Eslam FayadAyman Fayad
Published © GPL3+

Smart and Sustainable Agriculture System

With climate change and water scarcity we will monitor farms Temperature, humidity, CO2 emissions

AdvancedFull instructions provided449
Smart and Sustainable Agriculture System

Things used in this project

Hardware components

NXP NAVQ+
×1
google coral camera
×1
Pan-Tilt HAT
Pimoroni Pan-Tilt HAT
×1
Robot Smart Car 4WD
×1
HC-05 Bluetooth Module
HC-05 Bluetooth Module
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1
DC Motor, 12 V
DC Motor, 12 V
×1
Dual H-Bridge motor drivers L293D
Texas Instruments Dual H-Bridge motor drivers L293D
×1
RDDRONE-FMUK66
NXP RDDRONE-FMUK66
×1

Software apps and online services

Robot Operating System
ROS Robot Operating System
Snappy Ubuntu Core
Snappy Ubuntu Core
Arduino IDE
Arduino IDE

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)

Story

Read more

Custom parts and enclosures

NAVQ+ ENCLUSER

references
https://iroboteducation.github.io/create3_docs/hw/print_compute/#navqplus-by-nxp

NAVQ+ ENCLUSER TOP

reference
https://iroboteducation.github.io/create3_docs/hw/print_compute/#navqplus-by-nxp

NAVQ+ ENCLUSER BOTTOM

reference
https://iroboteducation.github.io/create3_docs/hw/print_compute/#navqplus-by-nxp

Schematics

ROBOT CONTROL ARDUINO NANO

ROBOT CONTOL TO CONTROL THE 4 WHEEL ROBOT THROUGH I2C FROM NAVQ+ OR BLUETOOTH FROM SMART PHONE

arduino based robot controller

arduino based robot controller

ROBOT CONTROL ARDUINO NANO

Code

arduino based robot controller

C/C++
#include <AFMotor.h>
#include <Wire.h>
#include <Servo.h>
#include <SoftwareSerial.h>
#define trigpin 12
#define echopin 13
#define ENA 5
#define ENB 6
#define IN1 3
#define IN2 4
#define IN3 2
#define IN4 7
Servo pan; //pan tilt azimus
Servo tilt; // pan tilt elevation
int distance_L, distance_F, distance_R;
long distance;
long data(void);
int set = 20;
int speed =255;
int x = 0;
//float cm; //Distance variable
//float temp; //
SoftwareSerial mySerial(8, 17); // RX, TX
void setup() {
  // Start the I2C Bus as Slave on address 9
  Wire.begin(50);
  // Attach a function to trigger when something is received.
  Wire.onReceive(receiveEvent);
  Serial.begin(9600);
  // set the data rate for the SoftwareSerial port
  mySerial.begin(9600);
  mySerial.println("Hello Hover Gamers");
  pinMode(trigpin, OUTPUT);
  pinMode(echopin, INPUT);
  
  pan.attach(10);
  tilt.attach(11);
  
  pan.write(70);
  tilt.write(50);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);

  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);
}
void   receiveEvent(int bytes) {
  x = Wire.read();    // read one character from the   I2C
  Serial.println(x);
}
void loop() {
 // STOP();
   ///////////////////////////////////////////////////////////////////////////
//If value received is 0 blink LED for 200 ms
   if (x == 'F') {
    Serial.println("Forward");
     forward(); // turn it on going forward
     delay(500);
     x =0;
  }
  //If value received is 3 blink LED for 400   ms
  else if (x == 'B') {
    Serial.println("REVERSE");
     back();                    // turn it on going forward
     delay(500);
     x =0;
  }
  else if (x == 'L') {
    Serial.println("LEFT");
     Left();                    // turn it on going forward
     delay(500);
     x =0;
  }
  else if (x == 'R') {
    Serial.println("RIGHT");
     Right();                    // turn it on going forward
     delay(500);
     x =0;
  }
  else if (x == 'S') {
    Serial.println("STOP");
     STOP();                    // turn it on going forward
     delay(500);
     x =0;
  }
  else if (x == 'W') {
    Serial.println("nospeed");
     speed =0;                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'X') {
    Serial.println("LOW SPEED");
     speed =170;                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'Y') {
    Serial.println("REGULAR SPEED");
     speed =200;                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'Z') {
    Serial.println("HIGH SPEED");
     speed =255;                    // turn it on going forward
     //delay(500);
     x =0;
  }
  ///////////////////////PAN CONTROL////////////////////////////////
  else if (x == 'a') {
    Serial.println("center");
     pan.write(70);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'b') {
    Serial.println("leftpan");
     pan.write(170);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'c') {
    Serial.println("rightpan");
     pan.write(7);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'd') {
    Serial.println("left c");
     pan.write(120);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'e') {
    Serial.println("right c");
     pan.write(35);                    // turn it on going forward
     //delay(500);
     x =0;
  }

  ///////////////////////Tilt CONTROL////////////////////////////////
  else if (x == 'g') {
    Serial.println("center tilt");
     tilt.write(70);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'h') {
    Serial.println("downtilt");
     tilt.write(110);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'i') {
    Serial.println("up tilt");
     tilt.write(7);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'j') {
    Serial.println("down center");
     tilt.write(120);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'k') {
    Serial.println("up center");
     tilt.write(35);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else{
    STOP();
    }
  ////////////////////////////////////////////////////////////////////////////
  // this is the main function routine for autonomous car drive 
  /*
 distance_F = data();
 Serial.print("S=");
 Serial.println(distance_F);
  if (distance_F > set)
    {
     Serial.println("Forward");
     forward();                    // turn it on going forward
    }
   else
    {
      hc_sr4();
    }

  if (distance_F < 10)
 {
   STOP();
  }
  */
}

long data(){
  digitalWrite(trigpin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigpin, HIGH);
  delayMicroseconds(10);
  distance = pulseIn (echopin, HIGH);
  return distance / 29 / 2;
}
  
  //digitalWrite(Trig, LOW);
  //delayMicroseconds(2);
 // digitalWrite(Trig, HIGH);
 // delayMicroseconds(10);
 // digitalWrite(Trig, LOW);

//  temp = float(pulseIn(Echo, HIGH));
//  cm = (temp * 17 ) / 1000;
//  if (cm < 25 && cm > 10)
//  {
//    back();
//    delay(500);
//    Left();
//    delay(200);
//  }
//  if (cm >= 25)
//  {
//    forward();
//    delay(100);
//  }
//
//
//  if (cm < 10)
//  {
//    STOP();
//  }
//  Serial.print("Echo =");
//  Serial.print(temp);
//  Serial.print(" | | Distance = ");
//  Serial.print(cm);
//  Serial.println("cm");
//  delay(100);
//}

void compareDistance(){
  if (distance_L > distance_R){
  back();
  delay(200);
  Left();   // turn it on going left
  delay(350);
  }
  else if (distance_R > distance_L){
  back();
  delay(200);
  Right();  // the other right
  delay(350);
  }
  else{
  back();  // the other way
   
   delay(300);
  Left();   // turn it on going left
  
    delay(500);
  }
}



void hc_sr4(){
    Serial.println("Stop");
   STOP();         // stopped
  
   
    pan.write(10);
    delay(300);
    distance_R = data();
    delay(100);
    pan.write(170);
    delay(500);
    distance_L = data();
    delay(100);
    pan.write(70);
    delay(300);
    compareDistance();
}
void forward() {
  analogWrite(ENA, speed);
  analogWrite(ENB, speed);

  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("Forward");
}

void back() {
  analogWrite(ENA, speed);
  analogWrite(ENB, speed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  Serial.println("Back");
}


void Left() {
  analogWrite(ENA, speed);
  analogWrite(ENB, speed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("Left");
}

void Right() {
  analogWrite(ENA, speed);
  analogWrite(ENB, speed);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  Serial.println("Right");
}

void STOP() {
  digitalWrite(ENA, LOW);
  digitalWrite(ENB, LOW);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
  Serial.println("STOP");
}

NAVQ+ SMART FARM ROBOT

Credits

Eslam Fayad

Eslam Fayad

5 projects • 5 followers
Ayman Fayad

Ayman Fayad

0 projects • 1 follower

Comments