Rexplorer v2

Rexplorer v2

Rexplorer v2 is a fully autonomous self-mapping robot to be used for indoor purposes.

My original intention was to develop a robot which could map an unknown area and relay the data to a monitoring system so as to provide real-time feedback about the layout of external environment.

I ended up making a robot that maps its own path, generally sticks to moving along the periphery of a room and sends a rough sketch of its traversed path to a smartphone via bluetooth.

This robot is part of the Rexplorer Project and is only an experimental prototype. There are certain conditions for sensing which have not yet been included, due to which undesirable movement may be caused. (Bug-fixes for the same will feature in the next version along with improved sensing algorithms and ultrasonic sensors.)

How it works:

There are 3 infrared proximity sensors at the front and sides of the robot which detect obstructions in its path. These digital signals are sent to an AVR micro-controller (ATMEGA 328 on Arduino UNO) which decides in which direction the robot should turn. The decision then activates the respective motors by sending a set of signals to the motor driver. Simultaneously, a second signal is sent to an Android application on a smartphone, via Bluetooth, containing information about the robot’s current movement which is in turn, used to draw a sketch of its path as it moves in real-time.

The Android application was made using MIT App Inventor 2 and the robot’s program was coded in the Arduino IDE (Integrated Development Environment), based on C++.

List of components: (all components are available at online stores such as robokits.co.in)

  • Wheels – 4 nos.
  • DC Geared motors – 4 nos.
  • Arduino UNO – 1 no. (Any version of Arduino can be used with the given code, provided it has the same or greater number of I/O pins and relevant changes are made in the uploading procedure. Additionally, any development board can be used provided the code’s logic remains the same and sufficient I/O pins are available.)
  • HC-05 bluetooth module – 1 no.
  • Infrared proximity sensors – 3 nos.
  • L298N motor driver – 1 no.
  • Lithium-ion rechargeable battery – 1 no.
  • Jumper wires – lots!

And finally, the codes! As always, please feel free to utilise, remix and improvise upon the codes. (And let me know how it went in the comments below!)

Smartphone application –

Arduino code –

int l1 = 6;
int l2 = 5;
int r1 = 11;
int r2 = 9;

int rs = 100;
int ls = 100;
int rts = 130;
int lts = 130;
//Coded by Raunak Hede-http://raunakhede.com
//drive system
#define f analogWrite(l1, ls); analogWrite(l2, 0); analogWrite(r1, rs); analogWrite(r2, 0);
#define b analogWrite(l1, 0); analogWrite(l2, ls); analogWrite(r1, 0); analogWrite(r2, rs);
#define l analogWrite(l1, 0); analogWrite(l2, lts); analogWrite(r1, rts); analogWrite(r2, 0);
#define r analogWrite(l1, lts); analogWrite(l2, 0); analogWrite(r1, 0); analogWrite(r2, rts);
#define s analogWrite(l1, 0); analogWrite(l2, 0); analogWrite(r1, 0); analogWrite(r2, 0);
#define d delay(200);

//individual hemisphere control
#define leftfor analogWrite(l1, lts); analogWrite(l2, 0);
#define rightfor analogWrite(r1, rts); analogWrite(r2, 0);

#define leftstop analogWrite(l1, 0); analogWrite(l2, 0);
#define rightstop analogWrite(r1, 0); analogWrite(r2, 0);

#define leftback analogWrite(l1, 0); analogWrite(l2, lts);
#define rightback analogWrite(r1, 0); analogWrite(r2, rts);

//MAPPING system
#define forward Serial.write("1");
#define backward Serial.write("4");
#define left Serial.write("3");
#define right Serial.write("2");
#define forright Serial.write("1");Serial.write("2");
#define backright Serial.write("1");Serial.write("2");
#define forleft Serial.write("4");Serial.write("3");
#define backleft Serial.write("4");Serial.write("3");
#define stp Serial.write("0");
int state;
int s1,s2,s3;
void setup()
{
pinMode(l1, OUTPUT);
pinMode(l2, OUTPUT);
pinMode(r1, OUTPUT);
pinMode(r2, OUTPUT);
pinMode(A0, INPUT);
pinMode(A2, INPUT);
pinMode(A3, INPUT);
Serial.begin(9600); //initialize serial communication at 9600 bits per second
pinMode(13,OUTPUT);digitalWrite(13,LOW);
}

void loop()
{
 if(Serial.available()>0)
 {
 int fse=digitalRead(A0);//front
 int lse=digitalRead(A2);//digital
 int rse=digitalRead(A3);//digital
//specify sensor limits
 int fsl=0;
 int lsl=0;
 int rsl=0;
//sets to 1 if closed and to 0 if open
 if(lse==lsl){s1=1;}else{s1=0;}
 if(fse==fsl){s2=1;}else{s2=0;}
 if(rse==rsl){s3=1;}else{s3=0;}

 if(s1==0 && s2==0 && s3==0)
 {//no blocks
 forward;
 f;delay(100);
 }
 else if(s1==1 && s2==0 && s3==1)
 {//sides blocked
 forward;
 f;delay(100);
 }
 else if(s1==1 && s2==1 && s3==1)
 {//all blocked- to rev- add about turn
 stp;
 s;
 }
 else if(s1==1 && s2==1 && s3==0)
 {//turn 90 right
 left;
 r;delay(400);
 }
 else if(s1==0 && s2==1 && s3==1)
 {//turn 90 left
 left;
 l;delay(400);
 }
 else if(s1==0 && s2==0 && s3==1)
 {//wall on right
 forward;
 rightfor;leftstop;
 }
 else if(s1==1 && s2==0 && s3==0)
 {//wall on left
 forward;
 leftfor;rightstop;
 }
 //T-junctions
 else if(s1==0 && s2==1 && s3==0)
 {// front block- turn 90 right
 right;
 r;delay(400);
 }
 }
 else{s;}
}
at school

Rexplorer v2 @ Sharada Mandir School Science Fair 2017

Quark 2016 – BITS Pilani, K.K. Birla Goa Campus

Quark 2016 – BITS Pilani, K.K. Birla Goa Campus

Quark 2016 – A Cosmic Odyssey

Days of festival: 5th, 6th & 7th February 2016

I participated in Line Following, Roborace and, for the first time, Open Showcase!

RoboRace

Objective: Design & build a remote controlled all-terrain racer that can traverse any given path with obstacles like rocks, sand, slopes, uneven ground, mud, etc.

Dates of competition: 5th & 6th

Venue: Uneven grounds outside B-Dome

Home test report: Excellent traction, thanks to the custom-made wheels (each wheel was actually a pulley with a track belt bound tightly over it) Gains speed very quickly and can even climb out of a small car tyre.

Results:

5th Feb, Round 1 – The bot completed the track without stopping, and clocked a very good timing, however, the high traction wheels turned out to be a massive hindrance while making spot turns. This factor slowed it down, but it made up for that on the straight paths.

The bot qualified for Round 2, which was to be held on Day 2, but unfortunately, due to a last minute shorting onboard the wireless module, the bot was unable to participate.

Quark_2016_RoboRace_participation_certificate

Open Showcase

Objective: Present an innovative idea that solves a problem.

Dates of competition: Day 2

Venue: CC lobby

My Idea (for the EEE category): CUA (Computer Usage Alert) is a plug-n-play USB device that alerts you to get up and stretch at 20 minute intervals. It has an ATtiny85 micro controller with a program that sends a signal to a buzzer to beep every 20 minutes, thereby alerting you to get up. This process continues until it is unplugged or the computer/laptop to which it is plugged is shut down.

The judging criteria was as follows:

  • Innovation
  • Feasibility and Sustainability
  • Cost Effectiveness
  • Social Viability
  • Discipline
  • Project Report

Quark_2016_Open_Showcase_participation_certificate

Line Following

Objective: Design, build & program a line following robot (LFR) which can traverse a black track on a white background with obstacles like acute angle, obtuse angles, right angles, dashed lines, curves and reach the finish line in shortest possible time. The track width will be 2cm to 3cm. (As per the rules mentioned online)

Screen Shot 2016-02-16 at 8.28.51 pm

Dates of competition: 6th & 7th

Venue: C-306

Home test report: Running very well. I’d say that is has an 80% chance of making a new record.

Competition day: “Holy mackerel! The track width is 4cm!“. I asked the organiser about it. He measured the track width and calmly told me that extra calibration time would be given. And as if to put salt on that wound, the track had 4 places where there were curved, dashed lines with acute turns onto more curved lines!

Results:

6th Feb, Trial 1 – The LFR started out well and then went completely cuckoo. Though it has a PID algorithm in it, the LFR seems to be in its own world. (Thanks to the extra centimetre in the width)

6th Feb, Trial 2 – I managed to fix a few turns, but the PID algorithm still seems to be completely inactive.

(Fortunately, everyone had problems running on the first day, so everyone qualified for the next round on day 2. That night, I sat coding till 1:00 A.M. and finally managed to fix it.)

7th Feb, Trial 1 – The new code is working and the PID is perfect, but a few changes still need to be made in the acute turns. Overall, it’s running well.

7th Feb, Trial 2 – This run went very well, except for the fact that it went off the track 5 times (which means that 25 seconds will be added to my total time of 38 seconds, as a penalty)

I finished my turn just after lunchtime, so I had the rest of the day to go around the campus and watch the final rounds of the other competitions.

At around 4 o’clock I received a phone call from the organiser, telling me that I had won the 2nd place.

IMG_20160207_185732

 

For all you geeks out there, here’s my LFR code. Feel free to tweak and reuse:

#include <QTRSensors.h>
//Code written by Raunak Hede
//https://raunakhede.com
#define Kp 1 // experiment to determine this, start by something small that just makes your bot follow the line at a slow speed
#define Kd 15 // experiment to determine this, slowly increase the speeds and adjust this value. ( Note: Kp < Kd) 
#define rightMaxSpeed 180 // max speed of the robot
#define leftMaxSpeed 180 // max speed of the robot
#define rightBaseSpeed 50 // this is the speed at which the motors should spin when the robot is perfectly on the line
#define leftBaseSpeed 50  // this is the speed at which the motors should spin when the robot is perfectly on the line
#define NUM_SENSORS  8     // number of sensors used
#define TIMEOUT      2500  // waits for 2500 us for sensor outputs to go low
#define EMITTER_PIN  12     // emitter is controlled by digital pin 2

#define rightMotor1 4
#define rightMotor2 11
#define rightMotorPWM 5
#define leftMotor1 3
#define leftMotor2 6
#define leftMotorPWM 10

int P, D;
int leftMotorSpeed = 50;
int rightMotorSpeed = 50;
int turn = 100;

QTRSensorsRC qtrrc((unsigned char[]) {14, 15, 16, 17, 18, 19, 7, 8}, NUM_SENSORS, TIMEOUT, EMITTER_PIN);//sensor connected
unsigned int sensorValues[NUM_SENSORS];
void setup()
{
  pinMode(rightMotor1, OUTPUT);
  pinMode(rightMotor2, OUTPUT);
  pinMode(rightMotorPWM, OUTPUT);
  pinMode(leftMotor1, OUTPUT);
  pinMode(leftMotor2, OUTPUT);
  pinMode(leftMotorPWM, OUTPUT);
  
  #define rup digitalWrite(rightMotor1, HIGH);digitalWrite(rightMotor2, LOW);
  #define lup digitalWrite(leftMotor1, HIGH);digitalWrite(leftMotor2, LOW);
  #define rdown digitalWrite(rightMotor1, LOW);digitalWrite(rightMotor2, HIGH);
  #define ldown digitalWrite(leftMotor1, LOW);digitalWrite(leftMotor2, HIGH);
  
  #define f lup;analogWrite(leftMotorPWM, 80); rup;analogWrite(rightMotorPWM, 80);
  #define l ldown;analogWrite(leftMotorPWM, turn);  rup;analogWrite(rightMotorPWM, turn);
  #define r lup;analogWrite(leftMotorPWM, turn);  rdown;analogWrite(rightMotorPWM, turn+50);
  #define b ldown;analogWrite(leftMotorPWM, 80); rdown;analogWrite(rightMotorPWM, 80);
  #define s analogWrite(leftMotorPWM, 0);  analogWrite(rightMotorPWM, 0);

  pinMode(13, OUTPUT);
  digitalWrite(13, HIGH);
  pinMode(12, OUTPUT);
  digitalWrite(12, HIGH);
  for (int i = 0; i < 500; i++)  // make the calibration take about 10 seconds
  {
    qtrrc.calibrate();       // reads all sensors 10 times at 2500 us per read (i.e. ~25 ms per call)
  }
  digitalWrite(13, LOW);// turn off Arduino's LED to indicate we are through with calibration
 
  //print the calibration minimum values measured when emitters were on
  Serial.begin(9600);
  for (int i = 0; i < NUM_SENSORS; i++)
  {
    Serial.print(qtrrc.calibratedMinimumOn[i]);
    Serial.print(' ');
  }
  Serial.println();
  
  // print the calibration maximum values measured when emitters were on
  for (int i = 0; i < NUM_SENSORS; i++)
  {
    Serial.print(qtrrc.calibratedMaximumOn[i]);
    Serial.print(' ');
  }
  Serial.println();
  Serial.println();
  delay(500);
}
int lastError = 0;

void loop()
{
  unsigned int position = qtrrc.readLine(sensorValues);
  if (sensorValues[7] < 900 && sensorValues[6] < 900 && sensorValues[5] > 900 && sensorValues[4] > 900 && sensorValues[3] > 900 && sensorValues[2] > 900 && sensorValues[1] > 900 && sensorValues[0] > 900)
  {//right
      s;delay(50);  r;delay(300); s;delay(50);
  }
  else if (sensorValues[7] > 900 && sensorValues[6] > 900 && sensorValues[5] > 900 && sensorValues[4] > 900 && sensorValues[3] > 900 && sensorValues[2] > 900 && sensorValues[1] < 900 && sensorValues[0] < 900)
  {//left
      s;delay(50);  l;delay(300); s;delay(50);
  }
  
  else if (sensorValues[7] < 900 && sensorValues[6] > 900 && sensorValues[5] > 900 && sensorValues[4] > 900 && sensorValues[3] > 900 && sensorValues[2] > 900 && sensorValues[1] > 900 && sensorValues[0] > 900)
  {//right
      s;delay(50);  r;delay(280); s;delay(50);
  }
  else if (sensorValues[7] > 900 && sensorValues[6] > 900 && sensorValues[5] > 900 && sensorValues[4] > 900 && sensorValues[3] > 900 && sensorValues[2] > 900 && sensorValues[1] > 900 && sensorValues[0] < 900)
  {//left
      s;delay(50);  l;delay(280); s;delay(50);
  }
  
  else if (sensorValues[7] < 900 && sensorValues[6] < 900 && sensorValues[5] < 900 && sensorValues[4] < 900 && sensorValues[3] < 900 && sensorValues[2] < 900 && sensorValues[1] < 900 && sensorValues[0] < 900)
  {//acute right
    f;
  }
  
  else
  {//Execute the PID algorithm
    unsigned int sensors[8];
    int position = qtrrc.readLine(sensors);//get calibrated readings along with the line position
    int error = position-3500;
    
    P = Kp * error;
    D = Kd * (error - lastError);
    
    int motorSpeed = P + D;
    lastError = error;
    
    int rightMotorSpeed = rightBaseSpeed + motorSpeed;
    int leftMotorSpeed = leftBaseSpeed - motorSpeed;
  
    if (rightMotorSpeed > rightMaxSpeed ) rightMotorSpeed = rightMaxSpeed; // prevent the motor from going beyond max speed
    if (leftMotorSpeed > leftMaxSpeed ) leftMotorSpeed = leftMaxSpeed; // prevent the motor from going beyond max speed
    if (rightMotorSpeed < 0) rightMotorSpeed = 0; // keep the motor speed positive
    if (leftMotorSpeed < 0) leftMotorSpeed = 0; // keep the motor speed positive
  
    //move forward with appropriate speeds
    digitalWrite(rightMotor1, HIGH);
    digitalWrite(rightMotor2, LOW);
    analogWrite(rightMotorPWM, rightMotorSpeed);
    digitalWrite(leftMotor1, HIGH);
    digitalWrite(leftMotor2, LOW);
    analogWrite(leftMotorPWM, leftMotorSpeed);
  }
}
Internet Of Things with Raspberry Pi – 2

Internet Of Things with Raspberry Pi – 2

This is a follow-up to my previous tutorial Internet of Things with Raspberry Pi – 1. (If you’re not familiar with web servers, PHP coding and the basic concepts of IOT, you should probably go through part 1 first.)

In the previous tutorial, we set up an Apache 2 web server on the Raspberry Pi and created a web page for it, from which we could control an LED.

In this tutorial, we’ll be adding controls for playing videos and songs on the Raspberry Pi using the OMX media player.

DSCN4341

The setup

Step 1:

Connect the following to the Raspberry Pi as shown in the pictures:

  • Power supply
  • HDMI (if your screen/monitor doesn’t have an HDMI port, you can use a VGA to HDMI converter)
  • Ethernet (to internet)
  • USB Keyboard and mouse (unless you’re accessing the Pi over SSH or VNC)

FII90WGIBNHIEO9.MEDIUM

Step 2:

Run the following command to install OMXplayer on the Raspberry Pi:

sudo apt-get install omxplayer

You’ll be using this player to play media on your Pi.

Step 3:

Start by downloading two to three nice songs and shorten their file names to something small. (e.g. ‘Where the river flows by Scorpions’ can be shortened to just ‘WhereTheRiverFlows’) Long names also work, but they take too much time to type when coding. Now put all the songs into a folder called ‘songs’. Make this folder in ‘/home/pi’.

Step 4:

Similarly, create a folder in ‘/home/pi’ called ‘videos’ and add a video in it. Follow the same steps as earlier for naming it.

Step 5:

Run the following commands to open your current web page code:

sudo nano /var/www/index.php

Add the new parts as shown below or just copy this code to the index.php file:

<?php

    if (isset($_POST['on']))
    {
		exec("sudo killall python");
		exec("sudo python /var/www/mystuff/ledON.py");
    }
    else if (isset($_POST['off']))
    {
		exec("sudo killall python");
		exec("sudo python /var/www/mystuff/ledOFF.py");
    }
    else if (isset($_POST['blink']))
    {
                exec("sudo python /var/www/mystuff/ledBLINK.py");
    }

//New code starts here
    else if (isset($_POST['WhereTheRiverFlows']))//Your first song
    {
                exec("sudo omxplayer /home/pi/songs/'Where The River Flows.mp3'");
    }
    else if (isset($_POST['StarWars']))//Your second song
    {
                exec("sudo omxplayer /home/pi/songs/'Star Wars.mp3'");
    }
    else if (isset($_POST['BezubaanPhirSe'])//Your third song<br>
    {
                exec("sudo omxplayer /home/pi/songs/'Bezubaan Phir Se.mp3'");
    }
    else if (isset($_POST['bell']))//A funny sound clip
    {
                exec("sudo omxplayer /home/pi/songs/'bell.mp3'");
    }
    else if (isset($_POST['Presentation']))//Your video
    {
                exec("sudo omxplayer /home/pi/videos/Presentation.mp4");
    }
    else if (isset($_POST['stop all']))//This is to stop all media
    {
                exec("sudo killall omxplayer.bin");
    }//This command stops all media
?>
<html>
	<style type="text/css">
//Button colour is now yellow and size has been changed
		#form{font: bold 30px/30px Georgia, serif;}
		button{background: rgba(255, 255, 0, 0.99); width: 250px; height: 180px;border: none;border: 3px solid black;border-radius:20px;}
		#container{margin0px; auto;width:80%;min-width:40%;}
	</style>
	<body>
	<div id="container">
		<form id="form" method="post">
			<center>
			<button name="bell"><h1>Bell</h1></button>
<br><br>		<button name="on"><h1>Led ON</h1></button>
			<button name="off"><h1>Led OFF</h1></button>
			<button name="blink"><h1>Led BLINK</h1></button>
	//This part is contains the new buttons
<br><br>		<button name="StarWars"><h1>Star Wars</h1></button>//Your first song button
			<button name="BezubaanPhirSe"><h1>Bezubaan Phir Se</h1></button>//Your second song button
			<button name="WhereTheRiverFlows"><h2>Where The River Flows</h2></button>//Your third song button
<br><br>		<button name="Presentation"><h1>Presentation</h1></button>//Your video button
<br><br>                <button name="stop all"><h1>Stop all media</h1></button>//The button to stop all media
			</center>
		</form>
		</div>
	</body>
</html>

Step 6:

Connect to your local network from a smartphone or laptop and try playing some tunes! You’ll notice that the control panel now looks a lot more cheery with some colour and font size editing.

DSCN4342
Modifying the code to your personal requirements is relatively simple once you get the hang of it. So go ahead. Add some more songs and videos.
I also added a small code for a bell sound clip so that whenever someone is at my front door, they can connect to the open wifi network and ring the ‘IOT bell’ instead of the door bell!

Quark 2015 – Birla Institute of Technology & Science (BITS) Goa, Vasco

Quark 2015 – Birla Institute of Technology & Science (BITS) Goa, Vasco

Quark 2015!

This is one of India’s largest tech fest, which took place recently at the BITS Pilani, Goa campus in Vasco.

The festival was from 6th to 8th of February and had some great minds from across the world attending it.

I was there too. Participating in Line Following, Robot Race and for the first time, Robokick!

20150114_165503  _DSC0771  IMG_0049

Line Following:

Objective: Design and build a fully autonomous robot which can traverse a black line on a white background.

Arena: Track had normal curves, right angles, sharp acute-angle turns, T-junctions, X-junctions, Y- junctions, Inverted Y- junctions and loops.

Line Follower performance: LFR v2.0 was smoooooth, thanks to the PWM control. (Pulse Width Modulation) It traversed all the angles well (90, 60 & 120 degree). Even the T- junctions were quite good apart from the fact that recovery took time. The only problem occurred at the inverted Y- junctions. Due to multiple case clashes (a common error faced by maze solving line followers), the bot took the first path that it sensed. i.e. the pathway back into the loop! Oh nooooo! And there it would continue traversing the loop until I picked it up and put it back on the correct path. (with a hefty penalty of course!)

Main Components:

  • Arduino UNO, rev 3 (ATMEGA 328)
  • L298 motor driver
  • 12v, 1A, Li-ion rechargeable battery
  • RKI-1032 digital line sensor (7 sensor array with TTL output)
  • 320 rpm BO motors

Click on the link to download the C++ code for LFR at Quark 2015.

Quark2015_BITS_Line following

Roborace:

Objective: Design and build a wired/wireless, remote controlled all terrain racer (Basically, a smaller version of an ATV, without you sitting inside it.)

Arena: Track was on a rough terrain which caused a lot of bouncing about. It was a world of obstacles. The track consisted of slopes up to 45 degrees, car tires with loosely stretched plastic to cover the hollow depression, dry grass, sand, a slow windmill, soda-can speed breakers & thermocol obstacles which had to be pushed into fixed areas. Another extremely difficult obstacle, was the double slope platform with a slit in the middle. This consisted of a 45 degree incline upwards, a flat platform with humps of about 1.5 feet and a 45 degree slope downwards. Now while you’re imagining all this, add a 3 inch slit in the middle of the 9 inch wide path. If you’re still having trouble visualising this perilous path, then please watch the video below.

Racer performance: ATR v1.0 performed exceedingly well here. Just a few glitches like hitting the windmill, rumbling off the track once or twice, and being unable to climb the 45 degree incline caused deduction of points. The racer also had weight problems while trying in vain to get out of the sunken plastic in the tire. I think it’s worth mentioning that ATR was one of the few wireless racers on the whole campus.

Main Components:

  • RKI-1014 Rx/Tx module (RF 4-way remote control)
  • DPDT switches
  • Lock n Lock tiffin
  • 12v, 1A, Li-ion rechargeable battery
  • 500 rpm Gear motors
  • Powder coated multi-purpose metal chassis

Quark2015_BITS_Roborace

Robokick:

Objective: Design and build a wired/wireless, remote controlled robot which can play one-on-one football with another robot. It should be able to be a good striker and, at the same time, be able to defend it’s own goal.

Arena: This event was held in a square arena of 3×3 meters. The arena had markings on it just like a real football field. There were two open shoeboxes used as goals. A smiley sponge ball was used in the game.

Robot performance: Frankly speaking, my registration for the Robokick event was a spot entry. Previously I had no intention of participating in Robokick, mostly because I had no clue whether my bot would meet the requirements. (They did mention a shooting mechanism on the website. Something my bot lacked completely.) During the Roborace, an announcement was made stating that participants of Roborace were also eligible for Robokick and that spot entries would be accepted. And so I entered the competition with ATR v1.0! After adding a couple of metal plates near the wheels, the very same robot which jumped off a ramp, was ready to play football!

Main Components:

  • RKI-1014 Rx/Tx module (RF 4-way remote control)
  • DPDT switches
  • Lock n Lock tiffin
  • 12v, 1A, Li-ion rechargeable battery
  • 500 rpm Gear motors
  • Powder coated multi-purpose metal chassis
  • Small metal rectangular plates from various MECHANIX sets (for striking/goalkeeping)

 

Surprisingly, I won the 3rd place at Robokick☺

IMG_20150208_220531223_HDR

Times of India, Goa Edition- 15th November 2014

Times of India, Goa Edition- 15th November 2014

20141115_Times of India Goa Edition_Raunak

Thank you Gauree Malkarnekar & Rajtilak Naik for putting me on Page 1.

Technival 2014 – National Institute of Technology, Goa

Technival 2014 – National Institute of Technology, Goa

Recently, NIT Goa had their techfest, Technival 2014. I participated in two events held there.

The first was Laburinthos (Line following) held on 8th November

Laburinthos

And the second was RUSH, a race for All Terrain Vehicles.

RUSH

LFR v1.0 came 4th for Laburinthos and ATV Bot bagged the 2nd place in RUSH.

Laburinthos was a simple line following competition where speed was of essence. The track was quite large and mostly consisted of straight lines and sudden sharp curves. The biggest challenge was speed and lighting.

LFR v1.0

Towards the end of the track a false trigger caused LFR v1.0 to turn back and hence it took longer to finish the track.

Here’s a video of LFR v1.0 at the line following event:

 

RUSH was a race for which teams had to build an All Terrain Robot which could race on rollers, steep slopes, rubble and sand. There were also potential hazards like rock pendulums. The robot also had to maneuver through narrow spaces between vertical poles, which if touched, would result in a time penalty of 5 seconds. The same penalty was given for touching the walls and the rock pendulums.

ATV Bot at RUSH

Here’s a video of ATV Bot at the event:

Some Photographs of the event.

Photo & Video Credits:  Annette Paul, Sanmitra Naik, Roheet Hede

TechnoBoard Lite

TechnoBoard Lite

This week, I had the honor of writing a review on Inventrom’s latest development boards:

Techno Board Lite

Techno Board Lite is a sleeker and much more user friendly version of the Techno Board v2

Hardware:

Techno board Lite is half the size of its predecessor, the Techno Board v2, but has all the prime features of it. Devices like the LCD port, buzzer, one interrupt port and one motor driver IC have been omitted in order to reduce weight and size.

Compatibility:

The new Techno Board is compatible with programmable IC’s like ATMEGA 8 L, ATMEGA 168 P, ATMEGA 328 P and ATMEGA 88 PA. As Alan Kay put it in one of his quotes, “People who are really serious about software should make their own hardware.” Techno IDE is a programming software which has been specially designed by Inventrom for the Techno Board Lite. This software can be used to program other development boards as well, but its settings have been configured, by default, for the Techno Board Lite.

Programming:

Techno Board Lite has a built-in programmer, so you only require a USB to micro USB cable. Plans for a wireless Bluetooth programmer (Zazu version 2) are underway. This programmer will be plugged into a port on the Techno Board Lite. You will then be able to program your robot wirelessly from your laptop if it is within a range of 20 meters.

Price:

One of the biggest problems faced by many roboticists is the cost of the development board. The new Techno Board costs just 1,650 rupees. That’s half the price of the earlier version!

The Techno Board Lite has been used in one of Inventrom’s latest projects, the TechnoBot Lite:

TechnoBot Lite

TechnoBot Lite