Work with clients via the Internet. The robot can be controlled in a variety of ways. Ethernet management

Pozhidaev I.V.

The ability to operate a mobile robot via a radio channel can significantly expand the range of its operation. To complete this task, a laptop computer was installed on the mobile robot, and before that a mobile phone with a GPRS modem was added. Internet access is provided via a GPRS modem. Through an Internet connection using another computer, the robot systems were controlled and monitored. It was possible to control the robot's motors, retrieve information from the sensors, and also retrieve information from the video camera under the control of the mobile robot "Iris-1". In this way, it was possible to achieve remote communication with a mobile robot via the Internet, via the Internet, and the radio channel of the mobile phone with access to a new GPRS modem. And as a result of this, the range of possibilities for working with a mobile robot has significantly increased. And also the range of robot applications has expanded in view of the most accessible land areas.

Mobile robots are widely used in various areas of industry and government. The stench is irreplaceable: when eliminating accidents at nuclear power plants, when detecting leaks, when diagnosing faults in communications and eliminating them. Widespread deployment of mobile robots is expected near the deep seabed at high depths. In aviation, unmanned robots are used to carry out reconnaissance activities and weaken the enemy. Mobile robots will be involved in the process of tracking other planets of the Sonic system. Currently, robotics in the field of mobile robots is developing at a rapid pace. The market for sales of mobile robots in 2000 rubles. becoming 655 million dollars and reaching 17 billion dollars in 2005.

There is a problem related to the dynamic deployment of a mobile robot for inspection of communications and underground objects, both artificial and natural. This is due to the fact that the robot is connected through a cable connected to the remote control, which keeps it in motion.

The ability to operate a mobile robot via a radio channel can significantly expand the range of its operation. This allows them to be carried out independently and independently on the great distance. The frequency range is much wider when controlled via a radio channel, rather than via a wire connection.

To complete this task, a laptop computer was installed on the mobile robot, and before that a mobile phone with a GPRS modem was added. Internet access is provided via a GPRS modem. Through an Internet connection using another computer, the robot systems were controlled and monitored.

In this experiment, two types of telephone devices were used, sharing an interface with each other. These phones are interconnected because one device connects to the computer via a cable extended from the USB port of the computer to the port of the mobile phone, div. block diagram No. 1. And another type of mobile phone is connected via a cable from the com port of a laptop computer to the mobile phone, see block diagram No. 2.

The robot "Iris-1" connects to PEOM, using additional software for the Microsoft Windows operating system. The robot itself connects to the computer through a payment to PEOM and a cable from them. The operating system installed on the computer includes a standard component - Internet Explorer, an Internet navigator. Internet navigators are available from different retailers. Two computers have two sets of software. One for a robot installed before PEOM consists of: Microsoft Windows NT 4.0 and software for "Iris-1" as the main component "LABVIEW 6.0" for robot handling. Another computer with a different set of software has access to the global computer network of the Internet using an additional standard Microsoft Windows component - Internet Explorer, and we have also used Netscape Navigator, as well as PEOM before any robot is accepted, which is carried out remotely, div. 3.

A computer that is connected to the Internet contains software for switching the phone with the computer and software for the GPRS modem for a specific mobile phone model. Steel phones operate in the frequency range from 900 MHz to 1800 MHz. Not all mobile phone models support the GPRS function.

Phones with GPRS classes 8 and 10 are divided into channels for transmitting and receiving data per kilometer. For GPRS class 8 – three channels for reception of 14.4 Kbps per second and two for transmission. For a GPRS phone type 10, there are 4 channels for reception and two for transmission. Phone models also have characteristics of type A and B, in order to support a GPRS modem and a wireless modem or only a GPRS modem.

In the course of the experiment, it was revealed that the remote robot was persistently transmitting through the mobile phone due to the failure of shielding of the radio signal (not stable reception between the base and the mobile phone, or its connection was outside the shielding) from a mobile phone or the destruction of the Internet network itself.

By choosing a radio channel from a mobile phone, the ability to remotely monitor all systems of the Iris-1 robotic complex, as well as control over their work, was saved. We are removing the video while the robot is moving in black and white color. The robot's motors could operate alternately, which obviously allowed the caterpillars to collapse into one or the other. As the motors worked simultaneously with one and the same fluidity of the wrap that runs straight, the robot fell straight forward or into the back side. There was information about the presence of a misalignment as the robot moved forward (forward) using an ultrasonic sensor. The ultrasonic sensor consists of two parts: a receiver, which sends a signal in front of the robot to a possible transient, and a transmission, which receives the signal from a possible object in front of the robot. The presence of the object in front of the robot was visually detected on the graphics by the operator many kilometers away from the Iris-1 RTK. In a similar way, a clear picture of a defect in the robot with the help of a micro-hair sensor was visible. Parameters from photopulse sensors, transmitted via the Internet via a radio channel from a mobile phone, made it possible to create a parametric trivial model in Russia within an hour using the additional package T-FLEX CAD 3D version 6.0 and higher.

Block diagram No. 1, connecting a steel phone via the USB port PEOM.

Block diagram No. 2, connecting a mobile phone via the PEOM com port.

Block diagram No. 3, treatment with the mobile robot "Iris - 1".

Overflow of warehouses for cleaning with the mobile robot "Iris-1" on Velikiy Vydstan.

1. A computer with a previously connected phone via a COM or USB port.
2. Radio channel from GPRS modem in the device
3. Base station repeater of steel company
4. Representative of global computer network services (Internet) – provider.
5. Another computer is connected to a new one through a board in a new one and a cable runs from it to the mobile robot.
6. Availability of access to a global computer network for a computer with a robot through the radio channel of a mobile phone.
7. The presence of a connection on the wired and radio channel sections of the computer network (Internet).

The whole thing allows you to operate a mobile robot remotely at a large distance and collect information about it.

In this way, it was possible to achieve remote communication with a mobile robot via the Internet, via the Internet, and the radio channel of the mobile phone with access to a new GPRS modem. And as a result of this, the range of possibilities for working with a mobile robot has significantly increased. And also the range of operation of the robot has expanded in view of the most accessible land areas.

REFERENCES

1. Nof. Sh. Dovidnik from industrial robotics. – 1989. – T.1. - M: Machine building. - 480 s.
2. Nof. Sh. Dovidnik from industrial robotics. – 1990. – T.2. - M: Machine building. 480 pp.
3. Ugh. K. Gonzalez, R. Li K. Robotics. - 1989. - M: Mir. - 624s.
4. Kuleshov V. S. Lakota N. A. Adryunin V. V. Remote ceramic robots and manipulators. - 1986. - M: Machine building. - 328s.
5. Zharkov F. P. Karataev V. V. Nikiforov V. F. Panov V. S. Development of LabVIEW virtual tools. – 1999. – M.: Solon-R. - 268s.
6. Poduraev Yu. V. Fundamentals of mechatronics. – 2000. – M.: MDTU “STANKIN”. - 80s.
7. Maksimov N.V. Partika T.L. Popov I. I. Architecture of EOM and computing systems. – 2005. – M.: Forum-Infra-M. - 512s.

Bibliographic mailing

It’s been a long time since I created a Wi-Fi robot, which could have been removed. And the day will come when I can work as a robot via the Internet, and almost everything that will happen next.
I'll ask you for more details under the cat

The following components were purchased for the creation of the robot:

This is what the robot I collected looks like, without the top cover.

Now everything is in order:

Folding robot platform:

Reinstallation of components on the motherboard. I installed only Arduino Nano, motor driver and HC sound driver:

The wr703N router is attached to the bottom of the robot platform with double-sided tape:

The web camera is attached to a piece of furniture up to the standard platform openings, which are transferred to servomotors:

CyberWrt - this firmware is based on OpenWrt and is primarily intended for robots, smart phones and other devices based on popular models of routers Tp-Link mr3020 and Wr703N. CyberWrt holds the maximum possible space for installing packages - 1.25 MB. A web server is installed and all operations can be carried out through the built-in web interface. Immediately after flashing, the router is accessible via cable and WiFi as an access point. Through the web interface you can work in the “command row” mode - through the web terminal and in the file manager, in which you can edit, archive, delete, create, copy files and much more.

After updating the router’s firmware, it is now available as a WiFi access point under the “CyberBot” name, connect and then go to the main page of the router. This is how the web interface looks right after the firmware is installed.

Installed modules: FTDI Driver, Video Driver and CyberBot-2.

We are flashing the Arduino controller.

The code for the robot's program is simple, but it is enough to remotely control the robot via a local network or the Internet.
Adaptation code for Arduino controllers with ATmega168/328 on board and the CyberLib library.
This library helps the controller to maximize its capabilities and change the end code
The code has a WDT installed so that the robot does not freeze.
The same code supports the movement of the camera along the X and Y axes, but I did not have large servos and I could not speed up this function:

Code for Arduino

#include #include Servo myservo1; Servo myservo2; long previousMillis; http://cyber-place.ru/attachment.php?attachmentid=600&d=1389429469 uint8_t LedStep = 0; // Physician int i; boolean light_stat; uint8_t inByte; uint8_t speed=255; // The maximum shvidki for the thrust #define init (d4_out; d5_out; d6_out; d7_ut; d8_out; d11_ut; d12_ut;) void setup () (MyServo1.attach (9); // Pidchenni servo YSERVO2.ATTA // PIDKKOVENNYA SERVOVKAVAV to the port of INIT; // INICIALIZAI Portіv D11_Low; // Dinamik OFF RANDOMSEED (A6_READ); // Otkamati Vipadkova Zannnya Horn; // Sound of the Khlovzhennaya Robot Urt_init (57600); 00ms);) VOID loop () ( unsigned long currentMillis = millis (); ) if (LedStep == 1 && currentMillis - previousMillis > 500)( // Fade 0.5 sec. previousMillis = currentMillis; LedStep = 2; ) if (LedStep == 2 && currentMillis - previousMillis > 500)( // .5 seconds LedStep = 0; ) if (UART_ReadByte(inByte)) //As it has arrived ( switch (inByte) // Wondering how the command has arrived ( case "x": // Robot call robot_stop( ); break; case "W": // Rotate forward robot_go(); break; case "D": // Rotate left robot_rotation_left(); break; case "A": // Rotate right robot_rotation_right(); break; case "S": // Roc back robot_back(); break; case "U": // The camera goes uphill myservo1.write(i -= 20); break; case "J": // Camera moves down myservo1.write (i + = 20); break; case "H": // Camera rotates right myservo2.write (i + = 20); break; case "K": // Camera rotates left myservo2.write(i -= 20); break; case "B": // Blaster D12_High; break; case "C": // Klaxon horn(); break; case "V": // Turn on/off lights if(light_stat) ( D8_Low; light_stat=false; ) else ( D8_High; light_stat=true; ) break; ) if(inByte>47 && inByte<58) speed=(inByte-47)*25+5; //принимаем команду и преобразуем в скорость } wdt_reset(); } void horn() { for(uint8_t i=0; i<12; i++) beep(70, random(100, 2000)); //звуковое оповещение } void robot_go() { D4_Low; analogWrite(5, speed); analogWrite(6, speed); D7_Low; } void robot_back() { D4_High; analogWrite(5, 255-speed); analogWrite(6, 255-speed); D7_High; } void robot_stop() { D4_Low; analogWrite(5, 0); analogWrite(6, 0); D7_Low; } void robot_rotation_left() { D4_Low; analogWrite(5, speed); analogWrite(6, 255-speed); D7_High; } void robot_rotation_right() { D4_High; analogWrite(5, 255-speed); analogWrite(6, speed); D7_Low; }

Everything is assembled and stitched, now we turn on the robot and everything is removed from it.
On a PC, you can also use the on-screen buttons using the keyboard, the W, A, D, S, X keys

I am posting a video:

Next I plan to teach the robot how to navigate the space and draw a map of the location.

Controlling a robot for complex tasks. The meaning that we have chosen for the device is important in order to obtain data about its middle. Then a decision was made and further actions were carried out. Robots can be autonomous or non-autonomous.

1. The autonomous robot operates according to a given algorithm based on sensor data.
2. An autonomous robot has a task that is controlled by humans. And in addition there are other tasks that will end on their own.

Autonomous robots

A good example of a non-autonomous robot is a foldable underwater robot. The human controls the main functions of the robot. And at this hour the on-board processor vibrates and reacts to underwater currents. This allows the robot to be kept in the same position without drifting. The camera on board the robot records the video back to the people. Additionally, on-board sensors can monitor water temperature, pressure and much more.

As soon as the robot looses the connection from the surface, an autonomous program is activated and lifts the underwater robot to the surface. In order for a mother to be able to operate her robot, it is necessary to consider its level of autonomy. Perhaps you want the robot to operate via a cable, drone-free or completely autonomous.

Cable control

The simplest way to operate a robot is with a manual controller, physically connecting it to another cable. Switches, handles, objects, joysticks and buttons on this controller allow the robot to operate the handheld parts without the need to push in foldable electronics.

In this situation, the motor and lifeline can be connected directly to the pump. Well, you can control this wrapper forward/backward. Tse zazvichiy vykoristovuetsya in transport facilities.

They do not harm the intellect and are regarded rather as “remotely cerated machines” than as “robots”.

• The main advantages of such a connection are that the robot is not separated by an hour of work. So how can you make connections right up to the limit. There is no need to worry about wasting the signal. The robot has a minimum of electronics and is not even foldable. The robot itself can be easy or light or mati dodatkove korisne navantazhennya. The robot can be pulled physically using a cable attached to the cable if it is not going anywhere. This is especially true for underwater robots.
• The main drawbacks are that the cable can get tangled, get caught in something, or get wrapped. Stand up where you can move the robot, surrounded by a long rope. Tightening the cable causes friction and can increase or tighten the robot's grip.

Carrying out a robot behind an additional cable and a built-in microcontroller

We will soon install a microcontroller on the robot, and then remove the cable. Connecting the microcontroller to one of the input/output ports of the computer (for example, a USB port) allows you to control your actions. The camera is installed behind any keyboard, joystick or other peripheral device. You can also add a microcontroller to the project so that you can program the robot for input signals.

• The main advantages are the same as for direct cable control. The robot's complex behavior and reaction to other buttons and commands may be programmed. Great choice of controller (mouse, keyboard, joystick, etc.). The added microcontroller has integrated algorithms. This means that you can interact with sensors and receive song decisions independently.
• To some extent, a great deal of power is realized through the presence of additional electronics. Other shortcomings are the same as when directly controlling the robot via cable.

Ethernet management

Vikorist rose Ethernet RJ45. An Ethernet connection is required for heating. The robot physically connects to the router. Well, you can control it via the Internet. The same is possible (although not very practical) for mobile robots.

Setting up a robot that can be downloaded via the Internet can also be folded. The first thing we need to do is connect to WiFi (drone-free internet). The dart and dartless combination is also an option, as well as receiving (transmitting and receiving). Taking physical connections to the Internet, the data is collected via the Internet and then transmitted wirelessly to the robot.

• The advantages are that the robot can be controlled via the Internet from anywhere in the world. The robot is not limited to hours, but some parts of the network can use Power over Ethernet. PoE. This is a technology that allows you to transmit electrical energy to a remote device simultaneously with data through a standard twisted pair cable over Ethernet. Using the Internet Protocol (IP) can be easier and colorize the connection diagram. The advantages are the same as for direct wired computer control.
• The units themselves are more easily programmed, as they are controlled via cable.

Controlling an additional IR remote control

Infrared transmissions and receivers turn on the cable that connects the robot to the operator. This, as a rule, is victorious in cobs. For infraworm control operation, a feed line is required. Priymach is responsible for the mother’s ability to “batch” the transfer at any time in order to collect the tribute.

Infrared remote controllers (such as universal TV remote controls) are used to send commands to an infrared receiver connected to the microcontroller. He then interprets the signals and controls the robot's actions.

• The advantage is low tolerance. To use a robot, you can use a simple TV remote control.
• The only downside is that direct visibility is required for caravanning.

Radio control

Operating at these radio frequencies requires transmission and reception of small microcontrollers to control, receive and interpret the data transmitted by radio frequency (RF). The receiver box has a secondary board (platform) that houses the main unit and a small servomotor controller. Radio communication requires transmission, service/communication and reception. It is possible to use a transceiver that can send and receive data between two physically different communication systems.

Radio control does not require direct visibility and can be operated over a large distance. Standard radio frequency devices can ensure data transmission between devices over distances of up to several kilometers. Nowadays, professional radio frequency devices can ensure control of the robot practically at any station.

There are many robot designers who are willing to produce autonomous robots using radio stations. This allows the robot to be as autonomous as possible and ensure the return of the system. I can give you complete control over any of your functions as needed.

• The advantage is the ability to work with the robot at significant stages, which can simply be adjusted. The connection is completely direct, otherwise the signal of permanent blocking by walls or code changes may not pass through.
• In short periods the transmission speed is very low (only simple commands). Dodatkovo trace of the frequency.

Bluetooth Control

Bluetooth uses a radio signal (RF) and is transmitted using special protocols to strengthen and remove data. The primary range of Bluetooth is often approximately 10 m. However, it has the advantage of allowing users to communicate with their robots via Bluetooth-enabled devices. This primarily includes smartphones, PDAs and laptops (although the interface may require programming to be configured). Just like radio technology, Bluetooth provides two-way communication.

• Advantages: kerovany s be-anything will be added for additional Bluetooth. Please call for additional programming. These are smartphones, laptops, etc. Other transmission speeds can be omnidirectional. Also, direct visibility is not required and the signal can pass through walls.
• The underdogs. Guilty of cheating on a couple. Vіdstan zazvichaj become close to 10 m-code (without reshkoda).

WiFi control

WiFi control is often an additional option for robots. The availability of robotic control of drone-free monitoring via the Internet represents a significant advantage (and some shortcomings) for drone-free control. To set up a robot's Wi-Fi connection, you need a drone-free router, an Internet connection, and a WiFi unit on the robot. For the robot, you can use a device that supports the TCP/IP protocol.

• The advantage is the ability to handle the robot from any point in the world. To do this, you need to be within the range of the droneless router. High speed of data transmission is possible.
• There are only a few that require programming. The maximum range is determined by the choice of a drone-free router.

Management of an additional telephone number

Another drone-free technology, which was originally developed for connecting people and people - a mobile phone, is now being developed to control robots. The frequencies of the mobile phone are adjustable; turning on the mobile phone module on the robot will require additional programming. Also, there is no need to understand the system of steel measures and rules.

• Advantages: the robot can be controlled at any location where there is a signal. A mighty satellite call.
• Not enough; Adjusted controls for the stilnikovy binding may be foldable - not for cobs. The skin has its own power and strength. Servicing in the border is not costless. Calculate that the more data you transfer, the more pennies you are required to pay. The system has not yet been adjusted for use in robotics.

Soon you will be in constant use of the microcontroller in your robot. We first program the robotic algorithm by entering data from the sensors. Autonomous control can occur in different forms:

1. Buti is pre-programmed without a gateway connection with dovkillam
2. We will interconnect the collar with sensors
3. with folding gate with sensors

Proper autonomous control includes sensorless and algorithm-free operation. They allow the robot to independently determine the best action in any given situation. The most sophisticated control methods, some of which are implemented on autonomous robots, use visual and auditory commands. For visual control, the robot looks at people and objects in order to give its commands.

Carving with a robot for turning left-handed for additional reading from the arch of the paper arrows, which indicates left-handed, is richer than visconati, but could not be detected. Service commands such as “turn the left hand” also require a lot of programming. Programming faceless simple commands, such as “Bring me money”, is no longer a fantasy. I want to require a very high level of programming and a great number of hours.

• Advantages are the essence of “help” robotics. Problems can be even simpler, for example, due to the blinking light, which is based on the readings of one sensor. Before the spaceship lands on a distant planet.
• A few things remain beyond the reach of the programmer. If you don't want the robot to work, then you have only one option. Please check your code, change it and enter the change into the robot.

Practical part

The goal of our project is the creation of an autonomous platform that will make decisions based on external signals from sensors. We vikoristuvatimemo microcontroller Lego EV3. It allows us to develop a completely autonomous platform. So, either autonomously, wirelessly, Bluetooth or with an additional infrared remote control.

Programming LEGO EV3 block

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VIA MEREZHA INTERNET

senior researcher I.R. Bilousov

1/2 years, 2-5 years and postgraduate studies

Development of modern methods of modeling and controlling robots. Algorithms for the interaction of robots with folding dynamic objects and the secondary control loop of the technical vision system are examined. Methods of remote caring by robots via the Internet are being developed. The architecture of distributed control systems is described, methods of information transfer, graphic modeling, and remote programming of robots using various technologies such as Java and Java3D are considered.

Entry

Setting up a task, like a course. Demonstration of experimental results.

Controlling robots in tasks interacting with roaming objects.

1. Setting the order. apply it.

A look at the state of the art and methods of interaction between robots and roaming objects. Vykorostannaya system of technical insight and models of object dynamics. Statement of the problem of storing a shear by a robot on a bifilar suspension. Setting up the interaction between the robot and spherical pendulums.

2. Vikoristannya of technical surveillance systems.

Video processing algorithms. The correct position of the pendulum and the pendulums is determined by the kinematic forecast. Processing the results of vimirs.

3. Mathematical modeling and experimental development of algorithms.

Rivnaya Kolivan shear on a bifilar suspension. Algorithms for burying haircuts with a robotic manipulator. Rivnyannya kolivan of a spherical pendulum. Algorithms for interaction between a robot and pendulums. Architecture of the experimental stand. Discussion of experimental results.

Remote care by robots via the Internet.

4. Review of existing systems.

Systems for controlling mobile and manipulation robots via the Internet. Few existing systems, problems with internet access, come to the top.

5. Architecture of divisions of robotic care systems.

Hardware and software organization of the server and client parts of a distributed robot control system. Organization of data exchange.

6. Remote programming via the Internet.

Movie programming of robots. A device for remote programming of robots via the Internet.

7. Control of real systems.

Experiments with controlling manipulation and mobile robots via the Internet. Vikoristannya of the virtual middle ground by robots. Discussion of experimental results. Follow up directly with those further away.

Graphic modeling of robots.

8. Introduction to computer graphics.

Coordinate systems, trivial re-creation. The simplest algorithms.

9. Modeling of geometric objects in Java3D.

Introduction to Java3D. Features of Java3D graphics programming. Basic understanding. Visualization of the simplest geometric objects in Java3D. Lighting, textures, object painting, dynamic reconfiguration of scenes.

10. Description of robot kinematics.

Methods for describing the kinematics of manipulators. Right at the gateway of kinematics. Method of sequential formation of coordinate systems. apply it.

11. Graphic modeling of robots and work space.

Combination of objects. Geometric transformation. Visualization of robots, folding geometric and roaming objects.

Merezha contains clear instructions for assembling various models of robots. Let's try to pick up our own model of a home Wi-Fi robot, vikoryst information from the Cyber-place forum, and details from the online store. You can easily get a lot of spare parts directly from China (Ebay, Aliexpress). It is important to change the budget.
Our view on the theory and design of current robots is presented.

Functional appearance of the robot

1. Movement on the surface is controlled by operator commands,
2. Broadcast video from a wide view.

Keruvanya block

Universal controller Carduino Nano V7

Microcontroller: ATmega328
Input voltage: 5V to 30V
Clock frequency: 16 MHz
Flash memory: 32 KB
RAM (SRAM): 2 KB

CyberBot robot motherboard

The board is designed for connecting various Arduino devices or similar devices via standard interfaces.

Motor module - Motor Shield

Until then, you can connect the core with two motors of a steady stream or 4 electric motors. Replace the dual-channel motor driver HG7881.
Food: 2.5V to 12V
Maximum supply per channel: up to 800 mA

Geared motors

Geared motor with gear ratio 1:48
Voltage range from 3V to 6V.
Wheel wrap speed 48 m/h.
Strum idle (6v): 120mA
Rhubarb to noise:<65dB

Link module

Dartless WiFi router TP-Link 3020MR

This model is ideal for installing third-party firmware. For keruvannya our robot vibrano. The firmware is based on OpenWRT firmware version R37816.
The router can be controlled from any web browser via the Web interface. Keruvannya is also available via telnet, SSH. Expanded functionality is required for the additional installation in the catalogue. Memory available for programs is 1.2Mb.

Webcam Logitech E3500

The camera has the ability to customize the image.

USB hub

A block for linking USB devices together: arduino, router, web camera.

Additional elements

Platform

Wheels

Provided with gum tires and a shaft for the possible installation of an optical encoder disk, ideal for moving the platform on the surface.

Battery pack

Necessary for the installation of living elements. For our version of the robot, 4 life elements of size AA are sufficient.

Kriplennya, darts

Additional tools for connecting adjacent elements.

Robot folding process

Preparing the CyberBot robot paymentє the most flexible cobs, because transfers the soldering iron to the vikoristan. It is necessary to solder:

1. Blocking capacitors 0.1 µF and higher
2. Electrolytic capacitor 100 µF x 16 V and higher
3. Resistor 150 Ohm

Resistors must be installed separately - one electrolyte and one blocking capacitor for each installed module. The result can be deduced as follows:

These allow us to supplement the microcircuit with additional sensors and allow us to continuously re-solder the parts.

The motor control module - Motor Shield - is connected to the controller board. Screw on the battery case. To secure the engines to the platform, M3x30 bolts are required. The wheels are put on the engine.
On the other part of the platform we attach something else: a web camera, a router, a USB hub. The wire is tied with staples and carefully laid so that the smell does not affect other elements.

Software security

Firmware for TP-Link 3020MR router

After installing and starting the development middle, it is necessary to select the type of payment that is being tested, and the port through which data will be exchanged between the controller and the computer. You can set this up through the menu "Tools" "Board menu".

When using the Arduino Nano CH340G board on a Windows system, the CH341SER driver must be installed
The board may appear in the system as USB2.0 Serial.

Before engaging the sketch, we check it for the presence of amends. On the menu "Eskiz" we collect “REVIEW/COMPLETE”.
As soon as the compiler is rechecked, every row with the wrong code. If no benefits are found, then the menu "Eskiz" we collect "VVANTAGETI".

Sketch for Arduino Nano and Arduino UNO

The sketch requires the CyberLib library.

#include #define motors_init (D4_Out; D5_Out; D6_Out; D7_Out;) uint8_t inByte; uint8_t speed=255; void setup() ( motors_init; D11_Out; D11_Low; randomSeed(A6_Read); for(uint8_t i=0; i<12; i++) beep(70, random(100, 2000)); робота UART_Init(57600); wdt_enable (WDTO_500MS); } void loop() { if (UART_ReadByte(inByte)) { switch (inByte) { case "x": robot_stop(); break; case "W": robot_go(); break; case "D": robot_rotation_left(); break; case "A": robot_rotation_right(); break; case "S": robot_back(); break; } if(inByte>47 && inByte<58) speed=(inByte-47)*25+5; } wdt_reset(); } void robot_go() { D4_Low; analogWrite(5, speed); analogWrite(6, speed); D7_Low; } void robot_back() { D4_High; analogWrite(5, 255-speed); analogWrite(6, 255-speed); D7_High; } void robot_stop() { D4_Low; analogWrite(5, 0); analogWrite(6, 0); D7_Low; } void robot_rotation_left() { D4_Low; analogWrite(5, speed); analogWrite(6, 255-speed); D7_High; } void robot_rotation_right() { D4_High; analogWrite(5, 255-speed); analogWrite(6, speed); D7_Low; }

Sketch for Arduino Mega