Bergen STEM Robotics

Today, we discovered that the robot was unable to avoid an object on its right side. After spending time re-adjusting our code and checking the wiring, the robot began to function as intended. Then, we proceeded to make our program more efficient. We also attempted installing Ubuntu on a computer provided by our project leader. With Ubuntu, we can take advantage of Linux-based programs that we can use for programming and controlling the Arduino. However, the installation wasn't successful. Since we couldn't install Ubuntu, a person experienced in Linux distros recommended we install Manjaro. So we created a bootable USB drive and proceeded to install Manjaro. The process took some time, but the installation was successful.

We went back to work with the IR sensor and LED, but with a few adjustments. We added another IR sensor and LED to the robot; the first sensor to the left and the newly added sensor to the right. Since this is similar to the other time we worked with the IR sensor and LED the first time, we copied the code from our previously-written programs DetectTurnMove and SerialYunMove, and added some new code. With our new program, TwoIR_6_29_2015, the robot was able to move and avoid objects on its own. We used these figures from pages 238-239 in the book "Robotics with the Boe-Bot" as reference for wiring the LEDs and IR sensors Goal Make the robot move autonomously by adding to it a second set of sensor and LED Program written TwoIR_6_29_2015

We edited parts of the SerialYunMove sketch and replaced the batteries. The 9v battery has more power compared to the 1.5v batteries, so we used the 9V battery for troubleshooting. Unfortunately, it appeared that we gave it too much power, so we removed the 9v battery. We tried using different methods to get the Yun shield wireless network to appear, but they didn't work - plugging the robot to the laptop, using different batteries to give it more power. In the end, we replaced the batteries with unused 1.5v batteries, but it still didn't work. After a long wait, the wireless network finally appeared. We tried out the edited SerialYunMove sketch, and it was a success. The robot can now be controlled using the keyboard through a wireless network. Goal Control the robot's movements by using the computer's keyboard and the Yun Shield Programs written SerialYunMove

 For today, we took a different approach with the Yun Shield. Instead of controlling movement through a computer, we controlled the Arduino through a web app called TalkBack. This app allows us to upload a number of commands or code from any computer to the Arduino, as long as the Arduino is connected to the internet. We accomplished this by following this tutorial on controlling a light source, but there was an issue with the Yun's Shield's connectivity. The shield intermittently connected to the internet. We thought the shield might not be receiving enough voltage from the battery pack, so we replaced the AA batteries with new ones. But that didn't work. Goal Control the Yun Shield with talkback Programs written TalkBackYun SerialYunMove

We searched for tutorials to help us control the robot's movements by using the keyboard and Yun Shield. The goal to this is similar to an old sketch called DetectTurnMove, but it had to be wireless and controlled by us with the keyboard. Due to its similarities, we took some code from the DetectTurnMove sketch to the new SerialYunMove sketch. Goals Figure out how to control the robot's movements with the keyboard and Yun Shield Test the robot to move with the Yun Shield attached Programs written DetectTurnMove SerialYunMove

After noticing the display showing Fahrenheit values that were not properly converted, we looked into the code and adjusted the Celsius-to-Fahrenheit equation. Now the display emits the correct values. Next, we began working with a Dragino Yun Shield, which adds wireless capability to an attached Arduino board. With the shield and Arduino as the command center, a robot can send collected data to a computer or website through a wireless network. A computer could also control the robot's movements cable-free. Before adding such functionality, we established and tested a connection between the Arduino and our computer. To do so, we connected the computer to the Arduino through the shield's built-in, wireless network. Then we used an example program from the shield's documentation , which makes the Arduino receive information from the computer and send it back . Goal Display the temperature in degrees Fahrenheit on the LCD Figure out how to use the Yun Shield and P

Our goal for today was to utilize an LCD display. We soldered connector pins to the display. Following Tronixstuff's tutorial , we managed to display values on the LCD correctly. Then, a person well-experienced in electronics issued our group a challenge - to measure the room temperature and make the LCD show the value in degrees Fahrenheit and Celsius - with a little twist. Instead of using the temperature/humidity sensor we've used before, we had to use a thermistor. After referring to a tutorial from Adafruit , we wrote a program called ThermistorLCD and were able to display the room temperature in degrees Celsius as well as the resistance of the thermistor. Goal Try out the LCD display Use the LCD display and the thermistor to show the temperature Programs written LCD ThermistorLCD

We continued placing and soldering parts onto the board. After assembling the case and inserting the board, we finished building the clock. Goal Complete the Ice Tube Clock

Our project leader brought in an Ice Tube Clock kit for the group to imp rove its soldering skills . We followed the A dafruit  instructions on how to assemble the board together. Each person took turns soldering the parts onto the board. Only a little problem occurred, which was resolved later. The problem was that the 7805 5V regulator chip wasn't placed properly on the board. Fortunately , one member was able to de-solder the c hip . Goal Assemble the Ice Tube Clock kit

For today, we rewired the seven segment display to the digital pins of the Arduino. This is because the display only requires a digital signal of zeros and ones. Then, we programmed the display to show values 0-9 and A-F. We experimented with QTI shadow sensors with the intent of having the robot roam around a table/surface while the sensors detect the edges to prevent the robot from falling. Goals Apply the QTI sensors for the robot to detect an edge and turn away from it to prevent it from falling Figure out where the QTI sensors can be placed on the robot Get the display to countdown

We went back to the machine shop to practice soldering and were able to do it despite having a few less tools compared to yesterday. For the first part of the day, we stayed there and kept soldering until we got the hang of it. We became more used to soldering and successfully did a few wires. For the second part of the day, we returned to the Stem room to work on the robot. In the past, we had to use the serial monitor to see if the robot detected an object or not. This time, we found a 7-segment display to replace the serial monitor. We disconnected the Temperature Humidity sensor, wires, and resistor to create more room for the 7-segment display. We went back to tronixstuff because it has a tutorial involving a 7-segment display, but the tutorial required 74HC595 shift registers, which we didn't have. Because of this, we searched for a tutorial that did not need those shift registers. Eventually, we found a tutorial that met our needs. We reused some DetectTurnMove cod

Today we'll be working with Mark Balzarrete, getting an introduction to soldering and basic skills using electrical test meters for troubleshooting of problems. Going forward, we'll need these skills to help get future projects which will involve more custom, less plug and play designs working.

We looked for parts in our project leader's personal sensor kit. For most of the sensors, we looked at their datasheets online to see how each sensor functions. We were particularly interested in and tried out a temperature/humidity sensor. We connected the temperature and humidity sensor and a few wires to the robot. By uploading a pre-made sketch we found online onto the Arduino, the Arduino was able to detect the temperature and humidity within the Stem room. Then, it would write those measurements onto the computer screen (the serial monitor) every second. Programs written TempHumidity Goals Detect the temperature and humidity

Our robot was not functioning as intended. It couldn't pivot left. The servos, when told to move at the same speed, didn't move at the same speed. We replaced a resistor, thinking that would solve the problem, but to no avail. We wrote a different progam called CalibrateServos to calibrate the servos. Eventually, we found the source of the problem in our initial program, DetectTurnMove, and corrected it. Now, the robot pivots, and the servos turn at a uniform speed. We proceeded on with adding a seven segment display to the robot. With the display in place, the robot would display values for people to see ("0" if it detects an object, and "1" if it doesn't). We added touch-sensitive whiskers for improving the range of detection but removed them soon after; we found out that the infrared sensor detects at a further distance than the whiskers. Programs written CalibrateServos DetectTurnMove Goals Make the robot turn from an object when detecte

We were able to make the robot stop when it detected an object by using the Arduino servo library, but we were unable to make the robot pivot left when it sees an object in front of it.  Programs written DetectAndMove DetectAndMove2 DetectTurnMove Goal Make the robot detect while in motion Make the robot continue moving, but turn when it detects an object

Our goal for today was to have the Arduino robot detect objects in front of it while moving forward. We accomplished this by adding an infrared sensor and LED to the robot. To expand on its ability of detection, we attempted to make the robot stop when sensing an object by using Jeroendoggen's servo library. Programs written DetectObjects MoveForward

We jumped straight to working with the Arduino; we were able to get two wheels connected to continuous rotation servos to work along with the Sumo bot afterwards. There was some trouble with the Sumobot, but the problem was solved by changing some wires and a servo. After we finished with the changes, the Sumo bot was able to function.