Robin Kanattu Thomasalex m sunny
Published © MIT

Autonomous UV Robot with SLAM

The affordable autonomous robot provides localization and mapping facilities and safely navigate the robot through the environment.

AdvancedFull instructions provided3 days748

Things used in this project

Hardware components

Raspberry Pi 3 Model B
Raspberry Pi 3 Model B
×1
Arduino UNO
Arduino UNO
×1
Ydlidar X4
×1
UV lights
×3
Din 45 Ah battery
×1
Inverter 650 watts
×1
Seeed wio Terminal
×1
ULTRAVIOLET UV DETECTION SENSOR BASED ON GUVA-S12SD 240NM-370NM
×1
4-CHANNEL RELAY CONTROLLER FOR I2C
ControlEverything.com 4-CHANNEL RELAY CONTROLLER FOR I2C
×2
12V to 5V buck converter
×3
IB2 BTS7960 Monstor motor driver
×2
DHT11 Temperature & Humidity Sensor (4 pins)
DHT11 Temperature & Humidity Sensor (4 pins)
×1
Arduino Mega 2560
Arduino Mega 2560
×1
TFT Touchscreen, 320x240
TFT Touchscreen, 320x240
×1

Software apps and online services

Arduino IDE
Arduino IDE
MIT App Inventor 2
MIT App Inventor 2
Robot Operating System
ROS Robot Operating System
Fusion 360
Autodesk Fusion 360
Circuit Maker
CircuitMaker by Altium Circuit Maker

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)
Wire Stripper & Cutter, 18-10 AWG / 0.75-4mm² Capacity Wires
Wire Stripper & Cutter, 18-10 AWG / 0.75-4mm² Capacity Wires
Drill / Driver, Cordless
Drill / Driver, Cordless
Soldering iron (generic)
Soldering iron (generic)
Solder Wire, Lead Free
Solder Wire, Lead Free
Tape, Electrical
Tape, Electrical
Hot works
Mastech MS8217 Autorange Digital Multimeter
Digilent Mastech MS8217 Autorange Digital Multimeter
Hand cutter
Welding machine
Digital signal Oscilloscope

Story

Read more

Custom parts and enclosures

UV Bot Design file

Schematics

Charging Circuit

Code

Charging_Circuit.ino

Arduino
Code for Atmega 2560 for charging circuit
#include <UTFT.h>

// Declare which fonts we will be using
extern uint8_t BigFont[];


UTFT myGLCD(ILI9481,38,39,40,41,42);// ElecFreaks TFT2.2SP Shield



// constants won't change. They're used here to set pin numbers:
const int Reedswitch = 11;     // the number of the pushbutton pin
const int ledPin =  10;
const int relay = 9; 
const int statusled = 12; 

// variables will change:
int buttonState = 0;         // variable for reading the pushbutton status

void setup() {
   randomSeed(analogRead(0));
  
// Setup the LCD
  myGLCD.InitLCD();
  myGLCD.setFont(BigFont);
  digitalWrite(statusled, HIGH);
  // initialize the LED pin as an output:
  
  pinMode(ledPin, OUTPUT);
  pinMode(relay, OUTPUT);
  // initialize the pushbutton pin as an input:
  pinMode(Reedswitch, INPUT);
}

void loop() {


// Clear the screen and draw the frame
  //myGLCD.clrScr();

  // read the state of the pushbutton value:
  buttonState = digitalRead(Reedswitch);

  // check if the pushbutton is pressed. If it is, the buttonState is HIGH:
  if (buttonState == HIGH) {
    // turn LED on:
    digitalWrite(ledPin, HIGH);
    digitalWrite(relay, HIGH);
   myGLCD.clrScr();
  myGLCD.setColor(255, 255, 255);
  myGLCD.setBackColor(255, 0, 0);
  myGLCD.print("UVBOT is Charging!", CENTER, 93);
  
  } else {
    
    digitalWrite(ledPin, LOW);
    digitalWrite(relay, LOW);
     myGLCD.setColor(255, 255, 255);
  myGLCD.setBackColor(0, 0, 255);
  myGLCD.print("Charging circuit is ON!", CENTER, 93);
  delay(20);
  }
}

ROS serial Motor control

Arduino
controlling motors from Raspberry pi using serial communication to arduino using ROSSerial
#if (ARDUINO >= 100)
#include <Arduino.h>
#else
#include <WProgram.h>
#endif

#include <ros.h>
#include <geometry_msgs/Twist.h>
// Pin variables for motors.
const int right_back = 5;
const int right_front = 6;
const int left_back = 9;
const int left_front = 10;



ros::NodeHandle  nh;

void MoveFwd() {
  digitalWrite(right_back, HIGH);
  digitalWrite(left_back, HIGH);
  analogWrite(right_front,LOW);
  analogWrite(left_front, LOW);
}

void MoveStop() {
  digitalWrite(right_back, LOW);
  digitalWrite(left_back, LOW);
  analogWrite(right_front,LOW);
  analogWrite(left_front, LOW);
}
void MoveLeft() {
  digitalWrite(right_back, HIGH);
  digitalWrite(left_back, LOW);
  analogWrite(right_front,LOW);
  analogWrite(left_front, HIGH);
}
void MoveRight() {
  digitalWrite(right_back, LOW);
  digitalWrite(left_back, HIGH);
  analogWrite(right_front,HIGH);
  analogWrite(left_front, LOW);
}
void MoveBack() {
  digitalWrite(right_back, LOW);
  digitalWrite(left_back, LOW);
  analogWrite(right_front,HIGH);
  analogWrite(left_front, HIGH);
}

void cmd_vel_cb(const geometry_msgs::Twist & msg) {
  // Read the message. Act accordingly.
  // We only care about the linear x, and the rotational z.
  const float x = msg.linear.x;
  const float z_rotation = msg.angular.z;

  // Decide on the morot state we need, according to command.
  if (x > 0 && z_rotation == 0) {
    MoveFwd();
  }
  else if (x == 0 && z_rotation == 1) {
    MoveRight();
  }
else if (x == 0 && z_rotation < 0) {
    MoveLeft();
  }
else if (x < 0 && z_rotation == 0) {
    MoveBack();
  }
else{
    MoveStop();
  }
}
ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", cmd_vel_cb);
void setup() {
  pinMode(right_back, OUTPUT);    
  pinMode(left_back, OUTPUT);
  pinMode(right_front, OUTPUT);
  pinMode(left_front, OUTPUT);
  
  
  nh.initNode();
  nh.subscribe(sub);
}

void loop() {
  nh.spinOnce();
  delay(1);
}

ROS autonomous setup code

Python
to make UV robot Autonomous
import numpy as np
import math
import matplotlib.pyplot as plt
import rospy
from rospy.numpy_msg import numpy_msg
from sensor_msgs.msg import LaserScan
from geometry_msgs.msg import Twist
from controller import PID
class WallFollower:
# Import ROS parameters from the "params.yaml" file.
# Access these variables in class functions with self:
# i.e. self.CONSTANT
SCAN_TOPIC = "/scan"
DRIVE_TOPIC = "cmd_vel"
SIDE = -1 # -1 right is and +1 is left
VELOCITY = 1.6
DESIRED_DISTANCE = 0.5
def __init__(self):
# Create a node that
#   Subscribes to the laser scan topic,
#   Publishes to  drive topic - to move the vehicle.
# Initialize subscriber to laser scan.
rospy.Subscriber(self.SCAN_TOPIC, LaserScan, self.LaserCb)
# Initialize a publisher of drive commands.
self.drive_pub = rospy.Publisher(self.DRIVE_TOPIC, Twist, queue_size = 10)
# Variables to keep track of drive commands being sent to robot.
self.seq_id = 0
# Class variables for following.
self.side_angle_window_fwd_ = math.pi*0.1
self.side_angle_window_bwd_ = math.pi - math.pi*0.3
self.point_buffer_x_ = np.array([])
self.point_buffer_y_ = np.array([])
self.num_readings_in_buffer_ = 0
self.num_readings_for_fit_ = 2
self.reject_dist = 0.7
self.steer_cmd = 0
self.vel_cmd = self.VELOCITY
self.pid = PID()
def GetLocalSideWallCoords(self, ranges, angle_min, angle_max, angle_step):
# Slice out the interesting samples from our scan. pi/2 radians from pi/4 to (pi - pi/4) radians for the right side.
positive_start_angle = self.side_angle_window_fwd_
positive_end_angle   = self.side_angle_window_bwd_
if self.SIDE == -1: #"right":
start_angle = -positive_start_angle
end_angle   = -positive_end_angle
elif self.SIDE == 1: #"left":
start_angle = positive_start_angle
end_angle   = positive_end_angle
start_ix_ = int((-angle_min +start_angle)/angle_step)
end_ix_ = int((-angle_min +end_angle)/angle_step)
start_ix = min(start_ix_,end_ix_)
end_ix = max(start_ix_,end_ix_)
side_ranges = ranges[min(start_ix,end_ix):max(start_ix, end_ix)]
x_values = np.array([ranges[i]*math.cos(angle_min+i*angle_step) if i < len(ranges) else  ranges[(i - len(ranges))]*math.cos(angle_min+(i - len(ranges))*angle_step) for i in range(start_ix, end_ix) ])
y_values = np.array([ranges[i]*math.sin(angle_min+i*angle_step) if i < len(ranges) else ranges[i - len(ranges)]*math.sin(angle_min+(i - len(ranges))*angle_step) for i in range(start_ix, end_ix)])
# Check that the values for the points are within 1 meter from each other. Discard any point that is not within one meter form the one before it.
out_x = []
out_y = []
for ix in range(0, len(x_values)):
new_point = (x_values[ix],y_values[ix])
# This conditional handles points with infinite value.
if  side_ranges[ix] < 2.5 and side_ranges[ix] > 0 and abs(new_point[1]) < 7000 and abs(new_point[0]) < 7000 :
out_x.append(new_point[0])
out_y.append(new_point[1])
return np.array(out_x), np.array(out_y)
def LaserCb(self, scan_data):
# This function is called every time we get a laser scan.
# This is the plan:
# * Get scan data.
# * Convert it to x,y coordinates in the local frame of the robot.
# * Find a least squares - best fit line through those points with numpy.
#   Consider using data from multiple scans in one least-squares fit cycle.
#   This is a line equation, with respect to the car at (0,0), with the x axis being the heading.
#   Get vector theta for the line, and theta_0 as the y intersection.
# * Find the distance from the line to the origin with ( theta_T dot [[0],[0]] + theta_0 ) / (norm theta)
# TLDR, We have a vector theta for the line we have found, and a distance to that wall.
# TODO(yorai): Handle erroneous scan values. If one is too big, or too small, use past value.
# Do not do this for too many in a row, maybe just throw scan away if too many corrections.
angle_step = scan_data.angle_increment
angle_min = scan_data.angle_min
angle_max = scan_data.angle_max
ranges = scan_data.ranges
# Get data for side ranges. Add to buffer.
wall_coords_local = self.GetLocalSideWallCoords(ranges, angle_min, angle_max, angle_step)
#######
#Find mean and throw out everything that is 1 meter away from mean distance, no outliers.
# If one differs by more than a meter from the previous one, gets thrown out from both x and y. Distnaces as we go along vector of points.
# but print the things first.
#######
self.point_buffer_x_ = np.append(self.point_buffer_x_, wall_coords_local[0])
self.point_buffer_y_ = np.append(self.point_buffer_y_, wall_coords_local[1])
self.num_readings_in_buffer_ +=1
# If we have enough data, then find line of best fit.
if self.num_readings_in_buffer_ >= self.num_readings_for_fit_:
# Find line of best fit.
# self.point_buffer_x_ = np.array([0, 1, 2, 3])
# self.point_buffer_y_ = np.array([-1, 0.2, 0.9, 2.1])
A = np.vstack([self.point_buffer_x_, np.ones(len(self.point_buffer_x_))]).T
m, c = np.linalg.lstsq(A, self.point_buffer_y_, rcond=0.001)[0]
# Find angle from heading to wall.
# Vector of wall. Call wall direction vector theta.
th = np.array([[m],[1]])
th /= np.linalg.norm(th)
# Scalar to define the (hyper) plane
th_0 = c
# Distance to wall is (th.T dot x_0 + th_0)/(norm(th))
dist_to_wall = abs(c/np.linalg.norm(th))
# Angle between heading and wall.
angle_to_wall = math.atan2(m, 1)
# Clear scan buffers.
self.point_buffer_x_=np.array([])
self.point_buffer_y_=np.array([])
self.num_readings_in_buffer_ = 0
# Simple Proportional controller.
# Feeding the current angle ERROR(with target 0), and the distance ERROR to wall. Desired error to be 0.
print("ANGLE", angle_to_wall, "DIST", dist_to_wall)
steer = self.pid.GetControl(0.0 - angle_to_wall, self.DESIRED_DISTANCE - dist_to_wall, self.SIDE)
# Publish control to /drive topic.
drive_msg = Twist()
# drive_msg.header.seq = self.seq_id
# self.seq_id += 1
# Populate the command itself.
drive_msg.linear.x = self.VELOCITY
drive_msg.angular.z = steer
# drive_msg.drive.steering_angle = steer
# drive_msg.drive.steering_angle_velocity = 0.1
# drive_msg.drive.speed = self.VELOCITY
# drive_msg.drive.acceleration = 1
# drive_msg.drive.acceleration = 0.5
self.drive_pub.publish(drive_msg)
if __name__ == "__main__":
rospy.init_node('wall_follower')
wall_follower = WallFollower()
rospy.spin()

block diagram .xml

XML
block diagram of entire system
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wifi_realtek_development_board.ino

Arduino
This code for wifi Acces point, server setup and robot control
#include <WiFi.h>
// Current time
unsigned long currentTime = millis();
// Previous time
unsigned long previousTime = 0; 
// Define timeout time in milliseconds (example: 2000ms = 2s)
const long timeoutTime = 2000;
String header;

// Auxiliar variables to store the current output state
String output5State = "off";
String output4State = "off";
const int output5 =5;
const int output4 = 4;
char ssid[] = "UV bot";  //Set the AP's SSID
char pass[] = "12345678";     //Set the AP's password
char channel[] = "1";         //Set the AP's channel
int status = WL_IDLE_STATUS;  // the Wifi radio's status
WiFiServer server(80);
void printWifiStatus() {
    // print the SSID of the network you're attached to:
   // Serial.println();
   // Serial.print("SSID: ");
   // Serial.println(WiFi.SSID());

    // print your WiFi shield's IP address:
    IPAddress ip = WiFi.localIP();
    //Serial.print("IP Address: ");
   // Serial.println(ip);
}
void setup() {
    //Initialize serial and wait for port to open:
    Serial.begin(115200);
    Serial1.begin(115200);
    pinMode(output5,OUTPUT);
    pinMode(output4,OUTPUT);
    while (!Serial) {
        ; // wait for serial port to connect. Needed for native USB port only
    }

    // check for the presence of the shield:
    if (WiFi.status() == WL_NO_SHIELD) {
        //Serial.println("WiFi shield not present");
        while (true);
    }
    String fv = WiFi.firmwareVersion();
    if (fv != "1.0.0") {
       // Serial.println("Please upgrade the firmware");
    }

    // attempt to start AP:
    while (status != WL_CONNECTED) {
        //Serial.print("Attempting to start AP with SSID: ");
        //Serial.println(ssid);
        status = WiFi.apbegin(ssid, pass, channel);
        delay(10000);
    }

    //AP MODE already started:
   // Serial.println("AP mode already started");
    //Serial.println();
   server.begin();
   printWifiStatus();
}

void loop(){
  WiFiClient client = server.available();   // Listen for incoming clients

if (client) { // If a new client connects,
 Serial.println("New Client."); // print a message out in the serial port
 String currentLine = ""; // make a String to hold incoming data from the client
 while (client.connected()) { // loop while the client's connected
 if (client.available()) { // if there's bytes to read from the client,
  char c = client.read(); // read a byte, then
  Serial.write(c); // print it out the serial monitor
  header += c;
  if (c == '\n') { // if the byte is a newline character
   // if the current line is blank, you got two newline characters in a row.
   // that's the end of the client HTTP request, so send a response:
   if (currentLine.length() == 0) {
    // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
    // and a content-type so the client knows what's coming, then a blank line:
    client.println("HTTP/1.1 200 OK");
    client.println("Content-type:text/html");
    client.println("Connection: close");
    client.println();
    // turns the GPIOs on and off
if (header.indexOf("GET /5/on") >= 0) {
  //Serial.println("GPIO 5 on");
  output5State = "on";
  digitalWrite(output5, HIGH);
  //Serial.print("5");
} else if (header.indexOf("GET /5/off") >= 0) {
 // Serial.println("GPIO 5 off");
  output5State = "off";
  Serial.print("7");
  digitalWrite(output5, LOW);
} else if (header.indexOf("GET /4/on") >= 0) {
  //Serial.println("GPIO 4 on");
  output4State = "on";
  digitalWrite(output4, HIGH);
} else if (header.indexOf("GET /4/off") >= 0) {
  //Serial.println("GPIO 4 off");
  output4State = "off";
  digitalWrite(output4, LOW);
}

 client.println("<!DOCTYPE html><html>");
            client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
            client.println("<link rel=\"icon\" href=\"data:,\">");
            // CSS to style the on/off buttons 
            // Feel free to change the background-color and font-size attributes to fit your preferences
            client.println("<style>html { font-family: Helvetica; display: inline-block; margin: 0px auto; text-align: center;}");
            client.println(".button { background-color: #195B6A; border: none; color: white; padding: 16px 40px;");
            client.println("text-decoration: none; font-size: 30px; margin: 2px; cursor: pointer;}");
            client.println(".button2 {background-color: #77878A;}</style></head>");
client.println("<h1>UV BoT</h1>");
 client.println("<p>UV Light status " + output5State + "</p>");
            // If the output5State is off, it displays the ON button       
            if (output5State=="off") {
              client.println("<p><a href=\"/5/on\"><button class=\"button\">ON</button></a></p>");
            } 
            else {
              client.println("<p><a href=\"/5/off\"><button class=\"button button2\">OFF</button></a></p>");
            }
             client.println();
             break;
   }
     else { // if you got a newline, then clear currentLine
            currentLine = "";
          }
        } else if (c != '\r') {  // if you got anything else but a carriage return character,
          currentLine += c;      // add it to the end of the currentLine
        }
      }
    }
    // Clear the header variable
    header = "";
    // Close the connection
    client.stop();
   // Serial.println("Client disconnected.");
   // Serial.println("");
  }
}

wio_terminal_Code.ino

Arduino
Program for sensor control light control and Tft of Seeed Wio Terminal
#include <SPI.h>

#define TFT_GREY 0x5AEB
#include"LIS3DHTR.h"
LIS3DHTR<TwoWire> lis;
#include"TFT_eSPI.h"
#include"Free_Fonts.h" //include the header file
TFT_eSPI tft;
uint32_t targetTime = 0;                    // for next 1 second timeout

static uint8_t conv2d(const char* p); // Forward declaration needed for IDE 1.6.x

uint8_t hh = conv2d(__TIME__), mm = conv2d(__TIME__ + 3), ss = conv2d(__TIME__ + 6); // Get H, M, S from compile time

byte omm = 99, oss = 99;
byte xcolon = 0, xsecs = 0;
unsigned int colour = 0;

void setup(void) {
  pinMode(WIO_BUZZER, OUTPUT);
    pinMode(A8, INPUT);
    pinMode(D4,OUTPUT);
  tft.begin();
  tft.setRotation(3);
  tft.fillScreen(TFT_BLACK);
   tft.setTextSize(1);
    tft.setTextColor(TFT_YELLOW, TFT_BLACK);

    targetTime = millis() + 1000;
  Serial1.begin(115200);
  RTL8720D.begin(115200);
  lis.begin(Wire1);
 
  if (!lis) {
    Serial.println("ERROR");
    while(1);
  }
  lis.setOutputDataRate(LIS3DHTR_DATARATE_25HZ); //Data output rate
  lis.setFullScaleRange(LIS3DHTR_RANGE_2G); //Scale range set to 2g
}
 
void loop() {
  float x_values, y_values, z_values;
  x_values = lis.getAccelerationX();
  y_values = lis.getAccelerationY();
  z_values = lis.getAccelerationZ();
   int uvsensor = analogRead(A8);
  
 if (RTL8720D.available())
            {

                int inbyte = RTL8720D.read();

                if (inbyte>4){
                
                digitalWrite(D4,HIGH);
                Serial.print("inbyte:"); Serial.write(inbyte);
                tft.drawString("   Caution! UV lamp is On      ",30,180 );
                }
                else if(inbyte<4)
                {
                  digitalWrite(D4,LOW);
              Serial.print("inbyte:");Serial.print(inbyte);
              tft.drawString("         UV lamp is Off                        ",30,180 ); 
              }
                else {
                }
                }
                      
                
            
   
 
 // Serial.print("X: "); Serial.print(x_values);
 // Serial.print(" Y: "); Serial.print(y_values);
 // Serial.print(" Z: "); Serial.print(z_values);
  //Serial.println();
  if (x_values<0.5)
  {
    
     Serial.print("The Bot is down...stopping systems! ");
     Serial.print("temp:"); Serial.println(lis.getTemperature());
     RTL8720D.write("1");
     analogWrite(WIO_BUZZER, 128);
 
      tft.setFreeFont(FS12);
     tft.drawString("The Bot is down",70,140 );
     delay(50);
     Serial.print("uv value"); Serial.println(uvsensor);
     if (uvsensor> 400){
    Serial.print("UV Lamp is working: "); 
    tft.drawString("   Caution! UV lamp is On      ",30,180 );
   }
   else{
    tft.drawString("         UV lamp is Off                        ",30,180 ); 
   }
    
  }
  else
  {Serial.print("temp:"); Serial.println(lis.getTemperature());
   tft.drawString("     UV Robot      ",70,140 ); 
   RTL8720D.write("0");
   analogWrite(WIO_BUZZER, 0);
   Serial.print("uv value"); Serial.println(uvsensor);
   if (uvsensor> 400){
    Serial.print("UV Lamp is working: ");
    tft.drawString("   Caution! UV lamp is On     ",30,180 );
   }
   else{
    tft.drawString("         UV lamp is Off                        ",30,180 ); 
   }
  }
  delay(50);
   if (targetTime < millis()) {
        // Set next update for 1 second later
        targetTime = millis() + 1000; 

        // Adjust the time values by adding 1 second
        ss++;              // Advance second
        if (ss == 60) {    // Check for roll-over
            ss = 0;          // Reset seconds to zero
            omm = mm;        // Save last minute time for display update
            mm++;            // Advance minute
            if (mm > 59) {   // Check for roll-over
                mm = 0;
                hh++;          // Advance hour
                if (hh > 23) { // Check for 24hr roll-over (could roll-over on 13)
                    hh = 0;      // 0 for 24 hour clock, set to 1 for 12 hour clock
                }
            }
        }


        // Update digital time
        int xpos = 0;
        int ypos = 20; // Top left corner ot clock text, about half way down
        int ysecs = ypos + 24;

        if (omm != mm) { // Redraw hours and minutes time every minute
            omm = mm;
            // Draw hours and minutes
            if (hh < 10) {
                xpos += tft.drawChar('0', xpos, ypos, 8);    // Add hours leading zero for 24 hr clock
            }
            xpos += tft.drawNumber(hh, xpos, ypos, 8);             // Draw hours
            xcolon = xpos; // Save colon coord for later to flash on/off later
            xpos += tft.drawChar(':', xpos, ypos - 8, 8);
            if (mm < 10) {
                xpos += tft.drawChar('0', xpos, ypos, 8);    // Add minutes leading zero
            }
            xpos += tft.drawNumber(mm, xpos, ypos, 8);             // Draw minutes
            xsecs = xpos; // Sae seconds 'x' position for later display updates
        }
        if (oss != ss) { // Redraw seconds time every second
            oss = ss;
            xpos = xsecs;

            if (ss % 2) { // Flash the colons on/off
                tft.setTextColor(0x39C4, TFT_BLACK);        // Set colour to grey to dim colon
                tft.drawChar(':', xcolon, ypos - 8, 8);     // Hour:minute colon
                xpos += tft.drawChar(':', xsecs, ysecs, 6); // Seconds colon
                tft.setTextColor(TFT_YELLOW, TFT_BLACK);    // Set colour back to yellow
            } else {
                tft.drawChar(':', xcolon, ypos - 8, 8);     // Hour:minute colon
                xpos += tft.drawChar(':', xsecs, ysecs, 6); // Seconds colon
            }

            //Draw seconds
            if (ss < 10) {
                xpos += tft.drawChar('0', xpos, ysecs, 6);    // Add leading zero
            }
            tft.drawNumber(ss, xpos, ysecs, 6);                     // Draw seconds
        }
    }
}
static uint8_t conv2d(const char* p) {
    uint8_t v = 0;
    if ('0' <= *p && *p <= '9') {
        v = *p - '0';
    }
    return 10 * v + *++p - '0';
}

PIR_Test_Wio_terminal.ino

Arduino
Testing of PIR sensor
int led = D6;                // the pin that the LED is atteched to
int sensor = D4;              // the pin that the sensor is atteched to
int state = LOW;             // by default, no motion detected
int val = 0;                 // variable to store the sensor status (value)

void setup() {
  pinMode(led, OUTPUT);      // initalize LED as an output
  pinMode(sensor, INPUT);    // initialize sensor as an input
  Serial.begin(115200);        // initialize serial
}

void loop(){
  val = digitalRead(sensor);   // read sensor value
  if (val == HIGH) {           // check if the sensor is HIGH
    digitalWrite(led, HIGH);   // turn LED ON
    delay(100);                // delay 100 milliseconds 
    
    if (state == LOW) {
      Serial.println("Motion detected!"); 
      state = HIGH;       // update variable state to HIGH
    }
  } 
  else {
      digitalWrite(led, LOW); // turn LED OFF
      delay(200);             // delay 200 milliseconds 
      
      if (state == HIGH){
        Serial.println("Motion stopped!");
        state = LOW;       // update variable state to LOW
    }
  }
}

sensor_UV_test.ino

Arduino
UV sensor Test
//input this code to test UV sensor
void setup() {
    Serial.begin(115200);
    pinMode(A8, INPUT);
}
void loop() {
    int uvsensor = analogRead(A8);
    Serial.print("UV intensity: ");
    Serial.println(uvsensor);
    delay(50);
}

serial_test.ino

Arduino
testing of serial communication between SAMD51-based microcontroller and Realtek RTL8720DN
void setup() {
RTL8720D.begin(115200);
Serial.begin(115200);

}

void loop() {
 if (RTL8720D.available())
            {

                int inbyte = RTL8720D.read();

                Serial.write(inbyte);
                

}
}

Acclerometer_temperature_sensor_test.ino

Arduino
testing of inbuit sensors in the UV-bot
#include"LIS3DHTR.h"
LIS3DHTR<TwoWire> lis;

void setup() {
Serial1.begin(115200);
lis.begin(Wire1);
if (!lis) {
    Serial.println("ERROR");
    while(1);
  }
  lis.setOutputDataRate(LIS3DHTR_DATARATE_25HZ); //Data output rate
  lis.setFullScaleRange(LIS3DHTR_RANGE_2G); //Scale range set to 2g
}

void loop() {
 float x_values, y_values, z_values;
  x_values = lis.getAccelerationX();
  y_values = lis.getAccelerationY();
  z_values = lis.getAccelerationZ();
  Serial.print("X: "); Serial.print(x_values);
  Serial.print(" Y: "); Serial.print(y_values);
 Serial.print(" Z: "); Serial.print(z_values);
 Serial.print(" Sytem temp:"); Serial.println(lis.getTemperature());
}

Autonomous uv disinfection robot

The codes , fritzing files , CAD files, ROS folders,APK file, HTML file and other codes are avaliable here

Credits

Robin Kanattu Thomas

Robin Kanattu Thomas

9 projects • 114 followers
Electronics Enthusiast, Micro controller fan and love Open Source. www.robinkthomas.com
alex m sunny

alex m sunny

0 projects • 9 followers
" | Hardware Hacker | Tech Enthusiast | Robot Lover | "
Thanks to YORAISH and Athul Sunny.

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