Rover Control and Sensor Dashboard

Table of Contents

• Project Description
• Components
• MQTT Communication
• Project Structure
• Getting Started
• Usage
• Contributing
• License

Project Description

The Rover Control and Sensor Dashboard project is designed to provide remote control of a rover and real-time sensor data monitoring. This project is divided into several components, including rover control, sensor data collection, and a web-based dashboard for monitoring sensor data and controlling the rover.

Components

The project consists of the following major components:

Arduino Programs

1. HCSR04 & MPU6050 Sensor Program (arduino/hcsr04&mpu6050/main):

   • Arduino program to interface with HCSR04 ultrasonic and MPU6050 sensors.
   • Arduino Code

2. Rover Program (arduino/rover_program/main):

   • Arduino program for rover motor control and ultrasonic sensor interface.
   • Arduino Code

3. Ultrasonic Sensor Program (arduino/ultrasonic_sensor/main):

   • Arduino program for standalone ultrasonic sensor.
   • Arduino Code

Controller

1. Autonomous Rover Controller (controller/autonomous):

   • Python script for autonomous rover control using sensor data.
   • Python Code

2. Terminal Rover Controller (controller/terminal):

   • Python script for rover control via the terminal.
   • Python Code

3. Web-Based Rover Controller (controller/web):

   • Flask-based web dashboard for controlling the rover and monitoring sensor data.
   • Python Code
   • HTML Template

Rover Dashboard

1. Web-Based Sensor Dashboard (dashboard):
   • Flask-based web dashboard for real-time monitoring of sensor data.
   • Python Code
   • CSS Styles
   • JavaScript for WebSocket
   • HTML Template

ESP8266 MQTT Client

1. ESP8266 MQTT Client (esp8266/main):
   • ESP8266 Arduino program for MQTT communication.
   • Arduino Code

Navigation System

1. Navigation System (navigation_system):
   • Python scripts for rover navigation, mapping, and tracking.
   • Python Code

Raspberry Pi MQTT Client

1. Raspberry Pi MQTT Client (rasp/main):
   • Python scripts for rover control, sensor data collection, and MQTT communication.
   • Python Code
   • Motor Control
   • MQTT Client
   • Rover Control
   • Rover Startup
   • Sensor Data Collection

MQTT Communication

MQTT (Message Queuing Telemetry Transport) is used for communication between the components of this project. MQTT is a lightweight and efficient protocol for publishing and subscribing to messages.

MQTT Topics

• Controller Topic: /rover/controller

  • Used to send control commands to the rover.
  • Commands include FORWARD, BACKWARD, LEFT, RIGHT, and STOP.

• Ultrasonic Sensor Topic: /rover/sensors/ultrasonic

  • Publishes ultrasonic sensor data.
  • Includes data for the left, central, and right sensors.

• MPU6050 Sensor Topic: /rover/sensors/mpu6050

  • Publishes MPU6050 sensor data.
  • Includes acceleration and gyroscope readings, as well as temperature.

Project Structure

The project is organized into different directories and files:

tree
.
├── arduino
│   ├── hcsr04&mpu6050
│   │   └── main
│   │       ├── main.ino
│   │       ├── MPUSensor.cpp
│   │       ├── MPUSensor.h
│   │       ├── UltrasonicSensor.cpp
│   │       └── UltrasonicSensor.h
│   ├── rover_program
│   │   └── main
│   │       ├── main.ino
│   │       ├── motor_control.cpp
│   │       ├── motor_control.h
│   │       ├── ultrassonic.cpp
│   │       └── ultrassonic.h
│   └── ultrasonic_sensor
│       └── main
│           ├── main.ino
│           ├── UltrasonicSensor.cpp
│           └── UltrasonicSensor.h
├── controller
│   ├── autonomous
│   │   └── app.py
│   ├── terminal
│   │   └── main.py
│   └── web
│       ├── main.py
│       └── templates
│           └── index.html
├── dashboard
│   ├── app.py
│   ├── static
│   │   ├── css
│   │   │   └── style.css
│   │   └── js
│   │       └── socketio.js
│   └── templates
│       └── dashboard.html
├── docs
│   └── images
│       ├── rover_1.jpeg
│       └── rover.jpeg
├── esp8266
│   └── main
│       ├── Config.h
│       ├── main.ino
│       ├── MqttManager.cpp
│       ├── MqttManager.h
│       ├── WiFiManager.cpp
│       └── WiFiManager.h
├── LICENSE
├── navigation_system
│   ├── app.py
│   ├── map.py
│   └── tracker.py
├── rasp
│   └── main
│       ├── config.py
│       ├── main.py
│       ├── motor.py
│       ├── mqtt_client.py
│       ├── rover.py
│       ├── start_rover.py
│       └── start_sensors.py
└── README.md

Getting Started

Follow these steps to get started with the project:

Hardware Setup:

1. Assemble your rover with motors, sensors, and a Raspberry Pi.
2. Connect the hardware components according to your wiring diagram.

Software Installation:

1. Install the required software dependencies on your Raspberry Pi, including Python libraries and MQTT broker (e.g., Mosquitto).

Configuration:

1. Update the config.py file with your MQTT broker's host and port.

Certainly, here's the section from "Getting Started" onwards:

Running the Rover

To start the rover on the Raspberry Pi, run the following command:

python3 rasp/main/main.py

Usage

Once the components are running, you can access the web-based dashboard by opening a web browser and navigating to the Raspberry Pi's IP address on port 5000 (e.g., http://<raspberry_pi_ip>:5000).

On the dashboard, you can:

• Monitor real-time ultrasonic and MPU6050 sensor data.
• Control the rover's movement by clicking the directional buttons (Forward, Backward, Left, Right, Stop).
• Observe the rover's response to ultrasonic sensor data for obstacle avoidance.

Contributing

If you'd like to contribute to this project, please follow these steps:

1. Fork the repository on GitHub.
2. Create a new branch for your feature or bug fix.
3. Make your changes and commit them with clear and concise messages.
4. Push your changes to your fork.
5. Create a pull request to the main repository.

License

This project is licensed under the MIT License. See the LICENSE file for details.