S.P.A.R.T.A.N.Space Planning and Research to Analyze Nuances

S.P.A.R.T.A.N. Team Members

Cody Del Prato

Ryan Yedinak

Hesham Assabahi

Derek J. Russell

Goals of the Project● Design and build a rover to collect data samples and traverse the terrain

○ Collect and communicate data ■ Detect large changes in CO2■ Detect hot and cold temperature zones■ Detect a magnetic field■ Read RFID tags■ Communicate data to a computer and graph it

○ Traverse ramps and avoid boulders in the playing field○ Pick up data samples with a robotic arm and return them to the docking area

List of Tools and Parts:

Available:

Arduino Uno and Mega

Acrylic

Supplies Around Program

-

Bought:

Servos

Rock Crawler

Pi Camera

Battery for Pi

Servo Shield

Electromagnet

Primary Design

Secondary Design● Purchased a Rock Crawler chassis equipped with motors for movement● Mounted an acrylic body on top of chassis

○ Microcontrollers and breadboards from which we ran our sensors and servos located inside

● Attached a robotic arm made from acrylic on top of the body○ Run components on Arduino Uno○ Implemented two servos to move the arm ○ Attached an electromagnet enclosed in acrylic to retrieve data samples

● Mounted sensors on the front, back, and bottom of the rover to gather data○ Run sensors from an Arduino Mega (originally Raspberry Pi)

Control System● Turnigy 9-Channel Transmitter and Receiver used to control rover movements and arm components

○ Channel 1: Rover movement forward and backward○ Channel 2: Rover movement left and right○ Channel 4: Arm base movement left and right (20∘ each way)○ Channel 5: Arm movement up and down (0∘/45∘/90∘)○ Channel 6: Electromagnet switch (On/Off)

● Motors for rover movement attached directly into channels 1 and 2 of the receiver without adjustment● Functions for channels 4-6 adjusted in the Arduino code based on the values transmitted by the controller

Channel 4x<1100 70∘ (Full Left)1100 ≤ x < 1200 75∘

1200 ≤ x < 1300 80∘

1300 ≤ x < 1400 85∘

1400 ≤ x < 1500 90∘ (Center)1500 ≤ x < 1600 95∘

1600 ≤ x < 1700 100∘

1700 ≤ x < 1800 105∘

1800 ≤ x 110∘ (Full Right)

Channel 5 (Auxiliary-Pitch)

N (0%) x ≤ 1100 0∘

1 (50%) 1400 ≤ x < 1500 45∘

2 (100%) 1800 ≤ x 90∘

Channel 6

x < 1100 Off

x > 1800 On

Guts of the Rover● All sensors run on an Arduino Mega powered by a 9V battery

○ RFID-RC522 RFID Reader [Mounted on Bottom of Rover]○ TMP36 Temperature Sensor [Front of Rover Near Ground]○ K-30 10% CO2 Sensor (SE-0118) [Back of Rover]○ Triple-Axis Magnetometer (HMC5883L) [Front of Rover Near Ground]○ TCS230 Color Sensor with RGB LED [Mounted on Bottom of Rover]

● Servo motors and electromagnet for robotic arm run on an Arduino Uno powered by a 9V battery○ Two 360∘ servo motors for arm movement

■ One servo moves arm’s base left and right■ One servo moves arm up and down

○ Electromagnet attached to end of arm to pick up data samples (containing magnets)● Camera run from Raspberry Pi mounted on front of rover to view data samples● Xbee running on Arduino Mega to transfer data to computer through X-CTU

○ Temperature (∘C, ∘F, K), Magnetic Field (uT in x,y,z directions), Color Intensities, RFID Info, CO2 data (ppm)

<CODE-->Movement> ● Attempt_1.0:

○ Four Servos at the top to rotate the degree of the base.○ Four Servos at the bottom to move the rover back and straight.○ ISSUE → 3D printer did NOT work.

● Attempt_2.0:○ An RC car was bought without a controller.○ A Turnigy 9x was supplied by SSCCIP. ○ We programed the 9x to work for the RC car.

“Design_Movement_1.0” (Top-Down, High-Level)

● Initializations and Libraries :○ #include : <Servo.h> ○ Objects: 8 control servo objects, 4 variables for the receiving channels, a couple of dummy

variables.● Set Up:

○ Attach the 8 servos.○ Set the receiving channels to their pins.

● Main Loop( functions ):○ void SetDegree(void)○ void MoveTheBase(void)

<Cont.>void SetDegree()

- Receive values from the channel - Test if the value was received last call

- .If true : return - If the value is low: move the servos to

0°- If the value is in the middle: move the

servos to 45°- If the value is high: move the servos to

90°- Save the value for next call.

void MoveTheBase()

- Receive values from the channel - If the value is low: move the servos

backwards- If the value is in the middle: stop

moving the servos- If the value is high: move the servos

forward

“Design_Movemnet_2.0” (Top-Down, High-Level)

● Initializations and Libraries :○ #include:

■ <varSpeedServo.h> // Servo Library that allows you to move it in different speeds. ○ Objects:

■ 2 servo object■ 3 variables for the pins for the receiver channels, and some dummy variables. ■ One Variable for the electromagnet

● Set Up:○ Connect the channels to their pins.○ Set up the servos and the electromagnet to their pins

● Main Loop( functions )○ void moveArm(void)○ Void moveBase(void)○ void controlElectro(void)

<Cont.>void MoveArm()

- Receive values from the channel - Test if the value was received last call

- .If true : return - If the value is low: move the servos to 0°- If the value is in the middle: move the

servos to 45°- If the value is high: move the servos to 90°- Save the value for next call.

void MoveBase()

- Receive values from the channel - Move the base accordingly to values of

that received.

void controlElectro()

- If channel is on : turn on the electromagnet

- If the channel is off: turn off the electromagnet.

<CODE-->Sensors> ● Attempt_1.0→( Raspberry Pi 3) :

○ Pros : use a Raspberry Pi 3 for sensing, storing, graphing, and sending data via Wifi. Great with power.

○ Cons : - It’s brand new, therefore most libraries are not comparable. - It kept failing and lost all the code and the data.

● Attempt_2.0→( Arduino a.k.a Emergency Plan)○ Pros: - All the libraries are comparable. - It’s robust. ○ Used Xbee to transfer data wirelessly instead of wifi.○ Cons: - Power supply.

“Design_Senors_2.0” (Top-Down, High-Level)

● Initializations and Libraries :○ #include :

■ <Wire.h> //■ <Adafruit_Sensor.h> // Magnetometer■ <Adafruit_HMC553_U.h>//Magnetometer ■ <kSeries.h> // CO2■ <MFRC522.h> // RFID■ <SPI.h> // RFID

○ Objects:■ Create object sensors when needed■ Variables to hold pin numbers■ Dummy variables to hold data coming

from the sensors.

● Set Up:○ Set up and turn on the Magnetometer ○ Init SPI bus○ Display sensor details○ Set up the RFID○ Set up and turn on the color sensor

● Main Loop( functions ):○ void TempSensor(void)○ void magSensor(void)○ bool RFID(void)

■ If true : Flash a light○ void colorSensor()

<Cont.>void tempSensor()

- Get voltage from the sensor pin- Do the calculation to convert the voltage

to celsius, fahrenheit, and kelvin- Send the info to the computer - If the temperature is higher than the last

call, save it as the new high- If the temperature is lower than the last

call, save the as the new low

void magSensor()

- Get the voltages from the sensor- Do the calculations and the conversations- Send the info to the computer

void CO2_Sensor()

- Read the Sensor - Send the info to the computer - If the CO2 value is higher than the last

call, save it as the new high- If the CO2 is lower than the last call, save

the as the new low

<Cont.>void ColorSensor()

- Read the red, green, and blue intensities- If red < green && green >= blue && red

is low- Color is white- Turn LED to white

- If blue < red && blue < green- Color is blue- Turn on LED to blue

- If red < blue && red < green && green < red < green - 20

- Color is red - Turn LED on to red

- If red < green && green < blue- Color is yellow- Turn LED on yellow

- Turn off LED after delaying 500 miliseconds

bool RFID()

- If a card was read- Send the info of the card to the

computer - Return true

- Else return false

ResultsSuccesses

● Sensors were able to retrieve data○ Temperature sensor detected hot and cold

zones○ CO2 sensor detected large amount of CO2 near

dry ice○ Magnetometer detected large magnetic field○ Color sensor detected colored areas (signified

by RGB LED changing color to match colored zone)

○ RFID reader read all four tags● Rover able to traverse all ramps● Data transferred to computer through XBee

communication

Issues

● Electromagnet did not work for most of the competition○ Power issues○ Not able to retrieve data samples

● RFID sensor had difficulty reading● Temperature Sensor was intermittent● Needed to switch out 9V batteries powering the

Arduinos often● Rover started to lose power towards the end

○ Unable to drive in reverse