Arduino “having11” Guy
Published © GPL3+

The Dandelion Hunter

Use a tank chassis and computer vision to create a robot that can hunt down and destroy dandelions with full autonomy!

IntermediateFull instructions provided5 hours1,993
The Dandelion Hunter

Things used in this project

Hardware components

DFRobot Devastator Tank Chassis
×1
Teensy 3.5
Teensy 3.5
×1
Pixy2 CV Camera
×1
N-Channel MOSFET
×1
DC High RPM Hobby Motor
×1
11.1v 1800mAh Battery
×1
Dual H-Bridge motor drivers L293D
Texas Instruments Dual H-Bridge motor drivers L293D
×1

Software apps and online services

Fusion 360
Autodesk Fusion 360
Arduino IDE
Arduino IDE
PixyMon

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)
Multitool, Screwdriver
Multitool, Screwdriver
3D Printer (generic)
3D Printer (generic)

Story

Read more

Custom parts and enclosures

Motor Guard

Motor Mount

Schematics

Motor Driver Pinout

Pixy2 Pinout

Code

Dandelion Hunter Code

C/C++
//GPS not yet implemented
#include <Adafruit_GPS.h>
#include <PWMServo.h>
#include <Pixy2I2C.h>

//define pins
#define WEAPON 2
#define SERVO_PAN 23

#define M1_1 38
#define M1_2 37
#define M2_1 35
#define M2_2 36

#define CENTER_POS 158
#define DEADZONE 10
#define ANGLE_DELAY 10 //number of ms per servo angle

#define TARGET_WIDTH 100 //from 1-316
#define TARGET_HEIGHT 60 //from 1-208

#define GPSSERIAL Serial1
#define GPSECHO false

//create objects
Pixy2I2C pixy;
PWMServo pan_servo;
Adafruit_GPS GPS(&GPSSERIAL);
IntervalTimer gpsTimer;

int largest_size = 0, currently_tracked = 0, servo_pos = 90, servo_flag = -1;
double home_lat, home_lon;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  init_pins();
  pixy.init();
  init_GPS();
}

void loop() {
  // put your main code here, to run repeatedly:
  pixy.ccc.getBlocks();
  if(pixy.ccc.numBlocks){
      pixy.ccc.blocks[0].print();
      if(servo_pos != 90){
        if(servo_pos < 90){
          set_motors(20, -20);
          delay((90-servo_pos)*ANGLE_DELAY);
          set_motors(0, 0);
        }
        else if(servo_pos > 90){
          set_motors(-20, 20);
          delay((servo_pos-90)*ANGLE_DELAY);
          set_motors(0, 0);
        }
        servo_pos = 90;
        pan_servo.write(90);
      }
      while(pixy.ccc.blocks[0].m_width * pixy.ccc.blocks[0].m_height < TARGET_HEIGHT * TARGET_WIDTH){
        pixy.ccc.getBlocks();
        if(!pixy.ccc.numBlocks){
          set_motors(0, 0);
          break;
        }
        else{
          pixy.ccc.blocks[0].print();
        if(pixy.ccc.blocks[0].m_x < CENTER_POS-DEADZONE){
          set_motors(-20, 20);
          Serial.println("Moving left");
          delay(50);
          set_motors(0, 0);
        }
        else if((pixy.ccc.blocks[0].m_x >= CENTER_POS-DEADZONE) && (pixy.ccc.blocks[0].m_x <= CENTER_POS+DEADZONE)){
          set_motors(60, 60);
          Serial.println("Moving forward");
          delay(50);
          set_motors(0, 0);
        }
        else if(pixy.ccc.blocks[0].m_x > CENTER_POS+DEADZONE){
          set_motors(20, -20);
          Serial.println("Moving right");
          delay(50);
          set_motors(0, 0);
        }
      }
      }
      if(pixy.ccc.blocks[0].m_width * pixy.ccc.blocks[0].m_height>=TARGET_HEIGHT * TARGET_WIDTH){
        kill_flower();
      }
  }
  else{
    set_motors(0, 0);
    if(!servo_pos){
      servo_flag = 1;
    }
    else if(servo_pos >= 180){
      servo_flag = -1;
    }
    servo_pos += servo_flag;
    pan_servo.write(servo_pos);
  }
}

void kill_flower(){
  set_motors(0, 0);
  set_motors(-60, -60);
  delay(700);
  analogWrite(WEAPON, 255);
  set_motors(80, 80);
  delay(1200);
  set_motors(0, 0);
  analogWrite(WEAPON, 0);
  largest_size = 0;
  currently_tracked = 0;
}

void set_motors(uint8_t m1_val, uint8_t m2_val){
   if(m1_val<0){
      analogWrite(M1_1, 0);
      analogWrite(M1_2, m1_val*-1);
   }
   else{
      analogWrite(M1_1, m1_val);
      analogWrite(M1_2, 0);
   }
   if(m2_val<0){
      analogWrite(M2_1, 0);
      analogWrite(M2_2, m2_val*-1);
   }
   else{
      analogWrite(M2_1, m2_val);
      analogWrite(M2_2, 0);
   }
}

void init_pins(){
  pinMode(M1_1, OUTPUT);
  pinMode(M1_2, OUTPUT);
  pinMode(M2_1, OUTPUT);
  pinMode(M2_2, OUTPUT);
  analogWrite(M1_1, 0);
  analogWrite(M1_2, 0);
  analogWrite(M2_1, 0);
  analogWrite(M2_2, 0);
  pinMode(WEAPON, OUTPUT);
  analogWrite(WEAPON, 0);
  pan_servo.attach(SERVO_PAN);
  pan_servo.write(90);
}

void print_GPS(){
      Serial.print("\nTime: ");
    Serial.print(GPS.hour, DEC); Serial.print(':');
    Serial.print(GPS.minute, DEC); Serial.print(':');
    Serial.print(GPS.seconds, DEC); Serial.print('.');
    Serial.println(GPS.milliseconds);
    Serial.print("Date: ");
    Serial.print(GPS.day, DEC); Serial.print('/');
    Serial.print(GPS.month, DEC); Serial.print("/20");
    Serial.println(GPS.year, DEC);
    Serial.print("Fix: "); Serial.print((int)GPS.fix);
    Serial.print(" quality: "); Serial.println((int)GPS.fixquality);
    if (GPS.fix) {
      Serial.print("Location: ");
      Serial.print(GPS.latitude/100, 5); Serial.print(GPS.lat);
      Serial.print(", ");
      Serial.print(GPS.longitude/100, 5); Serial.println(GPS.lon);
      Serial.print("Speed (knots): "); Serial.println(GPS.speed);
      Serial.print("Angle: "); Serial.println(GPS.angle);
      Serial.print("Altitude: "); Serial.println(GPS.altitude);
      Serial.print("Satellites: "); Serial.println((int)GPS.satellites);
    }
}

void init_GPS(){
  GPS.begin(9600);
  GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
  GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
  delay(1000);
  GPSSERIAL.println(PMTK_Q_RELEASE);
  char c;
  while(!GPS.newNMEAreceived()){
    c = GPS.read();
  }
  if(GPS.newNMEAreceived()){
    print_GPS();
  }
  //gpsTimer.begin(print_GPS, 3000000);
}

Credits

Arduino “having11” Guy

Arduino “having11” Guy

51 projects • 296 followers
IoT, Arduino, and Raspberry Pi. I can create designs, code, and build projects for only $22/hr. Just message me with your project request.

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