Bankirobot
Published © GPL3+

Underwater Cyclops

It can give you a controlling device that can helps you to build an underwater robot communicating via Ethernet cable.

AdvancedWork in progress10,513
Underwater Cyclops

Things used in this project

Hardware components

Arduino Mega 2560
Arduino Mega 2560
×1
DS18B20 temperature sensor
×1
Photo resistor
Photo resistor
×1
Jumper wires (generic)
Jumper wires (generic)
×1

Story

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Schematics

DS18B20 temperature sensor example circuit

You can use another input pin

Photo resistor example circuit

You have to use a 10k resistor and you can choose another input pin.

Splitting UTP cable

Code

Underwater ROV code

Arduino
It's an open source code, you can modify this, or cut useful lines.
#include <OneWire.h>
#include <DallasTemperature.h>
#include <SPI.h>        
#include <Ethernet.h>
#include <EthernetUdp.h>    


#define ONE_WIRE_BUS 2
OneWire oneWire(ONE_WIRE_BUS);
DallasTemperature sensors(&oneWire);



byte mac[] = {
  0x90, 0xA2, 0xDA, 0x0D, 0x7F, 0xFC
};
IPAddress ip(192, 168, 1, 102);

unsigned int localPort = 8877;      


int fenymennyiseg=A1;
char datain[UDP_TX_PACKET_MAX_SIZE];  
char  ReplyBuffer[] = "ack";
float temperature;




EthernetUDP Udp;

int motorA1=39;
int motorA2=41;
int speedA=11; //FEL LE DUPLA MOTOROK
int motorB1=45;
int motorB2=43;
int speedB=9; //FEL-LE MOTOR
int motorC1=49;
int motorC2=47;
int speedC=5; // BAL ELRE HTRA MOZGAT
int motorD1=53;
int motorD2=31;
int speedD=3; //JOBB ELRE HTRA MOZGAT
int LEDEK = 8;
char ertek[10];
int oldButtonState = LOW;
int regiallas = LOW;
int x=0;
int y=0;

int fenylampa=7;


int sdcs=4;
int ethcs=10;
int valtgomb=0;


void setup() 
{

  Ethernet.begin(mac, ip);
  Udp.begin(localPort);

  Serial.begin(9600);
    sensors.begin();
  pinMode(motorA1,OUTPUT);
  pinMode(motorA2,OUTPUT);
  pinMode(speedA,OUTPUT);
  pinMode(motorB1,OUTPUT);
  pinMode(motorB2,OUTPUT);
  pinMode(speedB,OUTPUT);
  pinMode(motorC1,OUTPUT);
  pinMode(motorC2,OUTPUT);
  pinMode(speedC,OUTPUT);
  pinMode(motorD1,OUTPUT);
  pinMode(motorD2,OUTPUT);
  pinMode(speedD,OUTPUT);
  pinMode(LEDEK, OUTPUT);
  pinMode(sdcs, OUTPUT);
  digitalWrite(sdcs, HIGH);
    pinMode(ethcs, OUTPUT);
    digitalWrite(ethcs, LOW);
    digitalWrite(LEDEK,HIGH);
    pinMode(fenylampa,OUTPUT);
    digitalWrite(fenylampa,HIGH);
    digitalWrite(speedC,LOW);
    
    

}
  

void loop()
{
  String fenyallas= String(analogRead(1), DEC);
  String valasz= String("ack ");
  String pont= String("\n");
  sensors.requestTemperatures();
  temperature=sensors.getTempCByIndex(0);
  String homerseklet=String(temperature);
  



String Buffer=fenyallas+pont+valasz+pont+homerseklet;
char cBuffer[Buffer.length()];
Buffer.toCharArray(cBuffer, Buffer.length());
Serial.println(cBuffer);



  int packetSize = Udp.parsePacket();
  if (packetSize) 
  {

    IPAddress remote = Udp.remoteIP();


    Udp.read(ertek, UDP_TX_PACKET_MAX_SIZE);
    Serial.println("Contents:");
    for(int i = 0; i<10;i+= 2) 
    {
      Serial.print( *(int*)(&ertek[i]));
      Serial.print(",");
    }
    Serial.print("\n");
    
 
//------------------------------------------------------------------------------------
    if( *(int*)(&ertek[2]) <=-100 && valtgomb!=1)//ELORE-HATRA y tengely
      {
        analogWrite(speedC, abs(*(int*)(&ertek[2])));
        analogWrite(speedD, abs(*(int*)(&ertek[2])));
        digitalWrite(motorC1, HIGH);
        digitalWrite(motorC2, LOW);
        digitalWrite(motorD1, LOW);
        digitalWrite(motorD2, HIGH);
      

      }
        else
          if(*(int*)(&ertek[2]) >=100 && valtgomb!=1)
          {
            analogWrite(speedC, *(int*)(&ertek[2]));
            analogWrite(speedD, *(int*)(&ertek[2]));

        digitalWrite(motorC1, LOW);
        digitalWrite(motorC2, HIGH);
        digitalWrite(motorD1, HIGH);
        digitalWrite(motorD2, LOW);
       

          }
            else
              if(*(int*)(&ertek[2]) < 50 && *(int*)(&ertek[2]) >-50 && valtgomb!=1)
              {
                analogWrite(speedC, 0);
                analogWrite(speedD, 0);
              }
//------------------------------------------------------------------------------------
if( *(int*)(&ertek[0]) >=50 && valtgomb!=1)//FEL-LE X tengely
      {
        analogWrite(speedA, *(int*)(&ertek[0])); 
        analogWrite(speedB, *(int*)(&ertek[0]));
        digitalWrite(motorA1, HIGH);
        digitalWrite(motorA2, LOW);
        digitalWrite(motorB1, HIGH);
        digitalWrite(motorB2, LOW);
      }
        else
          if(*(int*)(&ertek[0]) <=-50 && valtgomb!=1)
          {
            analogWrite(speedA, abs(*(int*)(&ertek[0])));
            analogWrite(speedB, abs(*(int*)(&ertek[0])));
        digitalWrite(motorA1, LOW);
        digitalWrite(motorA2, HIGH);
        digitalWrite(motorB1, LOW);
        digitalWrite(motorB2, HIGH);
          }
            else
              if(*(int*)(&ertek[0]) < 50 && *(int*)(&ertek[0]) >-50 && valtgomb!=1)
              {
               
                analogWrite(speedA, 0);
                analogWrite(speedB, 0);
              }
//------------------------------------------------------------------------------------ledek be/ki

  int newButtonState = *(int*)(&ertek[4]);


  if (newButtonState == HIGH && oldButtonState == LOW) 
  {

    if (x == 0) {
      // Toggle on
      digitalWrite(LEDEK, HIGH);
      x = 1;

    } else {
      // Toggle off
      digitalWrite(LEDEK, LOW);
      x = 0;
    }
  }


  oldButtonState = newButtonState;
//------------------------------------------------------------------------------------//fenymennyisegmero KI/BE

  int gomballas = *(int*)(&ertek[8]);


  if (gomballas == HIGH && regiallas == LOW) 
  {

    if (y == 0) 
    {
      // Toggle on
      digitalWrite(fenylampa, HIGH);
      y = 1;


    } else {
      // Toggle off
      digitalWrite(fenylampa, LOW);
      y = 0;
    }
  }


  regiallas = gomballas;


//------------------------------------------------------------------------------------
valtgomb=*(int*)(&ertek[6]);
if(valtgomb==1)
  {
    if( *(int*)(&ertek[0]) >=50 && valtgomb==1)//fordulas
      {
        analogWrite(speedC, *(int*)(&ertek[0]));
        analogWrite(speedD, *(int*)(&ertek[0]));
        digitalWrite(motorC1, HIGH);
        digitalWrite(motorC2, LOW);
        digitalWrite(motorD1, HIGH);
        digitalWrite(motorD2, LOW);
      }
       else
        if(*(int*)(&ertek[0]) <=-50 && valtgomb==1)
         {
          analogWrite(speedC, abs(*(int*)(&ertek[0])));
          analogWrite(speedD, abs(*(int*)(&ertek[0])));
        digitalWrite(motorC1, HIGH);
        digitalWrite(motorC2, LOW);
        digitalWrite(motorD1, HIGH);
        digitalWrite(motorD2, LOW);
         }
          else
            if(*(int*)(&ertek[0]) < 50 && *(int*)(&ertek[0]) >-50 && valtgomb==1)
            {
              analogWrite(speedC, 0);
              analogWrite(speedD, 0);
            }

 }


 
//------------------------------------------------------------------------------------
    Udp.beginPacket(Udp.remoteIP(), Udp.remotePort());
    Udp.write(cBuffer);
    Udp.endPacket();
    
  }
    else
    {
      digitalWrite(motorA1,LOW);
      digitalWrite(motorA2,LOW);
      digitalWrite(motorB1,LOW);
      digitalWrite(motorB2,LOW);
      digitalWrite(motorC1,LOW);
      digitalWrite(motorC2,LOW);
      digitalWrite(motorD1,LOW);
      digitalWrite(motorD2,LOW);
    }
  delay(50);
}

Python code

Python
import socket
import pygame
import struct
import time
import datetime as dt
dt.datetime.now()

UDP_IP = '192.168.1.102'
UDP_PORT = 8877
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.settimeout(2)


pygame.init()


pygame.joystick.init()

joy_count = pygame.joystick.get_count()



if joy_count < 1 : print ("Nincs joystick csatlakoztatva.")
else :
    fenymennyiseg=open("feny.csv","w")
    fenymennyiseg.write("DATUM;FENYMENNY\n")
 
    
    while True :
        joystick = pygame.joystick.Joystick(0)
        joystick.init()
        
        pygame.event.pump()
         
        y_tengely = int(joystick.get_axis(1) * 255)
        x_tengely = int(joystick.get_axis(0) * 255)
        gomb = int(joystick.get_button(1))
        valtgomb = int(joystick.get_button(3))
        fenygomb = int(joystick.get_button(2))
        

        
        
        


        
        sock.sendto(struct.pack("hhhhh", x_tengely, y_tengely, gomb, valtgomb, fenygomb), (UDP_IP, UDP_PORT))
        data, addr = sock.recvfrom(1024)
        #print ("received from: ",addr)
        
        
        adat=data.decode("utf-8")
        sszesadat=adat.split()
        print (sszesadat[0])


        
        if (int(joystick.get_button(2))==1) :
            fenymennyiseg=open("feny.csv","a")
            fenymennyiseg.write("{0};{1}\n".format(dt.datetime.now().strftime("%H:%M"),sszesadat[0]))
            time.sleep(0.1)
            fenymennyiseg.close()
            
        
            
            
     
        
       
            
 
        if sszesadat[1] != 'ack' :
            print (sszesadat)
            print ("Nincs valasz")
            break

       
        

Credits

Bankirobot

Bankirobot

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