Capstone Project Report 2016 final

Robotics Capstone 2016
Professor: Dr. Chen
Students:
Justin Estep
Roberto Santos
Benjamin Golson
Johnathon Wheeler

TABLE OF CONTENTS
Abstract...........................................................................................................................................1
Proposed Timeline.........................................................................................................................3
Timeline Changes...........................................................................................................................5
Proposed Budget Table.................................................................................................................6
Updated Budget..............................................................................................................................7
Weekly Progress Report................................................................................................................9
Physical Assembly.........................................................................................................................17
Complications................................................................................................................................19
Resolutions.....................................................................................................................................21
Program Code..............................................................................................................................23
a) Arduino Mega with Ultrasonic Sensors. .....................................................................23
b) Left Arduino Uno with Speech Synthesizer................................................................31
c) Right Arduino Uno with RoboClaw............................................................................41
d) Transmitter Code.........................................................................................................51

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Abstract
This team set out to accomplish a culminating project required by the department to
demonstrate the versatile skills learned throughout the time spent at Austin Peay State
University. The team was composed of Benjamin Golson, Justin Estep, Johnathon Wheeler, and
Roberto Santos. The goal of our project is to create a Server Bot in order to attract future
students to the department. The use of Timbot 53 would cause students to be aware of the
program and allow an open line of communication to be created between the user and the
inquirer.
The concept of this project is to create a robot with the ability to halt when a person is
encountered. The robot will have ultrasonic sensors which will be activated when a distance is
reached between the sensor and the solid object. At this point the robot will communicate with
the individual based on predetermined dialogue. The robot will have the ability to introduce
itself, as well as give a brief description of its function.
The robot will have a wireless transmitter that can be used for multiple inputs; such as
teaching, stopping, or manual control of the robot. The interior of the robot will be composed
using an Arduino Uno microcontroller with several sensor for distance and wireless
transmission. The wireless transmitter will also consist of an Arduino Uno with wireless
transmission and LCD display for status checking of the Robot. The Arduino Uno has been
chosen as the microcontroller for these functions due to its versatility and the broad coding
availability in the Integrated Developer Environment. Arduino microcontrollers are an open
source programming language. The program may be written with the support of C and C++
language. We plan to code each sensor separately and compile the code at the end.

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The capstone project was accomplished through a span of sixteen weeks. This time gave
the group the ability to formulate ideas and experiment in the creation of a functioning robot. All
team members committed countless hours to ensure this project would be completed and meet
the desires set forth at the beginning of the semester. Prior to the commencement of our
education as a whole, the creation of this robot would have been extremely arduous. Using the
knowledge gained throughout the engineering technology program allowed us to create as well
as troubleshoot our desired project.

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Proposed Time Line
Objective Week
Project Overview
Timeline
Part List
1
Order Parts
Expand on project overview
Abstract
2
Sample Coding
Receiver Work
Design on Creo
3
Prototype Receiver Circuitry
Purchase Parts from Department Store 4
Assemble Body and Frame
Progress Report
5
Begin Coding for Rock Crawler
Inner Report
6
Rock Crawler Coding
Encoder Sensor Integration
Inner Report
7
Initial Debug
Project Overview Reevaluation
System Reevaluation
8
Human Sensor
Brake System
9
Voice Coding 10

4
Brake System
Sensor Debug 11
Code Integration
Code Debug
12
Final Report
Debug System
13
Whole System Test
Report Continuation
Power Point
14
Debug System
Report Continuation
Power Point Continuation
15
Presentation
Demonstration
16

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Timeline Changes
 Week 1: Week one remained as planned with the overview, timeline, and parts list being
created.
 Week 2: Schedule was met as parts were ordered, project overview was expanded upon, and
abstract was created and presented.
 Week 3: Schedule was exceeded as parts arrived early and contrition of the base was
initiated.
 Week 4: Week four timeline was met as sample coding was created, wiring prototype was
accomplished and additional parts were purchased from department store.
 Week 5: Week five schedule was met and exceeded as the combination of coding was created
in order to create the remote control available.
 Week 6: Scheduled rock crawler coding was created but issues continued to arise with relay
used would be inadequate. Physical body of robot was discussed and agreed.
 Week 7: Rock crawler coding was tested and robot purpose was reevaluated.
 Week 8: Schedule was determined to be off course as assembly of body was not complete.
Fabrication of body initiated and additional materials were gathered at this time.
 Week 9: Schedule was met as ultrasonic sensors were gathered and assembled. Early coding
for sensors was created.
 Week 10: Schedule was determined to be behind as speech synthesizer was not coded and
ready for usage.
 Week 11: Schedule was rectified as debugging of all coding commenced. 3D materials were
created and wiring was completed.
 Week 12: Physical assembly was worked on while code debugging continued allowing the
projected timeline to be on met.
 Week 13: System testing was met and code debugging continued.
 Week 14: Body assembly was completed, whole system test and debugging continued.
Report and PowerPoint were initiated.
 Week 15: System debugging continued and final report and PowerPoint was overviewed.
Debugging continued to be conducted on robot.
 Week 16: Schedule was met as presentation was ready, final bug test was conducted, and
stationary mode was added to correct sentry mode.

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PROPOSED BUDGET TABLE
Tim Bot - 53 CapStone Project Parts Budget
Web site Product Code Part Name Quantity
Price per
Unit
total
Eco Battery System 1 $199.00 $199.00
robotshop.com RB-Sct-921 Mantis 4WD Off-Road Rover Kit 1 $329.99 $329.99
robotshop.com RB-Ard-35 Motor Driver Shield V3 1 $23.50 $23.50
robotshop.com RB-Ada-18 Adafruit 6AA Battery Holder 1 $5.00 $5.00
robotshop.com RB-Dfr-552 speech synthesis shield for Arduino 1 $43.68 $43.68
robotshop.com RB-Cyt-39 Cytron simple rotary encoder kit 2 $11.06 $22.12
robotshop.com RB-Spa-1160 .25W thin Speaker 2 $0.95 $1.90
sunfounder.com HC-SR04 ultrasonic distance sensor 4 $5.99 $23.96
sunfounder.com
joystick PS2
Module joystick ps2 Module 1 $9.99
$9.99
sparkfun.com WRL - 10532
RF link Receiver - 4800bps
(434MHz) 2 $4.95
$9.90
sparkfun.com WRL - 10534 RF Link Transmitter - 434MHz 2 $3.95 $7.90
adafruit.com 498 RGB backlight negative LCD 20x4 1 $24.95 $24.95
On Hand Aluminum Frame $0.00 $0.00
On Hand Wheels 4 $0.00 $0.00
On Hand Bolts $0.00 $0.00
On Hand Arduino Uno microcontroller 3 $0.00 $0.00
On Hand Push-Buttons 4 $0.00 $0.00
On Hand toggle switch 3 $0.00 $0.00
On Hand Wire $0.00 $0.00
Lowe's paneling 4x8 (ft.) 1 $20.00 $20.00
total cost $721.89

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Updated Budget
Tim Bot - 53 CapStone Project Parts Budget
Web site Product Code Part Name Quantity
Price per
Unit
total
robotshop.com RB-Sct-921 Mantis 4WD Off-Road Rover Kit 1 $329.99 $329.99
Amazon RB0413 RoboClaw 2x30A Motor Controller 1 $124.95 $124.95
robotshop.com RB-Dfr-552 speech synthesis shield for Arduino 1 $43.68 $43.68
adafruit.com 498 RGB backlight negative LCD 20x4 1 $24.95 $24.95
sunfounder.com HC-SR04 ultrasonic distance sensor 8 $3.00 $23.96
On Hand Arduino Mega 1 $13.00 $13.00
sunfounder.com
joystick PS2
Module
joystick ps2 Module 1 $9.99 $9.99
sparkfun.com WRL - 10532
RF link Receiver - 4800bps
(434MHz)
2 $4.95 $9.90
sparkfun.com WRL - 10534 RF Link Transmitter - 434MHz 2 $3.95 $7.90
robotshop.com RB-Ada-18 Adafruit 6AA Battery Holder 1 $5.00 $5.00
Local Vinyl Graphics of Governor logo 3 $10.95 $32.85
Local Vinyl Graphics of names 1 $10.95 $10.95
On Hand Arduino Uno microcontroller 3 $0.00 $0.00
On Hand Push-Buttons 4 $0.00 $0.00
On Hand toggle switch 3 $0.00 $0.00
On Hand wire $0.00 $0.00
On Hand Speaker w/ mount 1 $0.00 $0.00
On Hand
25" x 12" Expanded Metal (for
base)
4 $0.00 $0.00
On Hand 24" x 1.5" Square rail (for base) 2 $0.00 $0.00
On Hand 27" x 1.5" Square rail (for base) 3 $0.00 $0.00
On Hand "L" Brackets (for wheelmounts) 8 $0.00 $0.00
On Hand 2" Square Stock (for wheel mounts) 4 $0.00 $0.00
On Hand End Caps 6 $0.00 $0.00
On Hand 1/4" Bolts 36 $0.00 $0.00
On Hand 1/4" Nuts 36 $0.00 $0.00
On Hand Flat Washer 64 $0.00 $0.00
On Hand Lock Washers 34 $0.00 $0.00
On Hand Breadboard 2 $0.00 $0.00
Donated 12V Disco Ball 1 $0.00 $0.00
On Hand Battery Tray 1 $0.00 $0.00
On Hand Heat Shrink 1 $0.00 $0.00

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On Hand 1/2" EMT 40" stock 4 $0.00 $0.00
On Hand 1/2" EMT 1/2 circle hanger 32 $0.00 $0.00
On Hand 1/2" EMT Straights 1 $0.00 $0.00
On Hand Sensor Metal Mount Plate 1 $0.00 $0.00
On Hand 1/2 Coupling EMT Mount 4 $0.00 $0.00
On Hand Swivel Wheels 4 $0.00 $0.00
On Hand 6V, 7.5mh Batteries 2 $0.00 $0.00
On Hand 24"x .25"x 19.5" Plexiglas Panels 2 $0.00 $0.00
On Hand 23"x .25"x 19.5" Plexiglas Panels 2 $0.00 $0.00
total cost $637.12

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Weekly Progress Report
Week 1: During week one the group discussed the minimum requirements for what would be
expected from the finished project. Ideally the expectation would be a robot that is roughly 3 feet
in height with a tray mounted to the top that would move around the room in a predetermined
path and stop when people approach a predetermined distance. The group then discussed the
parts that would be necessary to accomplish this task. After the discussion, a parts list was
gathered to include the website were the parts, unit price, the number of each part that would be
needed and the product code. Once the parts list was created and a clear understanding of what
task of the robot would be accomplishing a projected weekly timeline was establish to maintain a
clear focus on the final goal.
Week 2: Week two consisted of ordering parts required for the project as well as writing a
project proposal necessary for the initial presentation of the project. The proposal was written
and proposed in the first meeting. Soon after being presented and approved by Dr. Chin, the
professor, the parts were ordered. Several of the parts ordered were not available, causing
additional research to be done to find other websites that could offer the same product at a
comparable rate. The team members agreed on prices and began preparing a plan for week three
of the project.
Week 3: During week three many of the components arrived ahead of schedule. These include
the LCD Shield, Mantis rock crawler, encoder sensor, wireless transmitter/receiver unit, battery
pack, and Arduino Motor Shield. This encouraged the group to start construction of the Mantis
rock crawler for testing. After construction, a short sample code was developed and tested on the
Motor Shield and Mantis. Once ensuring that the Mantis and Motor Shield were operational the

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LCD Shield was assembled for testing. While testing the LCD Shield a controller layout was
designed on CREO, with plans to start construction and coding soon. Due to early part arrival,
the group would be able to start building and coding of most aspects of the project and setting the
project ahead of schedule going forward.
Week 4: Week four involved a discussion and adjustment of the initial frame. The construction
of a base frame for the Mantis with a 24”X24” IDEM was creating utilizing aluminum frame
square stock located in the lab. The wiring of Mantis was done for diagnostic purposes with the
independent motor control for the wheel assemblies being the primary concern. The sample code
created during the previous week was used to test the Arduino Uno board for functionality. All
though the Arduino Uno was programmed, it was unsuccessful and would be reassessed the
following week. The group began collaborating on ideas of material that could be used as
structural support for the serving tray apparatus.
Week 5: Week five numerous problems were encountered with the motor shield. The motor
shield that was originally ordered could not provide enough current to move the motors when a
load would be applied. Group members concluded that a relay would be a possible solution this
problem. As the code for the encoder was being developed, there was a realization that for the
encoder to provide an accurate count, it could not be connected to an independent motor. The
encoder’s count would be inaccurate due to the variety of intricate movement required per wheel
and would require an independent wheel that would move the wheel and spin the encoder. The
code for the remote began to be created in stages, and the code for the LCD screen shield,

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joystick, and transmitter were combined into a single working code. A list of commands would
be required to be transmitted between the remote and robot.
Week 6: In week six several issues were recognized after testing, it was acknowledged that the
relay was not the correct method. Upon further research, it was discovered that the 4wd Mantis
manufacturer recommended the use of a RoboClaw motor control. This motor control would be
able to provide the necessary maximum current necessary to move the motors even when there is
a weight barring load on the robot. Some concerns researched before ordering was the price, stall
current the RoboClaw would be able to handle, and finally the ability to connect with the
Arduino Uno microcontroller being used. The appropriate information was acquired, and the
RoboClaw was ordered via Amazon for rapid delivery. Due to the issue with the relay, there was
no way of completing a full test of the mantis. The upper frame material was discussed and
agreed upon by the group. The upper frame would consist of EMT being connected to each
corner and raised to reach a maximum height of 3 feet. A 40° bend would be given to the pipe to
provide a more aesthetically pleasing design to the overall robot. The frame would be built as
soon as the EMT could be acquired.
Week 7: During week seven the RoboClaw controller was received allowing the group to
commence sample coding with wiring was created providing the opportunity for testing. During
testing, it was discovered that the battery system originally ordered for use could not run the
Mantis rock crawler. The first mathematical current draw estimated for use by the Mantis and
sensors seemed accurate but unfortunately one crucial point was overseen when doing the initial
research for the battery. When researching the battery for purchase, the group failed to oversee
the safe functions provided by the battery, this proving to be a costly mistake as the battery
originally purchased would no longer be used. To resolve the battery issue, serval other power

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options were tested, and a solution was established that would function. With most issues
believed to be resolved the original idea and intent of the project be reexamined. As a group, it
was agreed upon that a genuine purpose of the project was to promote the department and not
necessarily for the robot to cater hors d'oeuvres. With this in mind, the group would push
forward to achieve this goal. The following week would be focused on coding and finishing the
mantis frame.
Week 8: During week eight the hardware for sentry mode and the motor shield, receiving and
transmitting code were all assembled. All stages of coding were initially created individually to
ensure that the sensors and systems worked properly. The fabrication of the EMT support frame
was set up with the intention of providing proper support and protection to the systems hardware
and internal frame. The height of 3 feet was ensured to work with the ultra-sonic sensors. As
these aspects of the project were assembled, there was a shift in focus as an interim presentation
was created to give the sensors and vision class an update on all accomplished tasks to that point.
Week 9: After returning from a week’s vacation as a group, all were ready to work full steam
ahead and achieve the task set out to be accomplished. The first step taken was the design and
print of a tray that would be used to hold the motor control (RoboClaw) and the two Arduino
Uno microcontroller’s that would be required to control the Timbot 53. The design was created
using Creo Parametric and the use of the 3D printing lab helped make the creation a reality. A
rapid tray prototype was created using a breadboard, and it was confirmed that the ultra-sonic
sensors need to be at least waist high to get an accurate reading on a person. Testing showed the
sensors being inaccurate when the signal bounced off of an individual’s legs. This denotes that
the sensors would be required to be at least 3ft. off the ground to be able to reliably detect a
person, however, a child would be too small for the robot to see. A plate was proposed to hold

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the ultrasonic sensors. The plate would be octagon shaped so that all eight sensors faced in a
different direction, this ensured that a person could be detected from any direction when
approaching the robot. It would also cover blind spots so that the robot would not run into
anyone. A few prototypes of the slots were the sensors would fit onto were printed. The intent
being for the sensor to slide into the slots which would be designed into the sensor tray. If
required, the design would be adjusted to ensure a secure fit. Two batteries were used to power
the mantis robot, and it was determined that the most efficient way to secure the batteries would
be to make a saddlebag type container that the batteries could be placed at. The container will be
centered on the mantis robot frame. The container was printed at the end of the week as it would
take 37 hours to 3D print the battery container.
Week 10: During week ten preliminary testing was conducted on the sensors, and it was
discovered that a basic Arduino Uno would not be able to handle all the sensor inputs and
outputs required by all eight ultrasonic sensors. The Arduino Uno initially was going to be
coded with the intent of having each sensor connected to the same trigger output pin to minimize
the required pins. Unfortunately, this design was not capable of providing all the trigger pins
with the necessary power and caused the sensors not to react appropriately. Further research
was conducted and proved that an Arduino Mega would be better suited for the pin input and
output as the Uno only has 14 pins while the Mega provides 54. The decision was made rapidly
to order a Mega so as to proceed with coding and wiring. At this point, it was determined that
the robot would break when the speed was lowered which could be controlled when programed.
Week 11: During week eleven many small tasks required finalization. These include leveling
mantis frame, ordering material for the 3d printer, simple wire fixes, controller housing design,
mantis speed adjustment in code, controller housing test piece, controller functions and it was

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discussed what the robot would say with the use of a speech shield. It was agreed upon that the
following week would launch the use of the 3d printer to print the sensor tray. Once this was
completed the initiation of multiple commands for the robot with a focus on the sensors and the
controller functions would be accomplished through the abilities of coding.
Week 12: During week twelve the focus was split between the physical assembly of the
Plexiglas as well as coding for the robot. In the physical aspect, the Plexiglas was cut to the
shape of trapezoid panels, and the usage of vinyl graphics would create a more aesthetically
pleasing view when combined with the sandblasted panels. As the Plexiglas was cut, two
Arduino Uno’s were mounted to the mantis as well as other hardware. The programming has
continued to be an issue as the combination of all the different sensors together would not go as
planned. The incorporation of various sensors and the lack of resources combining each
command gave the programmers a difficult time and numerous approaches were conducted to
find a suitable resolution to these issues. The use of “else/ if” statements in combination with
“while” statements would not blend properly and it was determined that it would be fixed as
debugging steps were taken.
Week 13: Sentry mode for the robot was a key and challenging coding aspect of the project.
Week thirteen was used to program the remote, but sentry mode was still essential to the robot's
motor control and the receiver. It was determined that the sonar required more work as they did
not work when trying to run them off of the spare pins on the two microcontrollers attached to
the robot. Preliminary coding done on the speech shield proved to be more difficult than
originally anticipated and the use of an outside source was required to help grasp a better
understanding of the code and its multifaceted functions. A meeting with an individual on the
main campus was arranged to try and figure out how the code demands to be written to make the

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speech shield work properly. The top portion of the remote control case was printed but the
overall case did not entirely suit the needs. This caused the group to redesign the casing but
ensuring the miscalculations and adjustments be incorporated to it.
Week 14: As the final weeks approached, week 14 was an important week as the robot’s frame
was assembled. The accomplishment of the frame gave all group members a visual reassurance
that the initial project that was set out to be accomplished could be met and even exceeded. This
served as a motivating aspect for the group and gave the members a sign of relief and a reminder
that the end is near. The panels were completed and attached to the frame as well as the
hardware being assembled, and the wires ran through the conduit allowing them not to be visible.
All code was initially tested and determined to work independently. Further debugging would be
required to ensure the programming and hardware would be able to work at a smoother flow.
Week 15: During week 15 the team committed to finishing several last minute touches on the
project. These include finalizing the display panels, printing and wiring the sensor tray, bug
testing sentry mode, and finishing the controller. Due to lack of print materials, we were forced
to use yellow as the tray color. To solve this, we just painted the tray to match the project's theme
color. As far as wiring we completed that and everything is functioning normally. Sentry Mode
still needs more bug testing which we plan on doing Monday. The controller also needs a top
printed with it as well as the top cover of the severing/ sensor tray. Looking forward, we have the
final presentation to do, and if Sentry Mode is not completed, we plan to chance it to stationary
mode.
Week 16: The final week was the most time consuming. The finalization of the report and
PowerPoint was conducted. The presentation was reviewed and rehearsed to ensure the group

16
was ready for the presentation. The printing of the top cover for the sensors was finalized.
Group members made minor adjustments to the code in order to ensure there were no final issues
with it. After running numerous test it was determined that the 6V 7.5 mh. batteries would be
able to do the commands needed but the run time would not be sufficient for an extended period
of time. The suggestion for a bigger battery was determined and agreed upon by the group as
whole. It was understood that the batteries would have to be purchased and upgraded by further
groups if that group choose to expand upon the initial project.

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Physical Assembly
The physical assembly began with the use of four aluminum rails combined connected in a
square with the use of “L” brackets. Two of the aluminum rails measuring 24” x 1.5” while the
other two sides measure 27” x 1.5”. These rails were mounted to the mantis rover to give the
robot a base to move on the path determined by the user. Swivel wheels were added to all four
corners of the rails to distribute the weight evenly. Through the center of the railing square, an
additional 27” x 1.5” rail was attached to have the mantis rover rest over it. A speaker was
mounted to the front of the mantis which would be wired to the speech synthesizer. The mantis’
empty center cavity was used to house wires from the speaker as well as wires used to connect to
each DC motors. A Fortus 250 was utilized to 3D print a saddlebag housing carrying two 6V
batteries, one on each side. A breadboard was attached to the top end of the Mantis to house the
receiver and provide a 12V and 5V railing to each side. An additional tray was printed to
accommodate two Arduino Uno’s and a RoboClaw.
Each corner used the assembly of ½” EMT stock to give the paneling and expanded metal a
brace as well as creating housing for all components within the robot. The EMT stock was
connected to the frame with the use of four ½” coupling mounts. The EMT stock was bent at a
40° angle inverted to a center point at the top of the robot. All four bars were connected to a five
½” coupling mounts, which were welded together. A hole was drilled into two of the base
corners to distribute the wires needed to power the Arduino Mega. Each side required eight ½”
EMT ½ circle hangers. Four hooks were used to secure the 25” x 12” expanded metal which
primary focus was to protect the components used to control the robot. Above the expanded
metal a trapezoid Plexiglas panel was added serving more of a visual advertisement for the
department. All four of the panels were covered with a vinyl graphic then sandblasted over to

18
give them a frost-like effect. After being sandblasted, the vinyl was removed leaving the
protected area clear of debris, making the sheltered area protrude. The Austin Peay logo was
used for three panels while the fourth panel had the capstone and students on it. The back side of
the panels was protected as well leaving the area clear and transparent. Once all aspects of the
body were complete, the top tray was assembled.
The top area of the robot was constructed with the use of a metal mount plate as the base and a
3D printed tray carrying eight ultrasonic sensors. The tray and mount were designed in the shape
of an octagon to decrease the chance of a blind spot. A blind spot could have increased the
likelihood of an accident making this robot a hazard. The 3d tray was secured to the metal with
bolts and wire was ran through the center of the coupling. The Arduino Mega was placed in the
center of the tray to communicate with the sensors.

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Complications
(Week 5) Throughout this project, numerous issues arose. The first incident occurred in
the fifth week as it was recognized that the motor shield would not be able to function with the
use of an Arduino Motor Shield. This device would be able to handle a maximum operating
voltage of 12V and a max current of 4A. The Mantis rover would require a stall current greater
than 4A just to operate. The encoder also became an issue as it was realized that the encoder
demanded an independent wheel to ensure an accurate count would be achieved.
(Week 6) During week six the introduction of a relay was realized to be ineffective. The
relay was incapable of interrupting or distributing the power each motor required. The relay
being used was far inferior to the power produced by the batteries and required by the mantis
rover.
(Week 7)Week seven carried the most crucial error caused by the group as a whole. The
Fenix Ready Start battery originally planned to be used was fully capable of providing the
required voltage and amps needed to power the robot. The problem with the utilization of this
battery was the manufacturers' safety precautions built into the battery. The battery would only
be capable of producing 2amps before triggering the safety causing it to shut off.
(Week 10) When programming the sensors, the use of trigger and echo pins played a key
element with the microcontroller. The initial intent was to have one trigger pin activate all eight
sensors. This would alleviate the use of 18 pins and only requiring eight pins in total. The pins
would be connected to a single Arduino Uno, which would communicate with the lower
Arduino’s. While programming, it was discovered that this concept could not be achievable.

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(Week 12) The speech shield was a time-consuming issue which the group was able to find no
resolution for. The speech shield required commands that none of the students were able to
create due to the complex demands requested by the group. The intent was for the speech
synthesizer to active when triggered by the ultrasonic sensor. A second problem was encountered
when drilling holes into the Plexiglas. The Plexiglas was cracked as when pressure was applied
to the panel causing the panel to be shattered.
(Week 13) Week thirteen brought forth three issues. The ultrasonic sensors were not able to
communicate with each other. When the trigger point was activated, the next sensor would not
activate. The second issue was the design of the remote control and the way the microcontroller
would fit inside of the casing which would be 3D printed. The final problem was the lack of
material color required to print the housing in the desired color.

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Resolutions
(Week 5) The initial resolution to the voltage requirements was to add a DC power relay
to provide the required power to each independent motor. If excessive power were produced
from the battery, the relay would help regulate it. When examining the encoder, it was
determined that if connected to an individual wheel from the mantis, the encoder counter would
not be accurate. It was determined that an extra wheel would be a better solution for the encoder,
but due to the lack of additional wheels available, it was determined that the encoder would not
be used.
(Week 6) Research conducted on the Mantis revealed that a RoboClaw controller was
recommended for usage. The RoboClaw controller would provide the amperage requested by
the mantis motors. The RoboClaw would replace the DC power relay originally suggested by
group members as a solution. The RoboClaw was research and purchased through Amazon.com
to provide rapid delivery.
(Week 7) After realizing that the Fenix battery had a built-in safety, the first idea was to open
the batteries and bypass the built-in safety feature. This idea was later rejected as it would
become a safety issue for future users. The second solution and safer of the two was to replace
the batteries for some that would be more feasible to the current and amp draw required for the
robot. The Fenix battery was replaced for two PS-670 6V 7.0 amp.hr. batteries. The two
batteries were connected in series to provide 12V which would power not only the mantis but all
other components as well.
(Week 10) While attempting to connect all ultrasonic sensors (18 pins) to the Arduino Uno so
pin usage could be minimal, it was detected that it was not going to fit the requirements sought

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after. Research conducted on this issue recommended the use of an Arduino Mega as the best
approach due to its maximum input of 54 pins and helping solve the obstacle.
(Week 12) Coding on the speech shield was tough to understand due to the inexperience of
coding by group members. After attempting to resolve the issue as a group, it was determined
that further help would be required. Help was obtained from a code developer known through a
third party. The individual proved to be very knowledgeable and helped solve issues attained.
(Week 13) An ongoing problem was the coding, the only way to fix the speech shield and
sonar sensors were to conduct debugging on the code. Debugging helped resolve the issue as
many were minor. The lack of material was an issue as it was available promptly. A different
colored material was used and painted to match the desired color scheme.

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Program Code
Arduino Mega with Ultrasonic Sensor
#define trigPin1 12//Trigger 1 FrontSensor
#define echoPin1 11//Echo 1 FrontSensor
#define trigPin2 10//Trigger 2 FrontRightSensor
#define echoPin2 9//Echo 2 FrontRightSensor
#define trigPin3 8//Trigger 3 RightSensor
#define echoPin3 7//Echo 3 RightSensor
#define trigPin4 6//Trigger 4 BackRightSensor
#define echoPin4 5// Echo 4 BackRightSensor
#define trigPin5 52// Trigger 5 BackSensor
#define echoPin5 51// Echo 5 BackSensor
#define trigPin6 50// Trigger 6 BackLeftSensor
#define echoPin6 49// Echo 6 BackLeftSensor
#define trigPin7 48// Trigger 7 LeftSensor
#define echoPin7 47// Echo 7 LeftSensor
#define trigPin8 46// Trigger 8 LeftFrontSensor
#define echoPin8 45// Echo 8 LeftFrontSensor
int Signal = 53;// Signal Out To Other Arduino
long duration, distance, FrontSensor,FrontRightSensor, RightSensor, BackRightSensor, BackSensor,
BackLeftSensor, LeftSensor, LeftFrontSensor;// SensorArray Setup
void setup()
{
Serial.begin (9600);// Serial Read OUT
pinMode(trigPin1, OUTPUT);// Trigger 1 setup
pinMode(echoPin1, INPUT);// Echo 1 setup

24
pinMode(trigPin5, OUTPUT);// Tigger 5 setup
pinMode(Signal, OUTPUT);// Signal pin setup
}
void loop(){
//ReadSetUp
SonarSensor(trigPin1, echoPin1);
FrontSensor = distance;//
FrontRightSensor = distance;//
RightSensor = distance;//
BackRightSensor = distance;//
BackSensor = distance;//
BackLeftSensor = distance;//

25
LeftSensor = distance;//
LeftFrontSensor = distance;//
//ReadSetUp
//Error Correction Section
if(FrontSensor == 5){
FrontSensor = 51;
}//
if(FrontSensor == 6){
FrontSensor=51;
}//
if(FrontRightSensor == 5){
FrontRightSensor = 51;
}//
if(FrontRightSensor == 6){
FrontRightSensor = 51;
}//
if(RightSensor == 5){
RightSensor = 51;
}//
if(RightSensor == 6){
RightSensor = 51;
}//
if(BackRightSensor == 5){
BackRightSensor = 51;
}//
if(BackRightSensor == 6){

26
BackRightSensor = 51;
}//
if(BackSensor == 5){
BackSensor = 51;
}//
if(BackSensor == 6){
BackSensor = 51;
}//
if(BackLeftSensor == 5){
BackLeftSensor = 51;
}//
if(BackLeftSensor == 6){
BackLeftSensor = 51;
}//
if(LeftSensor == 5){
LeftSensor = 51;
}//
if(LeftSensor == 6){
LeftSensor = 51;
}//
if(LeftFrontSensor == 5){
LeftFrontSensor = 51;
}//
if(LeftFrontSensor == 6){
LeftFrontSensor = 51;
}//
//Error Correction Section
// Run Condition

27
if(FrontSensor || FrontRightSensor || RightSensor || BackRightSensor || BackSensor || BackLeftSensor || LeftSensor ||
LeftFrontSensor >= 50) {
digitalWrite(Signal, HIGH);
}// Run Condition
// Stop Conditions
if(FrontSensor <= 49){
digitalWrite(Signal, LOW);
FrontRightSensor = FrontSensor;
RightSensor = FrontSensor;
BackRightSensor = FrontSensor;
BackSensor = FrontSensor;
BackLeftSensor = FrontSensor;
LeftSensor = FrontSensor;
LeftFrontSensor = FrontSensor;
delay(1000);
}//
if(FrontRightSensor <= 49){
FrontSensor= FrontRightSensor;
RightSensor = FrontRightSensor;
BackRightSensor = FrontRightSensor;
BackSensor = FrontRightSensor;
BackLeftSensor = FrontRightSensor;
LeftSensor = FrontRightSensor;
LeftFrontSensor = FrontRightSensor;
delay(1000);
}//
if(RightSensor <= 49){

28
FrontSensor= RightSensor;
FrontRightSensor = RightSensor;
BackRightSensor = RightSensor;
BackSensor = RightSensor;
BackLeftSensor = RightSensor;
LeftSensor = RightSensor;
LeftFrontSensor = RightSensor;
delay(1000);
}//
if(BackRightSensor <= 49){
FrontSensor= BackRightSensor;
FrontRightSensor = BackRightSensor;
RightSensor = BackRightSensor;
BackSensor = BackRightSensor;
BackLeftSensor = BackRightSensor;
LeftSensor = BackRightSensor;
LeftFrontSensor = BackRightSensor;
delay(1000);
}//
if(BackSensor <= 49){
FrontSensor= BackSensor;
FrontRightSensor = BackSensor;
RightSensor = BackSensor;
BackRightSensor = BackSensor;
BackLeftSensor = BackSensor;

29
LeftSensor = BackSensor;
LeftFrontSensor = BackSensor;
delay(1000);
}//
if(BackLeftSensor <= 49){
FrontSensor= BackLeftSensor;
FrontRightSensor = BackLeftSensor;
RightSensor = BackLeftSensor;
BackRightSensor = BackLeftSensor;
BackSensor = BackLeftSensor;
LeftSensor = BackLeftSensor;
LeftFrontSensor = BackLeftSensor;
delay(1000);
}//
if(LeftSensor <= 49){
FrontSensor= LeftSensor;
FrontRightSensor = LeftSensor;
RightSensor = LeftSensor;
BackRightSensor = LeftSensor;
BackSensor = LeftSensor;
BackLeftSensor = LeftSensor;
LeftFrontSensor = LeftSensor;
delay(1000);
}//
if(LeftFrontSensor <= 49){

30
FrontSensor= LeftFrontSensor;
FrontRightSensor = LeftFrontSensor;
RightSensor = LeftFrontSensor;
BackRightSensor = LeftFrontSensor;
BackSensor = LeftFrontSensor;
BackLeftSensor = LeftFrontSensor;
LeftSensor = LeftFrontSensor;
delay(1000);
}//
// Stop Conditions Section
Serial.print(LeftSensor);
Serial.print("-");
Serial.print(FrontSensor);
Serial.print("-");
Serial.print(RightSensor);
Serial.print("-");
Serial.println(BackSensor);
}
void SonarSensor(int trigPin,int echoPin)
{
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;
}

31
Left Arduino Uno with Speech Synthesizer
/*the words created by the speech shield can't always be pronounced clearly.
to compinsate for this we are breaking difficult words into smaller words or syllables
and spelling them Phoneticly.
each letter is only able to create two sounds,the lowercase and the uppercase.
this means that sometimes it may be required to play with the spelling to find the correct sound.
*/
#include <SpeechSynthesis.h> // library required to opperate the speech shield
#include <VirtualWire.h> // library required to opperate the RF receiver
int x = 0; // x is the byte size of data receive by the receiver
int Start = 13; // the start command is used to activate autonomus mode
int Stop = 12; // tells the robot to stop autonomus mode
const int receive_pin = 11; // the receiver uses pin 11
int forward = 10; // forward is going to be the name of pin 10
int backward = 9; // backward is the name of pin 9
int right = 8; // right is the name of pin 8
int left = 7; // left is the name of pin 7
int Estop = 6; // tells the motors to stop if the emergency stop is pushed
int Mode2 = 5; // Mode2 is to tell the robot to enter senry mode
int Mode1 = 4; // mode1 is to tell the robot to enter manual mode
int Sensor = 3; // the sensorpin will recieve data from the ultra sonic sensors on the MEGA
int Save = 2; // this will tell the robot to save distance
int Mspeech1 = 0; // manual mode speech 1
int Mspeech2 = 0; // Manual mode speech 2

32
int Wspeech = 0; //Wait mode speech
void setup()
{
//set these pins as output pins
pinMode(forward, OUTPUT);
pinMode(backward, OUTPUT);
pinMode(right, OUTPUT);
pinMode(left, OUTPUT);
pinMode(Mode1, OUTPUT);
pinMode(Save, OUTPUT);
pinMode(Start, OUTPUT);
pinMode(Stop, OUTPUT);
pinMode(Estop,OUTPUT);
// set this as an input pin
pinMode(Sensor,INPUT);
// Initialise the IO and ISR
vw_set_rx_pin(receive_pin);
vw_set_ptt_inverted(true); // Required for DR3100
vw_setup(2000); // Bits per sec
vw_rx_start(); // Start the receiver PLL running
Serial.begin(9600); // serial is used for dubugging purposes only
Serial.print("starting up"); // print starting up to the serial monitor

33
//enterspeech command here to say "timbot online
}
byte ssr[500];//define a character string
void loop()
{ // wait mode
uint8_t buf[VW_MAX_MESSAGE_LEN];
uint8_t buflen = VW_MAX_MESSAGE_LEN;
if (vw_get_message(buf, &buflen)) { // Non-blocking
int i;
x = buflen; // this is taking the variable 'x' and setting it to match the byte length of the sent message.
}
if (x == 6){ // if x is 6 switch the Mode1 pin to HIGH
digitalWrite(Mode1, HIGH);
digitalWrite(Mode2, LOW); //safety precaussion
}
if (x == 7) { //if x is 7 switch the mode2 pin to HIGH
digitalWrite(Mode1, LOW); // safety precaussion
}
while (digitalRead(Sensor) == LOW & digitalRead(Mode1) == LOW & digitalRead(Mode2) == LOW) {
// if the sensoris detecting something and in wait mode
if (Wspeech == 0) {
SpeechSynthesis.buf_init(ssr); //initialize the buff
SpeechSynthesis.English(ssr,4,"5");//volume in grade 5
SpeechSynthesis.English(ssr,6,"Starting up"); // say greetings,I'm Timbot 53
SpeechSynthesis.Espeaking(0,0,4,ssr);
//Executive commands above, "0" is synthesis command; "0" select voice; "4" speech function
while(Wspeech == 0) { // wait for the speech sheild to finish talking

34
delay(2000); // place a delay to keep it from speaking during startup
Wspeech = 1;
}
}
if (digitalRead(Sensor) == LOW & Wspeech == 1) { // if sensordetects something and Wspeech is 0
SpeechSynthesis.buf_init(ssr);//initialize the buff
SpeechSynthesis.English(ssr,6,"Greetings, I'M Timboat 53");// say greetings,I'm Timbot 53
SpeechSynthesis.English(ssr,6,".Howdu Udu");// say how do you do
delay(6000);
Wspeech = 2; // increment Wspeech
}
}
if (digitalRead(Sensor) == LOW & Wspeech == 2) { // if object detected wait
SpeechSynthesis.English(ssr,6,"Iwas cri Atted as A robotics project by students N thE engineering department");
// talks about itself
while (Wspeech == 2) { // wait for it to finish talking
delay(9000);
}
}

35
if (digitalRead(Sensor) == LOW & Wspeech == 3) { // if object is detected speakagain
SpeechSynthesis.English(ssr,6,"if U would like to learn About robotics.talk to the engineering
department");//
SpeechSynthesis.Espeaking(0,0,4,ssr);//Executive commands above, "0" is synthesis command; "0" select
voice; "4" speech function
delay(10000);
}
}
}
while(digitalRead(Mode1) == HIGH) { // manual mode
uint8_t buf[VW_MAX_MESSAGE_LEN]; // buf is the message recieved
uint8_t buflen = VW_MAX_MESSAGE_LEN; // buflen is the number of bytes the message is
int i;
}
if (x == 2){
Serial.print("forward"); // used for debugging
digitalWrite(forward, HIGH); //tell the motor to go forward
digitalWrite(right, LOW);
digitalWrite(left, LOW);
digitalWrite(backward, LOW);
}
else if (x == 3){

36
Serial.print("Backward"); //for debugging
digitalWrite(backward, HIGH); //tell the motor to go reverse
digitalWrite(forward, LOW);
}
else if (x == 4){
Serial.print("left"); // for debuggint
digitalWrite(left, HIGH); //tell the motors tp turn left
}
else if (x == 5){
Serial.print("right"); // for debugging
digitalWrite(right, HIGH); //tell the motors to turn right
}
else {
Serial.print("stop"); // for debugging
digitalWrite(backward, LOW); //tell the motor to stop
}
if (x == 9) { // speech command 1

37
SpeechSynthesis.English(ssr,6,"Greetings, I'M Timboat 53");// say greetings, I'm Timbot 53
}
if (x == 10) { //speech command 2
SpeechSynthesis.English(ssr,6,"I was cri Atted as A graduation project.");//
SpeechSynthesis.English(ssr,6,"by A group of students Nthe engineering program");//
}
SpeechSynthesis.English(ssr,4,"5");//volume in grade
SpeechSynthesis.English(ssr,6,"if U would like to learn About robotics talk to the engineering department");
// invites people to look at the engineering table on ap day
}
if (x == 8) { // enter wait mode
digitalWrite(Mode1, LOW);
}
Serial.println();
}

38
/* because this mode is not currently working correctly it has been disabled
while (digitalRead(Mode2) == HIGH) { // Sentry Mode
int i;
x = buflen; // this is taking the variable 'x' and setting it equal to the byte length of sent message.
}
while (digitalRead(Start) == HIGH) { // run autonomusly
if (vw_get_message(buf,&buflen)) { // Non-blocking
int i;
x = buflen; // this is taking the variable 'x' and setting it equal to the byte length of sent data.
}
if (x == 8) { // emergency stop
digitalWrite(Mode2, LOW); // leave sentry mode
digitalWrite(Stop, HIGH); // tell robot to stop
digitalWrite(Start, LOW); // stop movement path
}
if (digitalRead(Sensor) == HIGH) { // reset the stop pin if the sensoris high
digitalWrite(Stop, LOW);
}
while (digitalRead(Sensor) == LOW) { // during sentry mode stop when the sensorpin is low
digitalWrite(Stop, HIGH);

39
int i;
x = buflen; // this is taking the variable 'x' and setting it equal to the byte length of sent data
}
}
}
if (x == 10) { // if stop is pushed
digitalWrite(Stop, HIGH); // tell the robot to stop
digitalWrite(Start, LOW); // tell the robot to exit movement loop
}
}
// run this while start is low
if (x == 9) { // tell the robot to drive autonomusly
digitalWrite(Start, HIGH); // begin moving along the saved path
digitalWrite(Stop, LOW); //reset stop pin
}
if (x == 10) { // tells the robot to stop moving
digitalWrite(Start, LOW); // reset the start pin
digitalWrite(Stop, HIGH); // send the signal to stop
delay(1000); // 1 second delay
digitalWrite(Stop, LOW); // reset the stop pin
}
if (x == 4) { // tells the robot to save the current position
digitalWrite(Save, HIGH);
delay(500);

40
digitalWrite(Save, LOW);
}
if (x == 2){
}
else if (x == 3){
}
else {
}
if (x == 8) { // exit sentry mode
}
}*/
}

41
Right Arduino Uno with RoboClaw
/*the words created by the speech shield can't always be pronounced clearly.
to compinsate for this we are breaking difficult words into smaller words or syllables
and spelling them Phoneticly.
each letter is only able to create two sounds,the lowercase and the uppercase.
this means that sometimes it may be required to play with the spelling to find the correct sound.
*/
#include <SpeechSynthesis.h> // library required to opperate the speech shield
#include <VirtualWire.h> // library required to opperate the RF receiver
int x = 0; // x is the byte size of data receive by the receiver
int Start = 13; // the start command is used to activate autonomus mode
int Stop = 12; // tells the robot to stop autonomus mode
const int receive_pin = 11; // the receiver uses pin 11
int forward = 10; // forward is going to be the name of pin 10
int backward = 9; // backward is the name of pin 9
int right = 8; // right is the name of pin 8
int left = 7; // left is the name of pin 7
int Estop = 6; // tells the motors to stop if the emergency stop is pushed
int Mode2 = 5; // Mode2 is to tell the robot to enter senry mode
int Mode1 = 4; // mode1 is to tell the robot to enter manual mode
int Sensor = 3; // the sensorpin will recieve data from the ultra sonic sensors on the MEGA
int Save = 2; // this will tell the robot to save distance
int Mspeech2 = 0; // Manual mode speech 2

42
int Wspeech = 0; //Wait mode speech
void setup()
{
//set these pins as output pins
pinMode(forward, OUTPUT);
pinMode(backward, OUTPUT);
pinMode(right, OUTPUT);
pinMode(left, OUTPUT);
pinMode(Save, OUTPUT);
pinMode(Start, OUTPUT);
pinMode(Stop,OUTPUT);
pinMode(Estop,OUTPUT);
// set this as an input pin
pinMode(Sensor,INPUT);
vw_rx_start(); // Start the receiver PLL running
Serial.begin(9600); // serial is used for dubugging purposes only
Serial.print("starting up"); // print starting up to the serial monitor
//enterspeech command here to say "timbot online

43
}
byte ssr[500];//define a character string
void loop()
{ // wait mode
uint8_t buf[VW_MAX_MESSAGE_LEN];
uint8_t buflen = VW_MAX_MESSAGE_LEN;
int i;
}
if (x == 6){ // if x is 6 switch the Mode1 pin to HIGH
digitalWrite(Mode2, LOW); //safety precaussion
}
if (x == 7) { //if x is 7 switch the mode2 pin to HIGH
digitalWrite(Mode1, LOW); // safety precaussion
}
while (digitalRead(Sensor) == LOW & digitalRead(Mode1) == LOW & digitalRead(Mode2) == LOW) {
// if the sensoris detecting something and in wait mode
if (Wspeech == 0) {
SpeechSynthesis.buf_init(ssr); //initialize the buff
SpeechSynthesis.English(ssr,6,"Starting up"); // say greetings,I'm Timbot 53
delay(2000); // place a delay to keep it from speaking during startup

44
Wspeech = 1;
}
}
if (digitalRead(Sensor) == LOW & Wspeech == 1) { // if sensordetects something and Wspeech is 0
SpeechSynthesis.English(ssr,6,"Greetings, I'M Timboat 53");// say greetings,I'm Timbot 53
delay(6000);
}
}
if (digitalRead(Sensor) == LOW & Wspeech == 2) { // if object detected wait
SpeechSynthesis.English(ssr,6,"Iwas cri Atted as A robotics project by students N thE engineering department");
// talks about itself
while (Wspeech == 2) { // wait for it to finish talking
delay(9000);
}
}
if (digitalRead(Sensor) == LOW & Wspeech == 3) { // if object is detected speakagain

45
SpeechSynthesis.English(ssr,6,"if U would like to learn About robotics.talk to the engineering
department");//
SpeechSynthesis.Espeaking(0,0,4,ssr);//Executive commands above, "0" is synthesis command; "0" select
voice; "4" speech function
delay(10000);
}
}
}
while(digitalRead(Mode1) == HIGH) { // manual mode
int i;
}
if (x == 2){
Serial.print("forward"); // used for debugging
}
else if (x == 3){
Serial.print("Backward"); //for debugging

46
}
else if (x == 4){
Serial.print("left"); // for debuggint
digitalWrite(left, HIGH); //tell the motors tp turn left
}
else if (x == 5){
Serial.print("right"); // for debugging
digitalWrite(right, HIGH); //tell the motors to turn right
}
else {
Serial.print("stop"); // for debugging
}

47
SpeechSynthesis.English(ssr,6,"Greetings, I'M Timboat 53");// say greetings, I'm Timbot 53
}
if (x == 10) { //speech command 2
SpeechSynthesis.English(ssr,6,"I was cri Atted as A graduation project.");//
SpeechSynthesis.English(ssr,6,"by A group of students Nthe engineering program");//
}
SpeechSynthesis.English(ssr,4,"5");//volume in grade
SpeechSynthesis.English(ssr,6,"if U would like to learn About robotics talk to the engineering department");
// invites people to look at the engineering table on ap day
}
if (x == 8) { // enter wait mode
}
Serial.println();
}
/* because this mode is not currently working correctly it has been disabled

48
while (digitalRead(Mode2) == HIGH) { // Sentry Mode
int i;
x = buflen; // this is taking the variable 'x' and setting it equal to the byte length of sent message.
}
while (digitalRead(Start) == HIGH) { // run autonomusly
int i;
x = buflen; // this is taking the variable 'x' and setting it equal to the byte length of sent data.
}
}
if (digitalRead(Sensor) == HIGH) { // reset the stop pin if the sensoris high
digitalWrite(Stop, LOW);
}
while (digitalRead(Sensor) == LOW) { // during sentry mode stop when the sensorpin is low
digitalWrite(Stop, HIGH);
int i;

49
x = buflen; // this is taking the variable 'x' and setting it equal to the byte length of sent data
}
}
}
if (x == 10) { // if stop is pushed
digitalWrite(Stop, HIGH); // tell the robot to stop
digitalWrite(Start, LOW); // tell the robot to exit movement loop
}
}
// run this while start is low
if (x == 9) { // tell the robot to drive autonomusly
digitalWrite(Start, HIGH); // begin moving along the saved path
digitalWrite(Stop, LOW); //reset stop pin
}
if (x == 10) { // tells the robot to stop moving
digitalWrite(Start, LOW); // reset the start pin
digitalWrite(Stop, HIGH); // send the signal to stop
digitalWrite(Stop, LOW); // reset the stop pin
}
if (x == 4) { // tells the robot to save the current position
digitalWrite(Save, HIGH);
delay(500);
digitalWrite(Save, LOW);

50
}
if (x == 2){
}
else if (x == 3){
}
else {
}
if (x == 8) { // exit sentry mode
}
}*/
}

51
Remote Control Transmitter Code
// include the library code:
#include <Wire.h>
#include <Adafruit_RGBLCDShield.h>
#include <utility/Adafruit_MCP23017.h>
// Module KY023
// For more info see http://tkkrlab.nl/wiki/Arduino_KY-023_XY-axis_joystick_module
int JoyStick_X = A0; // x
int JoyStick_Y = A1; // y
int JoyStick_Z = 4; // key
#include <VirtualWire.h>
const int led_pin = 11;
const int transmit_pin = 12;
const int receive_pin = 2;
const int transmit_en_pin = 3;
int Estop = 5; // Estop is the emergency stop in sentry mode and the speed adjustment in manual mode
int command = 8;
/* the variable command will be used to change the message that is sent to the robot. the messages will be
commands */
int Start = 0; // used to toggle start in sentry mode
int Stop = 0; // used to toggle stop in sentry mode
// The shield uses the I2C SCL and SDA pins. On classic Arduinos
// this is Analog 4 and 5 so you can't use those for analogRead() anymore
// However, you can connect other I2C sensors to the I2C bus and share
// the I2C bus.
Adafruit_RGBLCDShield lcd = Adafruit_RGBLCDShield();
// These #defines make it easy to set the backlight color
#define RED 0x1

52
#define YELLOW 0x3
#define GREEN 0x2
#define TEAL 0x6
#define BLUE 0x4
#define VIOLET 0x5
#define WHITE 0x7
int Mode = 0;
/* this is to determine which mode the robot is in 0 = startup or neutral, 1 = teach mode, 2 = manuel mode */
int Select = 0;
/* this is used to confirm the mode. nothing will happen until the mode has been set and the select button has been
pressed to confirm the selection 0 = false meaning a mode has not been selected and 1 = true meaning the a mode
has been selected */
// Saying 1,2&3 are used to select which speech option you want the robot to say
int Saying1 = 0;
int Saying2 = 0;
int Saying3 = 0;
void setup(){
Serial.begin(9600); // Debugging output
lcd.begin(16, 2); // set up the LCD's number of columns and rows:
lcd.print("Starting up"); // a start up message so that you know that it is on
lcd.setBacklight(WHITE); //set the backlight color to white
delay(1500); //1.5 second delay
lcd.clear(); // clear lcd screen
lcd.print("Select an"); //print message
lcd.setCursor(0,1); //write on the second line of the lcd screen
lcd.print("Opperation"); // print message
pinMode (JoyStick_X, INPUT);
pinMode (JoyStick_Y, INPUT);

53
pinMode (JoyStick_Z, INPUT_PULLUP);
pinMode (Estop, INPUT); // reads wether it is high or low
vw_set_tx_pin(transmit_pin);
vw_set_ptt_pin(transmit_en_pin);
}
uint8_t i=0;
byte count = 1;
void loop() {
uint8_t buttons = lcd.readButtons();
if (buttons){ //if a button is pushed first clear the screan
lcd.clear();
lcd.setCursor(0,0); //write on the first line of the lcd screen
if (buttons & BUTTON_UP) { // this is used as a mode select button
lcd.print("Sentry Mode "); // tells you which mode you've selected
lcd.setBacklight(TEAL);
// this color is so that you will have anotherway of knowing which mode you are in
Mode = 1; //set mode to = 1
Select = 0;
// this is so that the systemwill not change modes if you push select before selecting mode
}
if (buttons & BUTTON_RIGHT) { // this is the second mode button
lcd.print("Manual Mode");
lcd.setBacklight(VIOLET); // this color will be associated with manuel mode
Mode = 2; //set the mode = 2

54
Select = 0;
// this is so that the systemwill not change modes if you push select before selecting mode
}
if (buttons & BUTTON_SELECT) {
lcd.clear(); //clear lcd screen
Select = 1; // set select to = 1
delay(400); // .4 second delay
}
while(Mode == 1 & Select == 1) { //sentry mode
if (command == 8){
command = 7; // command 7 tells the robot to enter sentry mode
lcd.clear();
lcd.setCursor(0,0); //write on the first line of the lcd screen
lcd.print("move to");
lcd.setCursor(0,1);
lcd.print("position ");
Start = 0; // reset Start
Stop = 0; // reset Stop
char msg[7] = {5}; // the message that is being sent
digitalWrite(led_pin, HIGH); // Flash a light to show transmitting
vw_send((uint8_t *)msg, command);
// sends a message and tells the reciever how many bytes of data the message is
vw_wait_tx(); // Wait until the whole message is gone
digitalWrite(led_pin, LOW);
delay(10);
command = 1; // reset command
}
int x,y,z; // set x,y and z as integers

55
x = analogRead (JoyStick_X); //read x input
y = analogRead (JoyStick_Y); //read y input
uint8_t buttons =lcd.readButtons(); // tells the controller to read the button inputs
if (buttons & BUTTON_SELECT) {
lcd.clear();
lcd.setBacklight(TEAL);
lcd.setCursor(0,0);
lcd.print("position");
lcd.setCursor(0,1);
lcd.print("saved");
delay(1000);
command = 4; //tell the robot to save the position
lcd.clear();
}
if (y >= 600 & x <= 400 & x >= 300) {
Serial.print("move up");
command = 2; // set command equal to 2
Start = 0; // reset start when moving
Stop = 0; // reset Stop
}
if (y <= 50 & x <= 400 & x >= 300) {
Serial.print("move down");
Start = 0; // reset start when moving
Stop = 0; //reset stop
}
if (buttons & BUTTON_LEFT) { // tell the robot to start moving
lcd.clear();

56
lcd.setCursor(0,0); // write on the first line of the lcd screen
lcd.setBacklight(GREEN); //change the backlight to green
lcd.print("start");
delay(1000);
Start = 1; // set start to 1
Stop = 0; // reset stop
}
if (buttons & BUTTON_DOWN & Stop == 0) { // tell the robot to stop moving
lcd.clear();
lcd.setBacklight(RED); //change the backlight to green
lcd.print("stop");
delay(500);
Stop = 1;
Start = 0; // reset Start
}
while (Start == 1) { // require the user to push start twice to confirm the command
uint8_t buttons = lcd.readButtons(); // tells the controller to read the button inputs
if (buttons & BUTTON_SELECT & Start == 1 & Stop != 1) {
lcd.clear();
lcd.print("starting"); // writes starting to the lcd screen
delay(500);
command = 9;

57
delay(10);
command = 1; // reset command
lcd.clear();
lcd.print("Running"); // tells the userthat the robot is running
}
if (buttons & BUTTON_DOWN) { // tell the robot to stop moving
lcd.clear();
lcd.setBacklight(RED); //change the backlight to green
lcd.print("stop");
delay(500);
Stop = 1;
}
/*if (digitalRead(Estop) == HIGH) {
command = 8; // tell the robot to exit sentry mode immediatly
delay(10);
Mode = 0; // exit sentry mode immediatly
Start = 0; // exit the autonomus loop
lcd.print("shutting down");
lcd.clear(); // clear the lcd screen

58
lcd.print("Select an"); // write "Select"
lcd.setCursor(0,1); // write on the second line of the lcd screen
lcd.print("Operation"); // write "Operation"
} */
if (buttons & BUTTON_SELECT & Stop == 1) {
// require the user to push stop twice to confirm the command
lcd.clear();
lcd.print("stoping");
command = 10;
delay(1000);
command = 1; // to keep for resending the command
Start = 0; // reset start
lcd.clear(); // reset the lcd screen
lcd.setBacklight(TEAL); //set the backlight color to white
lcd.print("Standing by"); // write "Select"
}
}
/*if (digitalRead(Estop) == HIGH) { //stop immediatly when this button is pushed
command = 8; // tell the robot to exit sentry mode immediatly

59
digitalWrite(led_pin, HIGH); // Flash a light to showtransmitting
delay(10);
Mode = 0; // exit sentry mode immediatly
lcd.print("shutting down");
}*/
delay(10);
command = 1; // this is reseting command so that opperations will not be repeated accidentally
if ( buttons &BUTTON_UP) {
Mode = 0; // set mode to zero. exiting the current mode

60
lcd.print("Exiting"); // write "exiting"
lcd.print("Sentry mode"); // write "sentry mode"
delay(1500); // 1.5 second delay
lcd.clear(); //clear lcd screen
command = 8; // set command = 8 this is to tell the robot to enter wait mode
}
}
while(Mode == 2 & Select == 1) { //manual mode
uint8_t buttons = lcd.readButtons();
int x, y, z;
x = analogRead (JoyStick_X);
y = analogRead (JoyStick_Y);
z = digitalRead (JoyStick_Z);
if (command == 8) {
command = 6; // tell the robot to enter manual mode

61
vw_send((uint8_t *)msg, command); // sends a message and tells the reciever how many bytes of data the
message is
delay(10);
command = 1; // set command to one so that command operations are not repeated accidentally
// so that it only prints this the first time
lcd.setCursor(0,0); // print on the first line of the lcd screen
lcd.print("Manual Control"); //print "manual control" on the lcd screen
lcd.setCursor(0,1); // print on the second line of the lcd screen
lcd.print("Activated"); // print "activated" on the lcd screen
}
if (y >= 600 & x <= 400 & x >= 300) {
Serial.print("move up");
}
if (y <= 50 & x <= 400 & x >= 300) {
Serial.print("move down");
}
if (x <= 50 & y <= 400 & y >= 300) {
Serial.print("move left");
}
if(x >= 600 & y <= 400 & y >= 300) {
Serial.print("move right");
}

62
if (buttons & BUTTON_UP) {
Saying1 = 1; // set saying1 = 1 and reset the others
Saying2 = 0;
Saying3 = 0;
lcd.setCursor(0,0); // write on the first line
lcd.print("Robot Speech 1"); // tells the user which speech option he has selected
lcd.setCursor(0,1); // write ont the second line
lcd.print("greeting"); // tell the userwhat the robot will say
delay(100); // delay for 100 miliseconds
}
if (buttons & BUTTON_LEFT) {
Saying1 = 0;
Saying3 = 0;
lcd.print("Introduction"); // tell the user what the robot will say
}
if (buttons & BUTTON_DOWN) {
Saying1 = 0;
Saying2 = 0;

63
lcd.print("Move Please"); // tell the userwhat the robot will say
}
if (buttons & BUTTON_SELECT) { // select button is used to confirm button commands
if (Saying1 == 1) {
command = 9; // tell the robot to say the first speech option
}
else if (Saying2 == 1) {
command = 10; // tell the robot to say the second speech option
}
else if (Saying3 == 1) {
command = 11; // tell the robot to say the third speech option
}
Saying1 = 0; //reset so that the command is not repeated by accident
lcd.setCursor(0,0); // print on the first line of the lcd screen
lcd.print("Manual Control"); //print "manual control" on the lcd screen
lcd.setCursor(0,1); // print on the second line of the lcd screen
lcd.print("Activated"); // print "activated" on the lcd screen
}
Serial.println(); //go to the next line of the serial monitor

64
delay(10);
command = 1;
// set command to one so that command operations are not repeated accidentally
if (buttons & BUTTON_RIGHT) { //exit manual mode
Mode = 0;
command = 8; //set command = 8 THIS is the reset mode command
lcd.clear();
lcd.setCursor(0,0);
lcd.print("Exiting");
lcd.setCursor(0,1);
lcd.print("Manual Mode");
delay(10); // 10 milisecond delay
delay(1500); // 1.5 second delay
lcd.clear();
}
}
}
}

Capstone Project Report 2016 final

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