My Final Project is to make a toy Rocking Robot,which has the following functions: auto balance with two wheels, visual identity, bluetooth communication and control, voice broadcast.
Until June 12, I am complete the original project-- Autobicycle. It's main function is: auto follow, which means that when I am walking on the road , my bicycle can follow with me autonomously. From the beginning of the Fablab, I prepared for this project but at last, I gave it up because of technic problem.
So the answer to the following question is only about the Rocking Robot.
The Rocking Robot is familiar, the base is an auto balance vechile, which is very common on Taobao. And the Pixy camera is produced by CMU, which embeds the Open CV program in it. I have always wanted to be a self balancing machine , through this machine, you can master the basic principles of PID regulation, PID is a magical, but also very useful control mathod.
My Rocking robot include two seperated parts: the bottom parts is the Balanced Vechile, which main funcition is movement and keeping balance, I bought it from Taobao, which include:
The top part is the main function, it includ the following components:
Taobao is universal in China, I will buy the components from Taobao. It's very convenient and quick.
Around 1,150 RMB. The main component's cost list below:
The work of the whole project consists of Hardwre and software.
Hardware:
For the control board, the bottom part use the integrated UNO board, the top parts use 328P, I use eagle to make the 328P and mini CNC to milling it. Use SolidWorks to create the mould of the head cover, and use 3D printer to print it. Use AutoCAD to draw files and Laser to cut the wood board.
Software:
The software of the robot is a little more diffcult, the program includes:
Although I bought the Auto balanced vechile with progam. Mastering the principles of PID and how to adjust parameters are still the focus of my study. In addition, how to determine the direction and speed of the vechile by reading the value from the encoder DC motro, and to read the tilt information of the car through MPU6050 and Calman filter is also the focus of learning.
The final project can be evaluated from two aspects: First, the function, the second is the value.
Function the system and process mentioned below is really realized.
First of all, the vechile can still maintain balance after adding the upper structures; secondly, automatic tracking objects by pixy camera objects, distance broadcast, and finally through the App to control the whole Rocking Robot movement.
Value
This project will serve as a final teaching aids to inspire students' imagination and creativity. If it can get the students like, it succeeded.