Obstacle  Avoiding  

Robot
{
Deja-­‐‑Lee,  Jeane:e  and  Nicolle
Faculty  Mentor:  Dr.  Uma  Balaji
Counselors:  Christina  and  Davina
 Problem  Definition

Ñ  Obstacle  Avoiding  Robot

Ó  Sense  nearby  objects
Ó  Should  not  crash  into  an  object
Ó  Stop  at  10  cm  from  the  object

 Required  Parts
Ñ  Chassis Ñ  Ultrasonic  Sensor
Ñ  Wheels Ñ  Software  

Ñ  Arduino  (motherboard  

+  driver)
Ñ  Wires

Ñ  Ba:eries  (power)

Ñ  Nuts  and  Bolts

 Methodology
Ñ  Binary  
Ó  Converting  from  decimal
Ó  The  language  of  computers
Ñ  Software  
Ó  The  code  itself
Ó  Learning  how  this  works
Ñ  Hardware
Ó  Circuit  building
Ó  How  the  robot  comes  together
 Learning  circuit  building
Ñ  What  is  the  difference  between  series  and  
parallel  resistors  circuits?
Ñ  (colored  bands  on  the  resistors  stand  for  a  
certain  resistance)
Ñ  Specific  LEDs  match  with  binary  

numbers  to  help  it  blink  (video)

 The  Hardware
Ñ  Assembled  robots  from  chassis,  wires,  Arduino,  
motors….
Ñ  We  soldered  wires  to  the  motor  shield,  which  
would  be  used  for  controlling  the  sensor
 The  Arduino
Ñ  The  Microcontroller
Ñ  The  Coding

Ñ  Community
 Practice  Codes  
Blink Fade
Ñ  1  or  more  LEDs Ñ  Range  of  brightness

Ñ  High/Low

void  setup()  {
pinMode(13,  OUTPUT);
}

void  loop()  {
   digitalWrite(13,  HIGH                          
delay(1000);  
digitalWrite(13,  LOW);      
delay(1000);
}
 Ultrasonic  sensor
Ñ  Sonar  (Bats)
Ñ  4  pins

Ñ  Close-­‐‑up  Picture

 Software  Examples
 if  (thisByte  ==  126)  {
Ñ  Arduino  Syntax    while  (true)  {
           continue;
Ó  Setup        }
Ó  Loop    }
-­‐‑-­‐‑-­‐‑-­‐‑-­‐‑-­‐‑
Ñ  If,  For,  While  statements for  (int  fadeValue  =  0  ;  fadeValue  <=  255;  
fadeValue  +=  5)  {
Ó  Arithmetic  code analogWrite(ledPin,  fadeValue);
delay(30);
   }
 Motor  Shield  
Ñ  Adafruit  Motor  Shield  (version  1.2)
Ñ  We  use  it  to  connect  with  Arduino

Ñ  We  added  wires  to  the  motor  shield  to  connect  

to  other  robot  components
 Robot  Control  Software
Ñ  Library
Ñ  Motor  Shield  Code

Ñ  Sensor  Code

 Problems  Encountered
Ñ  Motors  came  with  manufacturing  problems
Ñ  A  chip  on  the  Arduino  board  short  circuited

Ñ  Ba:ery  pack  short  circuited  causing  major  

issues  on  the  actions  of  the  robot
Ñ  Wheels’  bolts  were  sometimes  both  too  loose  

and  too  tight

 Ethics
Ñ  What  is  open  source?
Ñ  What  does  open  source  allow  one  to  do?

Ó  Community  outreach  (sharing)

 Future  Additions/Ideas  
Ñ  Increase  Speed
Ñ  Add  LEDs/more  décor  to  chassis

Ñ  Turn  to  avoid  obstacles

Ñ  Move  in  all  directions

Ñ  Create  hand-­‐‑held  controller

Photos  of  Robots
 Thank  you

Teaching  Dr.  Balaji  how  to  

Dab

Our  Third  Group  Member,

Nicolle