This is the robot code from the Ingenium team.
The src code is an arduino sketch: Dozer.ino
- Read values received by
Bluetoothon theSerial1and deserialize them with the ArduinoJson library
switch...caseto 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.
The INO file depends of the following list of libraries:
- Bluetooth
- Arduino/SoftwareSerial: This library is built into the Arduino IDE
- bblanchon/ArduinoJson
- Mecanum
- Report
- Led
- Cherry
- StepperMotor
- Digit
- Timino
- Arduino Mega 2560
- 4 motors equipped with mecanum wheels
- HC-05 bluetooth module
- 2 servomotors MG996
- Stepper motor