Dozer24

This is the robot code from the Ingenium team.

Software

Description

The src code is an arduino sketch: Dozer.ino

Dozer.ino

Receive values

• Read values received by Bluetooth on the Serial1 and deserialize them with the ArduinoJson library

Robot control

• switch...case to handle the value of the keypad:

Number	Key	Action	Description
1	1	open the rack	drop the rack to the bottom and open the servomotor
2	2	drop plants	open the servomotor and drop the plants
3	3	take the plants	close the servomotor and take the rack up
4	4	rack mid-height	get the rack to the height of the jardinière
5	5	rack up	get the rack all the way up
6	6	drop the plants	get the rack down, open the servomotor and get the rack up
7	7	solar panel flip (rack)	get the rack at the height of the solar panel
8	8
9	9	solar panel flip (servo)	get the rack up and deploy the stick to flip the solar panels from the inside
10	*	stepper setup	setup the stepper motor to find the limits (e.g. after a belt jump)
11	0	stop	stop the robot (motor and actuators)
12	#	estimation	type it to enter the estimation, all keys lose their usual binds. After another click on this key or 3 numbers entered, it loses the estimation focus.

• Control the motors according the values of the joysticks:
  • The left one turns the robot on its axis. The Y value is used to apply the fast or slow mode.
  • The right one handles the horizontal translation: forward, backward, sideway right and left.

Dependecies

The INO file depends of the following list of libraries:

• Bluetooth
  • Arduino/SoftwareSerial: This library is built into the Arduino IDE
  • bblanchon/ArduinoJson
• Mecanum
  • Motor
• Report
• Led
• Cherry
• StepperMotor
• Digit
• Timino

Hardware

• Arduino Mega 2560
• 4 motors equipped with mecanum wheels
• HC-05 bluetooth module
• 2 servomotors MG996
• Stepper motor