https://github.com/sujalchoudhari/tachyonrobot

Arduino based Project
https://github.com/sujalchoudhari/tachyonrobot

arduino hc05 hcsr04 robotics sg90

Last synced: 1 day ago
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Arduino based Project

• Host: GitHub
• URL: https://github.com/sujalchoudhari/tachyonrobot
• Owner: SujalChoudhari
• License: gpl-3.0
• Created: 2023-01-28T15:10:48.000Z (almost 2 years ago)
• Default Branch: main
• Last Pushed: 2023-02-03T04:18:55.000Z (almost 2 years ago)
• Last Synced: 2023-08-10T22:09:32.910Z (over 1 year ago)
• Topics: arduino, hc05, hcsr04, robotics, sg90
• Language: C++
• Homepage:
• Size: 32.2 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Tachyon Robot

## What is Tachyon?

Tachyon is a Remote Controlled Obstacle Avoiding Robot.

It is Bluetooth Controlled, i.e. Wireless Controller. 

It uses [TachyonController](https://github.com/SujalChoudhari/TachyonController) application as a Bluetooth Controller.

*Note: Address of HC-05 is hard codded in the application, rebuild the application for personal use-cases.

## Third-party Applications

Third party Controllers are Supported as well. 

These applications are needed to be configured as per the `Constants.h` or vise versa. 

## Libraries Used

1. AFMotor.h 

2. Servo.h

## Components

1. Arduino UNO

2. L293D Motor Shield. (Four motors + 2 servos)

3. Servo Motor SG-90

4. HC-SR04 Ultrasonic Sensor

5. HC-05 Bluetooth Module

6. Chassis (4WD)

7. 4x Gear Motors + Wheels 

## Setting Up

Again only `Constants.h` file is needed to setup. As per dimentions and turning radius of the vehicle. 

You can achive personalisation.

## How does it works?

### BluetoothManager.h

Bluetooth Manager has few functions which are used to communicate between the controller and vehicle.

- `Next` method returns a character(input) if any or returns `STATE_NULL`.

- `Send` method is used to send any character to the controller.

### Constants.h

Constants.h is a simple config file which can be used to customize robot as per useage

### DetectionManager.h

Detection Manager manages the HC-SR04 Sensor. It only has one method `GetDistance` 

which returns the distance in cm.

### MotorManager.h

To manage Motors MotorManager can be used. it uses `MOTOR_` constants from Constants.h to setup motors.

It has functions to `MoveForward`, `MoveBackward`, `MoveLeft`, `MoveRight` and `Stop  which 

operates motors at max speed.

## ServoManager.h

This Class manages the servo and keeps track of the `currentAngle` of the servo motor.

It has a method `RotateTowards` which rotates towards a specific angle with respect to the body,

and not relative to current rotation angle. 

### Robot.h

Robot controls all the Managers and uses the mentioned Methods as per logic and States.

#### STATES

  Robot works on the principle of state machines. The Robot can be either of one state mentioned in  `Constants.h`.

  As per Input th switches between states and works accordingly.

Robot  `pollsInputs` and assigns the `currentState`, as per the inputs and `handleInputs` based on the current state.

Also depending upon the `currentState`, it automatically switches between states as per requirnment.