Robotic construction Vehicle

Page last updated 10 Dec 2014, by Nicholas Brown. 0 replies

Overview

The Robotic Construction Vehicle for Semi-Autonomous Earthmoving is a small scale construction vehicle retrofitted for remote computer controlled actuation. The robot is fitted with customer motor controller circuitry, two potentiometers, four hall effect sensors, an mbed microcontroller,a tcp internet server to send commands over internet, and a ZigBee wireless communication system between the microcontroller and the computer.

Components

  • Remote Control Excavator
  • Quad half H-bridge (x2)
  • Mbed
  • Optoisolator (x3)
  • ZigBee (x2)
  • AND gate chip (x2)
  • Inverter chip

System Diagram

/media/uploads/nbrown47/excavator_system_diagram.png

Images and Demo

/media/uploads/nbrown47/img_20141203_182456478.jpg

Program

Robotic Construction Vehicle

#include "mbed.h"

//ZigBee
Serial xbee(p28, p27);
DigitalOut rst(p29);
int myData;

//Left Motors
DigitalOut enLeft(p7);
DigitalOut ctrlLeft(p11);
PwmOut pwrLeft(p23);

//Right Motors
DigitalOut enRight(p8);
DigitalOut ctrlRight(p12);
PwmOut pwrRight(p24);

//Arm Motors
DigitalOut enArm(p5);
DigitalOut ctrlArm(p9);
PwmOut pwrArm(p21);

//Bucket Motors
DigitalOut enBucket(p6);
DigitalOut ctrlBucket(p10);
PwmOut pwrBucket(p22);

DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
DigitalOut myled3(LED3);
DigitalOut myled4(LED4);

int stop = 0;

int main() {
    // ZigBee Init
    xbee.baud(19200);
    rst = 0;
    wait_ms(1);
    rst = 1;
    wait_ms(1);
    
    //Motor Enables
    enLeft = 0;
    enRight = 0;
    enArm = 0;
    enBucket = 0;
    
    //Motor PWMs
    pwrLeft = 0.9;
    pwrRight = 0.9;
    pwrArm = 0.9;
    pwrBucket = 0.4;
        
    while(1) {
        
        myData = xbee.getc();
        
        // Move Forward
        if(myData == '0'){
            myled1 = 1;
            stop = 0;
            while(stop != 1) {
                //Left Motors
                enLeft = 1;
                ctrlLeft = 1;
                //Right Motors
                enRight = 1;
                ctrlRight = 1;
                wait(1.5);
                stop = 1;
            }
            enLeft = 0;
            enRight = 0;
            myled1 = 0;
        }
        
        // Move Backward
        else if(myData == '1'){
            stop = 0;
            while(stop != 1) {
                //Left Motors
                enLeft = 1;
                ctrlLeft = 0;
                //Right Motors
                enRight = 1;
                ctrlRight = 0;
                wait(1.5);
                stop = 1;
            }
            enLeft = 0;
            enRight = 0;
        }
        
        //Turn Left
        else if(myData == '2') {
            stop = 0;
            while(stop != 1) {
                //Left Motors
                enLeft = 1;
                ctrlLeft = 0;
                //Right Motors
                enRight = 1;
                ctrlRight = 1;
                wait(1.5);
                stop = 1;
            }
            enLeft = 0;
            enRight = 0;
        }
        
        //Turn Right
        else if(myData == '3') {
            stop = 0;
            while(stop != 1) {
                //Left Motors
                enLeft = 1;
                ctrlLeft = 1;
                //Right Motors
                enRight = 1;
                ctrlRight = 0;
                wait(1.5);
                stop = 1;
            }
            enLeft = 0;
            enRight = 0;
        }
        
        //Arm Up
        else if(myData == '4') {
            stop = 0;
            while(stop != 1) {
                enArm = 1;
                ctrlArm = 1;
                wait(1);
                stop = 1;
            }
            enArm = 0;
        }
        
        //Arm Down
        else if(myData == '5') {
            stop = 0;
            while(stop != 1) {
                enArm = 1;
                ctrlArm = 0;
                wait(1);
                stop = 1;
            }
            enArm = 0;
        }
        
        //Bucket Out
        else if(myData == '6') {
            stop = 0;
            while(stop != 1) {
                enBucket = 1;
                ctrlBucket = 1;
                wait(0.5);
                stop = 1;
            }
            enBucket = 0;
        }
        
        //Bucket In
        else if(myData == '7') {
            stop = 0;
            while(stop != 1) {
                enBucket = 1;
                ctrlBucket = 0;
                wait(0.5);
                stop = 1;
            }
            enBucket = 0;
        }
    }
}

Import programRobotic_Construction_Vehicle

Robotic Construction Vehicle

Last commit 10 Dec 2014 by Alex Lipford

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