S17: Sphero Droid - Revision history

Proj user11: /* Project Source Code */

2017-07-11T19:03:20Z

‎Project Source Code

2017-07-11T18:54:51Z

‎Project Source Code

2017-06-02T01:55:01Z

‎Grading Criteria

2017-05-25T23:37:57Z

‎Project Video

2017-05-25T23:15:57Z

‎Team Members & Responsibilities

2017-05-25T23:14:53Z

‎System Block diagram

2017-05-25T23:06:49Z

‎Project Video

2017-05-25T23:06:39Z

‎Motors

2017-05-25T23:06:25Z

‎Conclusion

2017-05-25T22:54:06Z

‎Conclusion

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 === Project Source Code ===
-*  [https://github.com/SushmaNagaraj/Sphericalrobot SpheroDroid Github Link]
+*  [https://github.com/SushmaNagaraj/Sphericalrobot/tree/Final_Master_branch/Final_Master_branch SpheroDroid Github Link]
 == '''References''' ==

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 === Project Source Code ===
-*  [https://github.com/SushmaNagaraj/SpheroDroid/tree/Final_Master_branch/Final_Master_branch SpheroDroid Github Link]
+*  [https://github.com/SushmaNagaraj/Sphericalrobot SpheroDroid Github Link]
 == '''References''' ==

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-=== Grading Criteria ===
 [[File:CmpE244_S17_SpheroDroid_Botview.gif|600px|thumb|center|Sphero Droid]]
 === Abstract ===

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 === Project Video ===
-. Final project video -
+. Final project video - https://youtu.be/8crZVj166tY
 . Sensor and motor testing - https://youtu.be/_Tye2R-DpHY
 . First Indoor run (checking mechanical structure) - https://youtu.be/JykHXq53Ipg
 === Project Source Code ===

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 === Team Members & Responsibilities ===
 *  <font color="clouds"> [https://www.linkedin.com/in/harshitha-bura-4926727a/ Harshitha Bura]
 ** GPS and Temperature Sensor<br>

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 == '''Design and Implementation''' ==
 === '''System Block diagram''' ===
-The Sphero Droid contains ultrasonic, motors, GPS, Bluetooth as the main modules of communication. This is illustrated in the image below. Robot is controlled and navigated via a load which pulls it down and wheels which touch the ball from within. This will facilitate the ball movement.
+The Sphero Droid contains ultrasonic, motors, GPS, Bluetooth as the main modules of communication. This is illustrated in the image below. The robot is controlled and navigated via a load which pulls it down and wheels which touch the ball from within. This will facilitate the ball movement.
 {|
-|[[File:CmpE244_S17_SpheroDroid_Bot_modules.JPG|left|600px|thumb|Robot interface]]
+|[[File:CmpE244_S17_SpheroDroid_Bot_modules.JPG|left|500px|thumb|Robot interface]]
+|
+|

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 The DC motors used in the project are 100 RPM low-cost single shaft straight geared motors. They are suitable for lightweight robots that do not require high power or torque.<br> The DC motors are connected to the wheels which are in contact with the base of the ball. The DC motors are driven by a driver module which controls the motor direction and speed.
 {|
-|||||||||||||||||||||||||||||||||||[[File:CmpE244_S17_SpheroDroid_motors.jpg|left|200px|thumb|Plastic geared motor]]
+|[[File:CmpE244_S17_SpheroDroid_motors.jpg|left|200px|thumb|Plastic geared motor]]
 |[[File:CmpE244_S17_SpheroDroid_Motor_Driver.JPG|center|400px|thumb|Driver module]]
 |[[File:CmpE244_S17_SpheroDroid_Motors-Motor_Driver.JPG|right|500px|thumb|Control inputs of driver module]]

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 == '''Conclusion''' ==
-We have successfully designed and implemented an autonomous spherical robot. This project has helped us analyze many aspects of FreeRTOS concepts like prioritizing tasks and using semaphore and mutex for sd card reading/writing. We also learnt how to implement our own communication protocol drivers such as UART and I2C. Even though the hardware implementation like Unbalanced weight distribution and unstable platform was a bigger challenge, we were able to resolve it by aligning the servo motor weight for smooth locomotion.
+We have successfully designed and implemented an autonomous spherical robot. This project has helped us understand the implementation of FreeRTOS concepts like prioritizing tasks and using semaphore and mutex for SD card reading and writing. We learned to implement our own communication protocol drivers such as UART and I2C. Even though the hardware implementation was tedious and challenges like unbalanced weight distribution and unstable platform took some time to resolve, it was all an overwhelming learning experience.
 === Project Video ===