robot-bobot

Radio-controlled robot for passing an obstacle course. Bot passed 3 out of 4 obstacles in 5.34 minutes

• Marshmallow ocean
• Foggy mountain
• Silent cave
• Deadly balloon

Triangular wheels were used instead of round ones.
For better traction, thermal glue was applied along the wheels

A video of the robot popping the balloon

video.mp4

Components used:

• NRF;
• NRF+;
• Motor Shield;
• Arduino Leonardo/Amperka Iskra Neo;
• Arduino Pro Micro;
• x2 DC motor;
• x2 battery 18650
• joystick;
• RGB LED matrix 4x4;
• Powerbank.

Libraries installed:

• RF24 by TMRh20;
• NeoPixel by Adafruit.

Bot code:

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Adafruit_NeoPixel.h>

#define SPEED_1      5 
#define DIR_1        4
 
#define SPEED_2      6
#define DIR_2        7

#define MATRIX_PIN    0
#define LED_COUNT 16

Adafruit_NeoPixel matrix = Adafruit_NeoPixel(LED_COUNT, MATRIX_PIN, NEO_GRB + NEO_KHZ800);

RF24 radio(9, 10);
int data[2];

 
void setup() {
  for (int i = 4; i < 8; i++) {     
    pinMode(i, OUTPUT);
  }

 matrix.begin();    
 
  Serial.begin(9600);
  
  radio.begin();
  radio.setChannel(15);
  radio.setDataRate(RF24_1MBPS);
  radio.setPALevel(RF24_PA_HIGH);
  radio.openReadingPipe(0, 0x1234567890LL);
  radio.startListening();
} 
 
void loop() {

  if (radio.available()){
    radio.read(&data, sizeof(data));

    if (data[0] > 900 ) {
      digitalWrite (DIR_1, LOW);
      analogWrite(SPEED_1, 200);  
      digitalWrite (DIR_2, HIGH);
      analogWrite(SPEED_2, 200);  
    }
    
    else if (data[0] < 200) {
      digitalWrite(DIR_1, HIGH);
      analogWrite(SPEED_1, 200);
      digitalWrite(DIR_2, LOW);
      analogWrite(SPEED_2, 200);
    }
    else if (data[1] < 200) {
      digitalWrite(DIR_2, HIGH);
      analogWrite(SPEED_2, 200);
      digitalWrite(DIR_1, HIGH);
      analogWrite(SPEED_1, 200);
    }

    else if (data[1] > 900) {
      digitalWrite(DIR_2, LOW);
      analogWrite(SPEED_2, 200);  
      digitalWrite(DIR_1, LOW);
      analogWrite(SPEED_1, 200); 
    }
    else {  
      digitalWrite(DIR_1, HIGH);
      analogWrite(SPEED_1, 0);
      digitalWrite(DIR_2, HIGH);
      analogWrite(SPEED_2, 0);  
    }
    Serial.println(data[0]);
    Serial.println(data[1]);   
  }

  for (int i = 0; i < matrix.numPixels(); i++) {
        matrix.setPixelColor(i, 221, 250, 5);
        matrix.show();  
    }

}

Joystick code:

#include <SPI.h> //RF24 by TMRh20
#include <nRF24L01.h>
#include <RF24.h>

#define VRx A0
#define VRy A1

RF24 radio(9, 10);
int data[2];

void setup(){
   radio.begin();
  radio.setChannel(15);
  radio.setDataRate(RF24_1MBPS);
  radio.setPALevel(RF24_PA_HIGH);
  radio.openWritingPipe(0x1234567890LL);
  radio.stopListening();
}

void loop(){

   int valx = analogRead (VRx);
   int valy = analogRead (VRy);
   data[0] = valx;
   data[1] = valy;

  radio.write(&data, sizeof(data));
  delay(10);
  Serial.println(data[0]);
  Serial.println(data[1]);
}