Robotics Project Portfolio

A grab bag of robotics experiments that span circuit-level simulations, full Webots and CoppeliaSim environments, OPC UA industrial IoT ingest scripts, and the CAD that ties them together. Each folder is self-contained so you can focus on the subsystem you care about.

Repository Layout

Path	Contents
turret_simulation/	Webots project for a manually driven turret (controllers, worlds, custom PROTO, shared assets).
shooter_mechanism/	Webots arena for a dual-wheel shooter plus its controller sources and binaries.
copelliasim/	Ready-to-run .ttt scenes and Lua scripts for Pioneer P3-DX and Robotnik mobile robots.
industrial-iot/	Python OPC UA ingestion examples and a venv/ stub for Codesys/Kepware integrations.
circuit_simulations/	SimulIDE .sim1 schematic of a series voltage regulator.
part_design_cad/	FreeCAD, OBJ/MTL, and Blender sources for the turret tripod mechanics.

Prerequisites

Domain	Tools
Webots projects	Webots R2023b+, gcc/make (or MSVC on Windows).
CoppeliaSim scenes	CoppeliaSim Edu 4.6+ with Lua API enabled.
Industrial IoT demos	Python 3.10+, pip install opcua, access to an OPC UA server (Codesys, Kepware Simulation Server, etc.).
Circuit simulation	SimulIDE 1.x or another tool that opens .sim1 XML circuits.
CAD assets	FreeCAD 0.21+, Blender 3.x for editing, any viewer for OBJ/MTL export.

Tip: keep Python dependencies inside industrial-iot/venv (already ignored) so simulator SDK files don’t leak into commits.

Turret Simulation (Webots)

• Where: turret_simulation/controllers/turret_manual/, worlds/Turret Control Simulation.wbt, protos/Turret.proto, and OBJ tripod meshes in assets/.
• Controls: A/D yaw, W/S pitch with live angle readouts (turret_manual.c).
• Build & run:

  cd turret_simulation/controllers/turret_manual
  make
  webots ../../worlds/"Turret Control Simulation.wbt"

  Select the turret_manual controller when prompted (or set it in the world file).

Shooter Mechanism (Webots)

• Controller: controllers/my_Shooter_controller/my_Shooter_controller.c spins two wheels in opposite directions at ~50% of their rated speed, reading the max velocity at runtime.
• World: worlds/Shooter_arena.wbt contains the shooter, targets, and arena walls.
• Build:

  cd shooter_mechanism/controllers/my_Shooter_controller
  make
  webots ../../worlds/Shooter_arena.wbt

  Tweak shoot_speed before compiling if you swap motors.

CoppeliaSim Scenes

File	Purpose
Pioneer.ttt + pioneer_script.lua	Pioneer P3-DX demo that drives forward indefinitely (vel = 2).
robotnik_motion.ttt + robotnik_movement.lua	Robotnik Summit XL routine with scripted forward/backward phases (T1 = 26, T2 = 30).
conveyer_belt.ttt	Conveyor layout (ready for scripting).

Usage

1. Launch CoppeliaSim → File > Open scene... → select a .ttt.
2. Ensure the paired Lua script is attached as a child script.
3. Press Play; edit the Lua files for more advanced logic (sensor feedback, PID, etc.).

Industrial IoT OPC UA Demos

Located in industrial-iot/:

• ingest.py: Connects to a Codesys PLC at opc.tcp://192.168.29.10:4840, reads button state plus set/actual conveyor speeds, and logs them every 0.5 s.
• opcua_ingest.py: Lightweight poller for Kepware/KIT Simulation Server (SERVER_URL = "opc.tcp://shreyak-laptop:53530/OPCUA/SimulationServer", NODE_ID = "ns=3;i=1003").

Setup

cd industrial-iot
python -m venv venv
source venv/bin/activate
pip install opcua
python ingest.py

Swap out the endpoint URL and node IDs for your PLC, and replace the print() calls with MQTT publishes, database writes, or cloud ingestion SDKs as needed.

CAD: Turret Tripod

part_design_cad/ contains the mechanical source of the turret base:

• Edit solids in turret_tripod.FCStd (FreeCAD) and meshes in turret_tripod.blend.
• Export updated OBJ/MTL pairs when you need to refresh the Webots assets (turret_simulation/assets/).
• Backup files (*.FCBak, .blend1) are kept alongside the masters for quick rollback.

Circuit Simulation

circuit_simulations/series_voltage_regulator.sim1 is an XML-based SimulIDE project for a MOSFET series regulator with oscilloscope probes, push-button, and measurement instrumentation.

1. Launch SimulIDE (or another .sim1-compatible simulator).
2. Open the file and run the transient analysis to inspect the scope traces.
3. Edit component values in the GUI or directly within the XML for version-controlled tweaks.

Development Notes

• Keep generated artifacts (build/, controller binaries, venv/) out of commits or list them in .gitignore.
• Re-export shared meshes from CAD whenever you change geometry so CoppeliaSim and Webots stay aligned.
• Document new experiments in this README so others can discover and reuse them quickly.

License

No explicit license file exists yet. Add one (e.g., MIT, Apache-2.0) if you plan to publish or distribute the assets.