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https://github.com/jasperabez/trackerboi

The ultimate rechargeable weeding robot for all applications
https://github.com/jasperabez/trackerboi

micropython

Last synced: 15 days ago
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The ultimate rechargeable weeding robot for all applications

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README 

        
# Engineering Realisation - TrackerBot



**Demo Video:**



[![alt text](http://img.youtube.com/vi/un4iWNQuDIo/0.jpg)](http://www.youtube.com/watch?v=un4iWNQuDIo "title")



**Final Realisation**



TrackerBot : The ultimate rechargeable weeding robot for all applications



Gardening | Farming | Maintenance



With TrackerBot, gardeners can now perform weeding without the monotony and frustration of weeding while environmentalists can breathe easily with a chemical-free solution to weeding.



1) IMPROVE WORKING CONDITIONS - TrackerBot allows remote weeding to reduce workload and danger



2) LOWER COSTS - TrackerBot is reduced pesticide and maintenance costs as it weeds mechanically



3) FEWER MAINTENANCE WORRIES - The robot is entirely electric, so you no longer need to spend time on the maintaining tools



Our Team: Jabez Tho, Hans Delano, Ahmad Rifaaie, Lee Wei Juin



Mentors: Mr. Rodney Dorville and Mr. Tune Chien Jung



# Timeline



**Week 1**



* Module Intro

* Github Set-up

* Introduction to Markdown



**Week 2**



Micropython

Micro-controllers: esp32, microbit.



Types of Micropython IDE: https://thonny.org/, https://codewith.mu/



What?:



* Intepreted programming language created by Guido van Rossum

* First released in 1991

* Available in all platforms



Why?:



* code readability with its notable use of significant whitespace

* object-oriented approach

* aims to help programmers write code clear, logical code for small and large scale Project



Homework Assignment: https://github.com/weijuinlee/EA_Projects



**Week 3**



Continuous Track Vehicles:



 * Drive Wheel Motor Torque Calculations

 * Environmental assumptions



**T100**



![](images/dimensions.jpg)



Main Parameters:



 * Material: Aluminum Alloy



 * Surface treatment: sandblasting oxidation



 * Color: Black



 * Track: Engineering plastic



 * Size: About 185*200*60mm(Length*width*Height)



 * Weight: 0.65kg



 * Design load: 5kg



Motor parameters(25mm 9V 150rpm DC Motor, has hall sensor):



 * Output speed: 150±10%rpm



 * No_load Current: 200mA (Max)



 * Stall current: 4500mA(max)



 * Stall torque: 9.5kgNaN



 * Rated speed: 100±10%rpm



 * Rated torque: 3000gNaN



 * Rated Current: 1200mA (Max)



 * Noise: 56dB



 * Working voltage: 9V



 * Outside Shaft Length: 14.5mm



 * Shaft End Play: 0.05-0.50mm



 * Screw Size: M3.0



 * Dia. Of Shaft phi4mm, D3.5



 * encoder: 2 pulses/circle



Equipment List:



  1. 1 x Chassis bracket



  2. 1 x Track (pair)



  3. 2 x Driving wheels



  4. 4 x Wheel drive



  5. 1 x Motor (pair) (with encoder)



**Assembly of T100:**



  1. 



  ![](images/wheels.jpg)



  2. 



  ![](images/bolts.jpg)



  3. 



  ![](images/frames.jpg)



  4. 



  ![](images/assem1.jpg)



  5. 



  ![](images/rif.jpg)



  6. 



  ![](images/t100.jpg)



**Week 4**



Flashing of micropython on ESP32 and controlled LED: https://learn.adafruit.com/micropython-basics-blink-a-led/blink-led



![](images/esp32blink.png)






**Week 5**



ESP 32 documentation brief.



**Week 6**



Tutorial on mechanical drawing on Fusion 360.



**Week 7**



Class on Power Management.



**P = IV(W)**



**How do we measure?**



* Voltmeter in Parallel



* Current in series



* Power Meter



**Non- Evasive methods**



* Clamp Meters



* Shunts



**Rectification**



**AC-to-DC Conversion**



* 230V AC to 3.3 ~ 24 DC



  **Linear Rectification**



  * Simple, cheap



  * Losses



  * Weight



    



**Switch Mode Power Supplies**



Main Input -> Input rectifier -> Inverter "Chopper" -> Output Transformer -> Output rectifier and filter -> DC Output / Chopper Controller -> Inverter "Chopper"



#EEVblog90



**Linear Power Supply**



* Simplicity

* Quiet Operation and load-handling capacity

* Low cost

* Range of application

* Number of Outputs

* Average Efficiency



**Switch Mode Power Supply**



* High Efficiency

* Low  cost and size

* Complicated design

* Cost compared with Linear Rectification



**Typical DC Power Supply**



* Large mains transformer provides isolation

* Rectifier converts AC to DC using diodes

* Filter circuits (using capacitors) remove variations/ ripple in the signal producing a smooth DC

* Regulators maintain a constant voltage level



**Series Transistor Regulator Circuit**



* Uses transistor and DC biasing to set output voltage

* Emitter Follower circuit has unity voltage gain, hence with suitable biasing a stable output voltage can be obtained

* Input voltage must be sufficiently high enough to get the desired output voltage (approx. 0.7V is dropped across base and emitter terminals)

* Problems

  * Heat from power dissipation(I*V)

  * Only applicable in low power output applications

  * Weight of isolation transformer



Examples: Travel adapters



**Switch Mode Power Supplies**



* SMPS becoming the more common ac-to-dc supply

* Use a semiconductor switching technique

* Consists of a power switching stage and a control circuit with output filtration

* Advantages:

  * Higher efficiency with low power dissipation

  * Can offer step-up or step-down and negation of input voltage



**Buck Switch Mode Power Supply**



* Efficiently reduce DC voltage from a higher voltage to a lower one

* Does not change the polarity

* A DC-to-DC converter and a switching regulator

* Boost converter needed to boost voltage higher



**Application of SMPS**



* Buck Converters

  * Efficient method to convert High DC to Low DC voltages

  * Cost effective



* Boost Converters

  * Converts Low DC to High DC voltages

  * Most commonly used in Li-ion battery banks (3.74V to 5V)