https://github.com/an4b4515/ev3-robotics

A program for controlling a simple EV3-powered robot to complete a challenge autonomously ©️ 🤖
https://github.com/an4b4515/ev3-robotics

automation c-language ev3 microcontroller mindstorms robotc robotics

Last synced: 11 days ago
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A program for controlling a simple EV3-powered robot to complete a challenge autonomously ©️ 🤖

• Host: GitHub
• URL: https://github.com/an4b4515/ev3-robotics
• Owner: An4b4515
• License: mit
• Created: 2024-08-12T14:17:48.000Z (6 months ago)
• Default Branch: main
• Last Pushed: 2024-08-12T14:19:30.000Z (6 months ago)
• Last Synced: 2025-01-20T19:14:22.907Z (11 days ago)
• Topics: automation, c-language, ev3, microcontroller, mindstorms, robotc, robotics
• Language: C
• Homepage:
• Size: 5.86 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Task

The task of this project is to design and program a mobile robot (EV3 microcontroller)

capable of navigating a preset arena as depicted below, locate and go grab an item placed randomly in one of the three target locations.

![robot arena diagram](https://raw.githubusercontent.com/An4b4515/MD_assets/main/EV3-robotics/arena.jpg "arena diagram")

# Robot Design

## Sensors

The robot utilizes 3 sensors in total:

1. **Ultrasonic** → Measures the distance between arena objects; knowing when to stop.

2. **Color** → For following the arena's line.

3. **Gyro** → For making precise degree turns.

The program combines the use of all those sensors to solve more complex problems such as detecting where the item is located in the arena.

## Movement

[Tracks](https://www.lego.com/cdn/product-assets/product.bi.additional.extra.pdf/31313_X_TRACK3R.pdf "build instructions") have been used for the robot's movement cause of their ability to make precise turns as well as making the robot more stable; preventing it from getting off track caused by arena bumps.

![robot tracks picture](https://raw.githubusercontent.com/An4b4515/MD_assets/main/EV3-robotics/robot_tracks.jpg "robot tracks")

## Claw | Grabbing Mechanism

The [claw](https://youtu.be/PQI66KsRsqM "build guide") utilizes mechanical engineering concepts allowing both the grab and lifting mechanisms to be performed using a single motor. The lift repositioning is crucial in giving the ultrasonic sensor a clear view of the arena which is the robot's primary navigational eyes. Furthermore, rubber bands have been added for better grip.

![robot claw picture](https://raw.githubusercontent.com/An4b4515/MD_assets/main/EV3-robotics/robot_claw.jpg "robot tracks")

## Line Following & Weight Support

The color sensor for line following has been placed directly below-in the center of the robot. This placement minimizes the influence of ambient light and shadow changes on sensor readings.

Lastly, a metal *ball caster* has been added to the grabber and ultrasonic holder for the robot not to lean forward due to the weight concentration.

![robot color-sensor picture](https://raw.githubusercontent.com/An4b4515/MD_assets/main/EV3-robotics/robot_color.png "color sensor")

# Logic

## Flowchart

![program flowchart diagram](https://raw.githubusercontent.com/An4b4515/MD_assets/main/EV3-robotics/flowchart.png "flowchart diagram")

## Item Scan Location

The robot scans the location of the item in the following point in the arena:

![robot scan location](https://raw.githubusercontent.com/An4b4515/MD_assets/main/EV3-robotics/scan_location.jpg "scan location")