Cleaning Bot

A remote controlled and line following cleaning bot with a scrub attached on its back to clean the table and floor.

IntermediateFull instructions providedOver 1 day399
Cleaning Bot

Things used in this project

Hardware components

MSP-EXP430G2 MSP430 LaunchPad
Texas Instruments MSP-EXP430G2 MSP430 LaunchPad
×1
Dual H-Bridge motor drivers L293D
Texas Instruments Dual H-Bridge motor drivers L293D
×1
Proximity Sensor
Proximity Sensor
×1
HC-05 Bluetooth Module
HC-05 Bluetooth Module
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1
Rotary potentiometer (generic)
Rotary potentiometer (generic)
×1

Software apps and online services

Energia
Texas Instruments Energia

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Code

cleaning boy

C/C++
#include <SoftwareSerial.h>

SoftwareSerial mySerial(P2_5, P2_7); // RX, TX

#define L_MTR_OUTPIN  P2_0  //PWM
#define l_minus P2_4
#define R_MTR_OUTPIN  P2_6 
#define r_minus P2_3


#define L_IR_PIN P1_4
#define R_IR_PIN P1_5

       
#define DELL 30
#define MAXSPD 200
#define DARK_THRESH 100
 
int _lsp;
int _rsp;



// the setup routine runs once when you press reset:
void setup() {
  // initialize serial communication at 9600 bits per second:
  Serial.begin(9600); // msp430g2231 must use 4800

  mySerial.begin(9600);
   
  pinMode(L_MTR_OUTPIN, OUTPUT);
  pinMode(R_MTR_OUTPIN, OUTPUT);
  pinMode(r_minus,OUTPUT);
  pinMode(l_minus,OUTPUT);

      digitalWrite(l_minus, LOW);
    digitalWrite(r_minus, LOW);

 /* pinMode(TRG_PIN, OUTPUT);
  pinMode(ECH_PIN, INPUT);  */

  pinMode(L_IR_PIN, INPUT);
  pinMode(R_IR_PIN, INPUT);

  pinMode(P2_5,INPUT);
  pinMode(P2_7,OUTPUT); 
  

  
  _lsp = _rsp = MAXSPD;
  
}

int _f = 0;
char dataReceived;
void loop() 
{
  if(mySerial.available())dataReceived = mySerial.read();
  
  if(dataReceived=='m')_f = 1;
  if(dataReceived=='a')
  {
    _f = 0;

  }

    if(_f == 1)
    {
          if(dataReceived == '1')
            {
               digitalWrite(L_MTR_OUTPIN,HIGH);
               digitalWrite(R_MTR_OUTPIN,HIGH);
  //             digitalWrite(l_minus,LOW);
//               digitalWrite(r_minus,HIGH);
               Serial.println("111111111111111");
               delay(1000);
  
            }
            else if(dataReceived == '2'){ 
              digitalWrite(L_MTR_OUTPIN,HIGH);
              digitalWrite(R_MTR_OUTPIN,LOW);
          digitalWrite(l_minus,LOW);
              digitalWrite(r_minus,LOW);
              Serial.println("222222222222222222");
              delay(1000);
            }else if(dataReceived == '3'){ 
              digitalWrite(L_MTR_OUTPIN,HIGH);
              digitalWrite(R_MTR_OUTPIN,HIGH);
//              digitalWrite(l_minus,LOW);
//              digitalWrite(r_minus,LOW);
              Serial.println("33333333333333");
               delay(1000);
            }else if(dataReceived == '4'){
              digitalWrite(L_MTR_OUTPIN,LOW);
              digitalWrite(R_MTR_OUTPIN,HIGH);
//              digitalWrite(l_minus,HIGH);
//              digitalWrite(r_minus,HIGH);
              Serial.println("4444444444444");
              delay(1000);
            }
        }
     
  if (_f == 0)
  {
    speedCheck();
    run();
  }
}


//checks the IR sensors to recalculate motor speeds
//caps between 0 and MAXSPD                          
void speedCheck()
{
  int _leftir = analogRead(L_IR_PIN);
  int _rightir = analogRead(R_IR_PIN);

  //Left side
  if (_leftir < DARK_THRESH)
    _lsp -= DELL;
  else
    _lsp += DELL;  

 

  if (_lsp > MAXSPD)
    _lsp = MAXSPD;
  if (_lsp < 0)
    _lsp = 0;

  //Right side
  if (_rightir < DARK_THRESH)
    _rsp -= DELL;
    
  else
    _rsp += DELL;
  
  if (_rsp > MAXSPD)
    _rsp = MAXSPD;
  if (_rsp < 0)
    _rsp = 0;
}



//run both motors
void run()
{
  analogWrite(L_MTR_OUTPIN, _lsp );
  analogWrite(R_MTR_OUTPIN, _rsp );
}  

Credits

prabhansh pandey

prabhansh pandey

1 project • 2 followers
AbhiKalra

AbhiKalra

1 project • 2 followers
Texas Instruments University Program

Texas Instruments University Program

91 projects • 84 followers
TI helps students discover what's possible to engineer their future. Learn about TI tech for the classroom: www.university.ti.com
Mohammed Ibrahim Ali

Mohammed Ibrahim Ali

0 projects • 1 follower
Shashank Holla

Shashank Holla

0 projects • 1 follower

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