. nRF24 pin3 -> Arduino IOpin9
  4. nRF24 pin4 -> Arduino IOpin10
  5. nRF24 pin5 -> Arduino IOpin13
  6. nRF24 pin6 -> Arduino IOpin11
  7. nRF24 pin7 -> Arduino IOpin12
  8. nRF24 pin8 is not required since we are not using interrupts (IRQs), leave this pin disconnected RF24Wiring

Motor Shield

The shield is built to directly interface pins 10, 11, 12, 13 to the motor control ic for pwm control. However, those exact pins are the hardware SPI interface for the wireless module so we must use different motor control pins.

Since the arduino uno has hardware PWM on pins 3, 5, 6, 9, 10, 11 we can use these pins instead by bending the shield pins to the side so we can connect them manually to the arduino.

  • IOpin2 -> IOpin12
  • IOpin3 -> IOpin13
  • IOpin5 -> IOpin11
  • IOpin6 -> IOpin10

Battery

  • We are using rechargeable power drill batteries. Get a 3D printed battery mount and terminal contacts from Mr. Mayer
  • Solder stranded wire to two right angle terminal tabs.
  • Insert the tabs into the 3D printed mount, be sure the red wire is on the + side and the black wire is on the - side.
  • Mount the 3D printed mount on your robot, there are lots of mounting holes.
  • Connect the power wires to the 2 positiong blue screw terminal block. The black wire goes into the GND terminal, the red wire goes into VMS.
  • Note, the power entering here powers everything as long as the OPT jumper is installed on the Motor Shield. That jumper interconnects the motor power to the Arduino power.

Payload Characteristics; Transmitter -> Robot

Uses an array with 8 elements, numbered 0-7

  1. Value of Joystick X from -100 to 100
  2. Value of Joystick Y from -100 to 100

Buttons are ints from 0-1 (0 is pressed down)

  1. Value of Button A
  2. Value of Button B
  3. Value of Button C
  4. Value of Button D
  5. Value of joyButton
  6. Value of llMode (from 0-1, 1 is engaged)

ackData Characteristics; Robot -> Transmitter

Uses an array of 8 elements, numbered 0-7

  1. motorA Motor A power percent (0-100)
  2. motorB Motor B power percent (0-100)
  3. x1 Distance value for leftmost distance sensor (centimeters)
  4. x2 Distance value for middle distance sensor (centimeters)
  5. x3 Distance value for rightmost distance sensor (centimeters)
  6. scoopPos Rotation of the scoop arms up/down (uses big servos attached to robot)
  7. scoopRot Rotation of scoop bucket (uses tiny servos)
  8. Whether doingLL is true 0-1(1 is engaged)