diff --git a/lib/algorithm.md b/lib/algorithm.md new file mode 100644 index 0000000..581603d --- /dev/null +++ b/lib/algorithm.md @@ -0,0 +1,15 @@ +Update 10 January 2023: +Defined an array of coordinates that make up the path of the robot. As the program iterates through the array of coordinates with position information (robot is facing north, south, east, or west), the Zumo robot moves accordingly forward, left or right. + +-------------------------------------------------------------------------------------------------------- +tried to implement dijkstra, but difficult to put together code with our basic C++ skill level. + +Changed tactic to use wavefront algorithm in pathplanning + +Using wavefront: +- defined array 8x8, obstacle value = 255, goal value = 1, path = 0, robot location = 254 +- defined start, goal, and robot locations +- if, using ultrasound sensor, sent pings to detect obstacles. if distance is less than a maximum distance of 200cm, an obstacle is recognized +- else if, not an obstacle and not the goal, add +1 to the value on the array +- continue to loop until goal is found +- if, goal, return the minimum path to goal for robot to travel. diff --git a/lib/ideation.md b/lib/ideation.md new file mode 100644 index 0000000..89b6f59 --- /dev/null +++ b/lib/ideation.md @@ -0,0 +1,29 @@ +## Ideation Report ## + +### Path Planning Arduino ### + +#### Team: Tiffany, Clemence, Romaric + +1. Introduction : We will have a robot plan a path through a grid-obstacle course, going from start to finish with avoiding unknown obstacles + +2. Market survey / Bibliography: N/A + +3. How you will solve this problem: + - We will use a pre-built Zumo Robot for our car. And, we will use ultrasonic sensors for detecting obstacles in the way of the car. + - We will learn about path finding algorithms and select an appropriate one to use to move our robot car through the grid obstacle course in the shortest path. + - We will also use the ultrasonic sensor to detect obstacles by calculating the distance between the car and the obstacle with differences in sound. + +4. Expected List of Features: + - Ultrasonic sensor - detect obstacles + - Fun algorithm - Find shortest path from A to B + +5. List of equipment used: + - Ultrasonic sensor + - Zumo Robot + - Power battery + +6. References: + - [Growing With the Web - Pathfinding Algorithm](https://www.growingwiththeweb.com/2012/06/a-pathfinding-algorithm.html) + - [MIT fab - Path Planning](https://fab.cba.mit.edu/classes/865.21/topics/path_planning/robotic.html) + - [Miguel Grinberg - Building an Arduino Robot Part V - Avoiding Obstacles](https://blog.miguelgrinberg.com/post/building-an-arduino-robot-part-v-avoiding-obstacles ) + - [Circuit Digest - Arduino Obstacle Avoiding Robot](https://circuitdigest.com/microcontroller-projects/arduino-obstacle-avoding-robot) diff --git a/lib/images/README b/lib/images/README new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/lib/images/README @@ -0,0 +1 @@ + diff --git "a/lib/images/WhatsApp Image 2023-01-05 \303\240 09.22.49.jpg" "b/lib/images/WhatsApp Image 2023-01-05 \303\240 09.22.49.jpg" new file mode 100644 index 0000000..8d2b324 Binary files /dev/null and "b/lib/images/WhatsApp Image 2023-01-05 \303\240 09.22.49.jpg" differ diff --git "a/lib/images/WhatsApp Image 2023-01-05 \303\240 09.22.50.jpg" "b/lib/images/WhatsApp Image 2023-01-05 \303\240 09.22.50.jpg" new file mode 100644 index 0000000..f80ad95 Binary files /dev/null and "b/lib/images/WhatsApp Image 2023-01-05 \303\240 09.22.50.jpg" differ diff --git "a/lib/images/WhatsApp Image 2023-01-05 \303\240 09.22.50h.jpg" "b/lib/images/WhatsApp Image 2023-01-05 \303\240 09.22.50h.jpg" new file mode 100644 index 0000000..69c8fd6 Binary files /dev/null and "b/lib/images/WhatsApp Image 2023-01-05 \303\240 09.22.50h.jpg" differ diff --git "a/lib/images/WhatsApp Image 2023-01-05 \303\240 09.j22.48.jpg" "b/lib/images/WhatsApp Image 2023-01-05 \303\240 09.j22.48.jpg" new file mode 100644 index 0000000..c1a090b Binary files /dev/null and "b/lib/images/WhatsApp Image 2023-01-05 \303\240 09.j22.48.jpg" differ diff --git "a/lib/images/WhatsApp Image 2023-01-05 \303\240 09.j22.49.jpg" "b/lib/images/WhatsApp Image 2023-01-05 \303\240 09.j22.49.jpg" new file mode 100644 index 0000000..d4326d8 Binary files /dev/null and "b/lib/images/WhatsApp Image 2023-01-05 \303\240 09.j22.49.jpg" differ diff --git "a/lib/images/WhatsApp Image 2023-01-05 \303\240 j09.22.46.jpg" "b/lib/images/WhatsApp Image 2023-01-05 \303\240 j09.22.46.jpg" new file mode 100644 index 0000000..42e0b8e Binary files /dev/null and "b/lib/images/WhatsApp Image 2023-01-05 \303\240 j09.22.46.jpg" differ diff --git a/lib/resources/README b/lib/resources/README new file mode 100644 index 0000000..839d9c7 --- /dev/null +++ b/lib/resources/README @@ -0,0 +1,18 @@ + +Websites used: +https://www.freecodecamp.org/news/dijkstras-algorithm-explained-with-a-pseudocode-example/ +https://www.societyofrobots.com/programming_wavefront.shtml + +Understanding 2d arrays: +https://www.tutorialspoint.com/arduino/arduino_multi_dimensional_arrays.html + +Number of paths on our grid: +https://towardsdatascience.com/understanding-combinatorics-number-of-paths-on-a-grid-bddf08e28384 + + +Video tutorials watched: +https://www.youtube.com/watch?v=22yAt5zs5Zc +https://www.youtube.com/watch?v=p178eQpDI_E&t=8s + + +PPT/courses: diff --git a/lib/schematics/Robot-Team (1).pdf b/lib/schematics/Robot-Team (1).pdf new file mode 100644 index 0000000..07f7ff6 Binary files /dev/null and b/lib/schematics/Robot-Team (1).pdf differ diff --git a/lib/schematics/components.md b/lib/schematics/components.md new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/lib/schematics/components.md @@ -0,0 +1 @@ + diff --git a/lib/videos/Path Finding Demonstration.mp4 b/lib/videos/Path Finding Demonstration.mp4 new file mode 100644 index 0000000..c60d810 Binary files /dev/null and b/lib/videos/Path Finding Demonstration.mp4 differ diff --git a/lib/videos/README b/lib/videos/README new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/lib/videos/README @@ -0,0 +1 @@ + diff --git a/src/final_project.ino b/src/final_project.ino new file mode 100644 index 0000000..38854eb --- /dev/null +++ b/src/final_project.ino @@ -0,0 +1,220 @@ +/** + * Pololu Zumo Robot with Obstacle Avoidance + * + * by Clemence, Romaric & Tiffany + * + * This robot will travel from start to goal in a 8x8 grid while + * avoiding known obstacles placed on the grid. + * +*/ + +// import library +#include + +//Zumo robot set-up +ZumoMotors motors; + +//define constants +#define PATH_LEN 15 +#define X 8 +#define Y 8 + +//motor speeds and duration +#define TURN_SPEED 275 +#define FORWARD_SPEED 200 +#define FORWARD_DURATION 1600 +#define TURN_LEFT_DURATION 250 +#define TURN_RIGHT_DURATION 246 + +//define +char position; +//8x8 grid with obstacles = 1 +int grid[X][Y]= { + {0,0,0,0,1,0,0,1}, + {0,0,1,0,0,0,0,0}, + {0,0,0,0,0,1,0,0}, + {0,1,0,1,0,0,0,1}, + {0,0,0,0,0,0,1,0}, + {0,1,0,1,1,0,0,0}, + {0,0,0,0,0,0,0,0}, + {0,0,0,1,1,0,0,0}, + }; + + + +void setup() { + // put your setup code here, to run once: + position = 'n'; + Serial.begin(9600); +} + +//robot path from start to goal +int path[PATH_LEN][2] = { + {0,0}, + {0,1}, + {1,1}, + {1,2}, + {2,2}, + {2,3}, + {2,4}, + {3,4}, + {3,5}, + {4,5}, + {5,5}, + {6,5}, + {6,6}, + {6,7}, + {7,7} +}; + +/** + goPath, + This function moves the robot to the next location in the path. + inputs = currentX: x current location, currentY: y current location, nextX: next x location, nextY: next y location + output = status of our followed path (3 for goal reached, 2 if obstacle detected, 1 for no direction +*/ + +int goPath(int currentX,int currentY,int nextX,int nextY ){ + + int returnValue = 1; + + Serial.print("("); + Serial.print(currentX); + Serial.print(","); + Serial.print(currentY); + Serial.print(")"); + Serial.print("-->"); + + Serial.print("("); + Serial.print(nextX); + Serial.print(","); + Serial.print(nextY); + Serial.println(")"); + + char direction = goNext(currentX, currentY, nextX, nextY); + Serial.print("Direction: "); + + Serial.println(direction); + + if (direction == 'r'){ + turnRight(); + goForward(); + } + else if (direction == 'l'){ + turnLeft(); + goForward(); + } + + else if (direction == 'f'){ + goForward(); + } + return returnValue; + +} + +/** + goNext, + Depending on the current position, the robot moves to the next square on the grid. + input = x: x current, y: y current, w: x next, z: y next + output = f: front, b:back, l:left, r:right +*/ +char goNext(int x,int y,int w,int z){ + + if (x == w && y < z){ + if (position == 'n'){ + return 'f'; + } + else if (position == 'o'){return 'r';} + else if(position == 's'){return 'b';} + else if(position == 'e'){return 'l';} + } + if (x == w && y > z){ + if (position == 'n'){ + return 'b';} + else if (position == 'o'){return 'l';} + else if(position == 's'){return 'f';} + else if(position == 'e'){return 'r';} + } + if (x < w && y == z){ + if (position == 'n'){ + return 'l';} + else if (position == 'o'){return 'f';} + else if(position == 's'){return 'r';} + else if(position == 'e'){return 'b';} + } + if (x > w && y == z){ + if (position == 'n'){ + return 'r';} + else if (position == 'o'){return 'b';} + else if(position == 's'){return 'l';} + else if(position == 'e'){return 'f';} + } + if ((x == w && y == z) || (x !=w && y != z)){ + return 'e'; + } + +} + +//functions to move robot +//robot moves forward +void goForward(){ + motors.setSpeeds(FORWARD_SPEED, FORWARD_SPEED); + delay(FORWARD_DURATION); + stop(); +} + +//robot stops +void stop(){ + motors.setSpeeds(0, 0); + delay(1000); +} + +//robot makes 90 degree left turn +void turnLeft(){ + motors.setSpeeds(-TURN_SPEED, TURN_SPEED); + delay(TURN_LEFT_DURATION); + if (position == 'n'){ + position = 'o'; + } + else if (position == 'o'){position = 's';} + else if(position == 's'){position = 'e';} + else if(position == 'e'){position = 'n';} + stop(); +} + +//robot makes 90 degree right turn +void turnRight(){ + motors.setSpeeds(TURN_SPEED, -TURN_SPEED); + delay(TURN_RIGHT_DURATION); + if (position == 'n'){ + position = 'e'; + } + else if (position == 'e'){position = 's';} + else if(position == 's'){position = 'o';} + else if(position == 'o'){position = 'n';} + stop(); +} + +int count = 0; + +void loop() { + // setting currentX and currentY variables to path values in PATH_LEN and goPath is called + if(count == 0){ + for(int i = 0; i < PATH_LEN -1 ; i++){ + int currentX = path[i][0]; + int currentY = path[i][1]; + + if(i == PATH_LEN -1){ + // goal reached + break; + } + int nextX = path[i+1][0]; + int nextY = path[i+1][1]; + + goPath(currentX, currentY, nextX, nextY); + + } + //ends loop + count++; + } +