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Smart Phone Guided Mobile Robot Essay

1456 words - 6 pages

DE LA SALLE UNIVERSITY – DASMARIÑAS
COLLEGE OF ENGINEERING, ARCHITECTURE AND TECHNOLOGY
COMPUTER ENGINEERING PROGRAM

MICROPROCESSORS AND MICROCONTROLLERS LABORATORY

MIDTERMS PROJECT
Smart Phone Guided Mobile Robot

DEPONE, CARMELA R.
GOH, LENG ANN CHRISTI B.
HERNANDEZ, JAN ANJELO A.

ENGR.KATHLEEEN ANN G. VILLANUEVA
INSTRUCTOR

I.INTRODUCTION

Robotics is the branch of mechanical engineering, electrical engineering and computer science that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing. These technologies deal with automated machines that can take the ...view middle of the document...

The word robot comes from the Czech word robota, meaning drudgery or slave-like labor. It was first used to describe fabricated workers in a fictional 1920s play by Czech author Karel Capek called Rossum’s Universal Robots.
A mobile robot is an automatic machine that is capable of locomotion. Mobile robots have the capability to move around in their environment and are not fixed to one physical location. By contrast, industrial robots are usually more-or-less stationary, consisting of a jointed arm (multi-linked manipulator) and gripper assembly (or end effectors), attached to a fixed surface. Mobile robots are a major focus of current research and almost every major university has one or more labs that focus on mobile robot research. Mobile robots are also found in industrial, military and security settings. Domestic robots are consumer products, including entertainment robots and those that perform certain household tasks such as vacuuming or gardening.
In our project, we tried to do a mobile robot design which utilizes servo motors controlled by a smart phone.

II. SOURCE CODE

#include <Servo.h>
char rxchar;
char rxmsg[30];
byte stage;
byte rxctr;
byte msg;

int inp1 = 9;
int inp2 = 3;
int inp3 = 10;
int inp4 = 5;
int inp5 = 6;
int inp6 = 7;

Servo eyeServo1;
Servo eyeServo2;
Servo basketServo;
Servo warnServo;
void setup(){
Serial.begin(9600);
pinMode(inp1, OUTPUT);
pinMode(inp2, OUTPUT);
pinMode(inp3, OUTPUT);
pinMode(inp4, OUTPUT);
pinMode(inp5, OUTPUT);
pinMode(inp6, OUTPUT);
eyeServo1.attach(11);
eyeServo2.attach(12);
basketServo.attach(13);
warnServo.attach(4);
}

void read_buffer(void){
if(Serial.available()>0){
rxchar=Serial.read(); // Read one Rxed character
if(stage==0){ // Look for STX= 0x55
if(rxchar==0x55){ // STX?
stage=1; // STX is found, stage 1
}
}
if(stage==1){ // Continue receiving next 4 bytes
rxmsg[rxctr]=rxchar;
rxctr++;
if(rxctr>=4) stage=3; // indicate data is ready
}
}
}

void loop(){
main:
a1:
read_buffer();
if (rxchar == '1' ){
a:
digitalWrite (inp5 ,HIGH);
digitalWrite (inp6 ,HIGH);
digitalWrite (inp1 ,HIGH);
digitalWrite (inp2 ,LOW);
digitalWrite (inp3 ,HIGH);
digitalWrite (inp4 ,LOW);
eyeServo1.write(90);
eyeServo2.write(90);
basketServo.write(90);
warnServo.write(180);
read_buffer();
if (rxchar == '2' ){
goto main;
}
read_buffer();
if (rxchar == '3' ){
goto main;
}
read_buffer();
if (rxchar == '4' ){
goto main;
}
read_buffer();
if (rxchar == '5' ){
goto main;
}
goto a;
}
b1:
read_buffer();
if (rxchar == '2' ){
b:
digitalWrite (inp5 ,HIGH);
digitalWrite (inp6 ,HIGH);
digitalWrite (inp1 ,LOW);
digitalWrite (inp2 ,LOW);
...

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