UTA014-Engineering Design-II
Bronze Challenge
What is Bronze Challenge ?
Single buggy move around track at least twice in clockwise
direction, under full supervisory control (wireless
communication). Buggy Can detect an obstacle. Parks safely.
Prints state of the track and buggy at each gantry stop.
Functionality required for Bronze
Normal line following on buggy track through wireless
communication using Zig-bee-communication
Normal line follow using IR-sensor.
Detection of obstacle through ultrasonic sensor.
(buggy should stop at each gantry for 1-second and
then continues its motion along the path).
Gantry detection through receiver.
Cover at least two circular path along the outer buggy
track.
Parking the buggy into parking zone.
Hardware Structure
Code for Normal Line following using IR-Sensor
void gantry()
{
int r1=digitalRead(t1);
int r2=digitalRead(t2);
if(r1==LOW&&r2==LOW)
{
digitalWrite(pin5,HIGH);
digitalWrite(pin6,LOW);
digitalWrite(pin7,LOW);
digitalWrite(pin8,HIGH);
}
if(r1==LOW&&r2==HIGH)
{
digitalWrite(pin5,LOW);
digitalWrite(pin6,LOW);
digitalWrite(pin7,HIGH);
digitalWrite(pin8,LOW);
}
if(r1==HIGH&&r2==LOW)
{
digitalWrite(pin5,HIGH);
digitalWrite(pin6,LOW);
digitalWrite(pin7,LOW);
digitalWrite(pin8,LOW);
}
if(r1==HIGH&&r2==HIGH)
{
digitalWrite(pin5,HIGH);
digitalWrite(pin6,LOW);
digitalWrite(pin7,LOW);
digitalWrite(pin8,HIGH);
}
Code for Ultrasonic
void detectObstacle()
{
delay(50);
unsigned int uS = sonar.ping_cm();
unsigned int distanceCm;
pinMode(ECHO_PIN,OUTPUT);
digitalWrite(ECHO_PIN,LOW);
pinMode(ECHO_PIN,INPUT);
//Serial.print("Ping: ");
//Serial.print(distanceCm);
//Serial.println("cm");
if((distanceCm<15) && (distanceCm>0))
{
stopBuggy();
delay(1000);
}
}
Code for Xbee
if(flag==0)
{
if (Serial.available() > 0)
{
char s = Serial.read();
switch (s) {
case 'G':
{
flag=1;
}
}
Gantry detection code
if (digitalRead(irPin)==HIGH)
{
StartTime = millis();
d = pulseIn(irPin,HIGH);
if(d > 500 and d < 1500)
{
//Serial.println(d);
Serial.println("Gantry: 1");
stopBuggy();
delay(1000);
}
else if (d> 1500 and d < 2500)
{
// Serial.println(d);
Serial.println("Gantry: 2");
stopBuggy();
delay(1000);
}
else if (d > 2500 and d < 3500)
{
// Serial.println(d);
Serial.println("Gantry: 3");
gantryCounter=gantryCounter+1;
Serial.print("The gantry Counter is: ");
Serial.println(gantryCounter);
stopBuggy();
delay(1000);
}
else {
//Serial.println(d);
Serial.println("Gantry: Unknown");
}
leftBlind () for Parking
void leftBlind()
{
int r2=digitalRead(t2);
if(r2==LOW)
{
digitalWrite(pin5,LOW);
digitalWrite(pin6,LOW);
digitalWrite(pin7,HIGH);
digitalWrite(pin8,LOW);
}
if(2==HIGH)
{
digitalWrite(pin5,HIGH);
digitalWrite(pin6,LOW);
digitalWrite(pin7,LOW);
digitalWrite(pin8,HIGH);
}
Code for Parking
if (flag==3)
{
//gantryParking();
CurrentTimeG=millis();
ElapsedTimeG = CurrentTimeG-StartTimeG;
if(ElapsedTimeG<2500)
{
flag=3;
leftBlind();
}
if(ElapsedTimeG>2500 && ElapsedTimeG<6500)
{
flag=3;
normalLineFollow();
}
if(ElapsedTimeG>6500)
{
stopBuggy();
Serial.print("Buggy:1 Parked");
//Serial.println(ElapsedTimeG);
delay(2000);
flag=-1;
}
}
}
Bronze code
Code link: it will shared through Google drive link
Bronze link: provide on course website
Thanks
