Published November 10, 2016 © GPL3+

VEPCRo - Vertical External Pole Climbing Robot

A robot that can climb long vertical poles to clean/paint them, or for security, surveillance or military purposes by attaching a camera.

IntermediateShowcase (no instructions)3 days15,221

VEPCRo - Vertical External Pole Climbing Robot

Things used in this project

Hardware components

Arduino Mega 2560

SparkFun Dual H-Bridge motor drivers L298

Adafruit Analog Accelerometer: ADXL335

DC motor (generic)

Arduino 101

Software apps and online services

Arduino IDE

Story

A robot that can climb vertical pipes (or poles), such flag posts and fan pipes that are hard to climb upon, and clean them. If needed it could paint the pipe, too. The specialty is that the robot can attach to the pole from any place (lower end, upper end or in-between) and after that it just needs power to do its job. It can detect the upper-end and lower-end of the pole, and is self-guided. It can be controlled remotely via IR or Wi-Fi.

The cleaning mechanism is detachable and can be replaced by a camera to use as a surveillance camera for security or military purposes.

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VEPCRo_Code

/*=============================================
    Program : Vertical External Pole Climbing Robot
    Author  : wickPro-PC\wickPro
    Time    : 15:56 PM
    Date    : 10/11/2016
    Coded by: Pramod C Wickramasinghe
    E-mail  : wick.pro@gmail.com
    Mobile  : +94774585875
  =============================================*/

#include <IRremote.h>

int WR1 = 22;
int WF1 = 23;
int WS1 = 4;

int WR2 = 26;
int WF2 = 27;
int WS2 = 6;

int WR3 = 30;
int WF3 = 31;
int WS3 = 8;

int RWF = 28;
int RWR = 29;
int RWS = 7;

int CUT = 5;
int CUT1 = 24;
int CUT2 = 25;

int ALS = A1;
int ALS_THRESH = 1023;

int UDT = A12;  // Ultrasonic Sensor DOWN.
int UUT = 34;  // Ultrasonic Sensor UP.

int UDE = A13;
int UUE = 36;

long distanceUp = 0;
long distanceDown = 0;

int STATE_START = 0;
int STATE_UP = 1;
int STATE_DOWN = 2;
int STATE_STOP = 3;
int state = 0;

int SW1 = 40; // Switches
int SW2 = 42;
int SW3 = 44;

int ROT = 38;
int ROT_DIRECTION = 1; // 1 or -1
int ROT_DIRECTION_PREV = -1; // 1 or -1
long ROT_DEBTIME = -500;
long ROT_DEBDELAY = 500;

int rLED = 41;
int yLED = 43;
int gLED = 45;

int RECV_PIN = 49;

int rledState = HIGH;
long rpreviousMillis = 0;
long rinterval = 500;
int yledState = HIGH;
long ypreviousMillis = 0;
long yinterval = 500;
int gledState = HIGH;
long gpreviousMillis = 0;
long ginterval = 500;

IRrecv irrecv(RECV_PIN);
decode_results results;

void setup()
{
  pinMode(SW1, INPUT);
  pinMode(SW2, INPUT);
  pinMode(SW3, INPUT);
  pinMode(rLED, OUTPUT);
  pinMode(yLED, OUTPUT);
  pinMode(gLED, OUTPUT);
  pinMode(WS1, OUTPUT);
  pinMode(WF1, OUTPUT);
  pinMode(WR1, OUTPUT);
  pinMode(WS2, OUTPUT);
  pinMode(WF2, OUTPUT);
  pinMode(WR2, OUTPUT);
  pinMode(WS3, OUTPUT);
  pinMode(WF3, OUTPUT);
  pinMode(WR3, OUTPUT);
  pinMode(RWS, OUTPUT);
  pinMode(RWF, OUTPUT);
  pinMode(RWR, OUTPUT);
  pinMode(CUT, OUTPUT);
  pinMode(CUT1, OUTPUT);
  pinMode(CUT2, OUTPUT);

  irrecv.enableIRIn(); // Start the receiver
  Serial.begin(9600);
  digitalWrite(rLED,HIGH);

  Serial.println("Hello World");

}

// -------------------

void loop() {

  resetSystem();

  while (digitalRead(SW1) == HIGH) {
    unsigned long rcurrentMillis = millis();

    digitalWrite(gLED, LOW);
    digitalWrite(yLED, LOW);

    while (digitalRead(ROT)==0) {
      if (ROT_DIRECTION==1) {
        analogWrite(RWS, 75);
        digitalWrite(RWR, LOW);
        digitalWrite(RWF, HIGH);
        delay(100);
      } else {
        analogWrite(RWS, 75);
        digitalWrite(RWR, HIGH);
        digitalWrite(RWF, LOW);
        delay(100);
      }
      if (digitalRead(ROT)==1) {
        analogWrite(RWS, 0);
        digitalWrite(RWF, LOW);
        digitalWrite(RWR, LOW);
        break;
      }
    }

    if(rcurrentMillis - rpreviousMillis > rinterval) {
      rpreviousMillis = rcurrentMillis;
      if (rledState == LOW)
        rledState = HIGH;
      else
        rledState = LOW;
      digitalWrite(rLED, rledState);
    } else if (digitalRead(SW1) == LOW) {
      digitalWrite(rLED, HIGH);
    }

    if (irrecv.decode(&results)) {

      switch (results.value) {

        case 0xFF629D:    // Serial.println(" FORWARD"); break;
        delay(100);
        analogWrite(WS1, 200);
        digitalWrite(WF1, LOW);
        digitalWrite(WR1, HIGH);
        analogWrite(WS2, 100);
        digitalWrite(WF2, LOW);
        digitalWrite(WR2, HIGH);
        analogWrite(WS3, 100);
        digitalWrite(WF3, LOW);
        digitalWrite(WR3, HIGH);
        break;

        case 0xFFA857: //Serial.println(" REVERSE"); break;
        delay(100);
        analogWrite(WS1, 70);
        digitalWrite(WR1, LOW);
        digitalWrite(WF1, HIGH);
        analogWrite(WS2, 90);
        digitalWrite(WR2, LOW);
        digitalWrite(WF2, HIGH);
        analogWrite(WS3, 90);
        digitalWrite(WR3, LOW);
        digitalWrite(WF3, HIGH);
        break;

        case 0xFF22DD: //Serial.println(" LEFT");
        ROT_DIRECTION = 1;
        delay(100);
        analogWrite(RWS, 75);
        digitalWrite(RWR, HIGH);
        digitalWrite(RWF, LOW);
        break;

        case 0xFFC23D: //Serial.println(" RIGHT");
        ROT_DIRECTION = -1;
        delay(100);
        analogWrite(RWS, 75);
        digitalWrite(RWR, LOW);
        digitalWrite(RWF, HIGH);
        break;

        case 0xFF02FD: //Serial.println(" -OK-");
        delay(3);
        analogWrite(WS1, 0);
        digitalWrite(WF1, LOW);
        digitalWrite(WR1, LOW);
        analogWrite(WS2, 0);
        digitalWrite(WF2, LOW);
        digitalWrite(WR2, LOW);
        analogWrite(WS3, 0);
        digitalWrite(WF3, LOW);
        digitalWrite(WR3, LOW);
        analogWrite(RWS, 0);
        digitalWrite(RWR, LOW);
        digitalWrite(RWF, LOW);
        break;

        case 0xFF6897: //Serial.println(" 1");
        analogWrite(WS1, 100);
        digitalWrite(WF1, LOW);
        digitalWrite(WR1, HIGH);
        delay(400);
        analogWrite(WS1, 0);
        digitalWrite(WF1, LOW);
        digitalWrite(WR1, LOW);
        break;

        case 0xFF9867: //Serial.println(" 2");
        analogWrite(WS2, 100);
        digitalWrite(WF2, LOW);
        digitalWrite(WR2, HIGH);
        delay(400);
        analogWrite(WS2, 0);
        digitalWrite(WF2, LOW);
        digitalWrite(WR2, LOW);
        break;

        case 0xFFB04F: //Serial.println(" 3");
        analogWrite(WS3, 100);
        digitalWrite(WF3, LOW);
        digitalWrite(WR3, HIGH);
        delay(400);
        analogWrite(WS3, 0);
        digitalWrite(WF3, LOW);
        digitalWrite(WR3, LOW);
        break;

        case 0xFF30CF: //Serial.println(" 4");
        analogWrite(WS1, 60);
        digitalWrite(WR1, LOW);
        digitalWrite(WF1, HIGH);
        delay(400);
        analogWrite(WS1, 0);
        digitalWrite(WF1, LOW);
        digitalWrite(WR1, LOW);
        break;

        case 0xFF18E7: //Serial.println(" 5");
        analogWrite(WS2, 60);
        digitalWrite(WR2, LOW);
        digitalWrite(WF2, HIGH);
        delay(400);
        analogWrite(WS2, 0);
        digitalWrite(WF2, LOW);
        digitalWrite(WR2, LOW);
        break;

        case 0xFF7A85: //Serial.println(" 6");
        analogWrite(WS3, 60);
        digitalWrite(WR3, LOW);
        digitalWrite(WF3, HIGH);
        delay(400);
        analogWrite(WS3, 0);
        digitalWrite(WF3, LOW);
        digitalWrite(WR3, LOW);
        break;

        case 0xFF42BD:// Serial.println(" *");
        ROT_DIRECTION = 1;
        analogWrite(RWS, 75);
        digitalWrite(RWR, HIGH);
        digitalWrite(RWF, LOW);
        delay(300);
        analogWrite(RWS, 0);
        digitalWrite(RWR, LOW);
        digitalWrite(RWF, LOW);
        break;

        case 0xFF52AD:// Serial.println(" #");
        ROT_DIRECTION = -1;
        analogWrite(RWS, 75);
        digitalWrite(RWR, LOW);
        digitalWrite(RWF, HIGH);
        delay(300);
        analogWrite(RWS, 0);
        digitalWrite(RWR, LOW);
        digitalWrite(RWF, LOW);
        break;

      }

      irrecv.resume();

    }

  } //end-while

  resetSystem();

  while (digitalRead(SW1) == LOW) {

    unsigned long ycurrentMillis = millis();
    unsigned long gcurrentMillis = millis();

    if (digitalRead(SW2)==HIGH) {
      if(ycurrentMillis - ypreviousMillis > yinterval) {
        ypreviousMillis = ycurrentMillis;
        yledState = (yledState == LOW) ? HIGH : LOW;
        digitalWrite(yLED, yledState);
      }
    } else {
      digitalWrite(yLED, HIGH);
    }

    if (digitalRead(SW3)==HIGH) {
      if(gcurrentMillis - gpreviousMillis > ginterval) {
        gpreviousMillis = gcurrentMillis;
        gledState = (gledState == LOW) ? HIGH : LOW;
        digitalWrite(gLED, gledState);
      }
    } else {
      digitalWrite(gLED, HIGH);
    }

    // -----------------------------------------------------------------------

    readDistance();
    readRotationStatus();

    if (state == STATE_START){
      Serial.println("[] STATE_START");
      if(goDown() == 1){
        Serial.println("[] Going down (start)");
      } else {
        state = STATE_UP;
        startCutters();
      }
    } else if(state == STATE_UP){
      Serial.println("[] STATE_UP");
      if(goUp() == 1) {
        Serial.println("[] Going up");
        if (ROT_DIRECTION != ROT_DIRECTION_PREV) {
          ROT_DIRECTION_PREV = ROT_DIRECTION;
          ROT_DEBTIME = millis();
          if (ROT_DIRECTION == 1) {
            analogWrite(RWS, 75);
            digitalWrite(RWR, HIGH);
            digitalWrite(RWF, LOW);
          } else {
            analogWrite(RWS, 75);
            digitalWrite(RWR, LOW);
            digitalWrite(RWF, HIGH);
          }
        }
        if(analogRead(ALS) > ALS_THRESH) {
          delay(100);
          Serial.println("[] Going back (Freezed)");
          goDown();
          delay(750);
          stopMotors();
          delay(100);
          goUp();
        }
      } else {
        state = STATE_DOWN;
        stopRotate();
        stopCutters();
        ROT_DIRECTION_PREV = ROT_DIRECTION * -1;
      }
    } else if(state == STATE_DOWN){
      Serial.println("[] STATE_DOWN");
      if(goDown() == 1) {
        Serial.println("[] Going down");
        if (digitalRead(SW3)==HIGH) {
          Serial.println("[] Painting");
          if (ROT_DIRECTION != ROT_DIRECTION_PREV) {
            ROT_DIRECTION_PREV = ROT_DIRECTION;
            ROT_DEBTIME = millis();
            if (ROT_DIRECTION == 1) {
              analogWrite(RWS, 75);
              digitalWrite(RWR, HIGH);
              digitalWrite(RWF, LOW);
            } else {
              analogWrite(RWS, 75);
              digitalWrite(RWR, LOW);
              digitalWrite(RWF, HIGH);
            }
          }
          // Start Painter
          analogWrite(9, 254);
          digitalWrite(32, LOW);
          digitalWrite(33, HIGH);
        }
      } else {
        state = STATE_STOP;
        stopRotate();
        // Stop Painter
        analogWrite(9, 254);
        digitalWrite(32, HIGH);
        digitalWrite(33, LOW);
      }
    } else if(state == STATE_STOP){
      Serial.println("[] STATE_STOP");
       stopMotors();
    }

  }

}

void resetSystem() {
  stopCutters();
  stopMotors();
  stopRotate();
  state = 0;
  ROT_DIRECTION = 1;
  ROT_DIRECTION_PREV = -1;
}

void startCutters() {
  analogWrite(CUT, 110);
  digitalWrite(CUT1,HIGH);
  digitalWrite(CUT2,LOW);
}

void stopCutters() {
  analogWrite(CUT, 0);
  digitalWrite(CUT1,LOW);
  digitalWrite(CUT2,LOW);
}

int flag = 0;
int rotationDirection = 0;

void stopRotate() {
   analogWrite(RWS, 0);
   digitalWrite(RWR, LOW);
   digitalWrite(RWF, LOW);
}

int goDown() {
  if( distanceDown > 20 ) {
    analogWrite(WS1, 50);
    digitalWrite(WR1, LOW);
    digitalWrite(WF1, HIGH);
    analogWrite(WS2, 76);
    digitalWrite(WR2, LOW);
    digitalWrite(WF2, HIGH);
    analogWrite(WS3, 76);
    digitalWrite(WR3, LOW);
    digitalWrite(WF3, HIGH);
    return 1;
  } else {
    stopMotors();
    delay(100);
    return 0;
  }
}

int goUp() {
  if (
    (digitalRead(SW2)==LOW && distanceUp > 12) ||
    (digitalRead(SW2)==HIGH && distanceUp < 12) ) {
  // if( distanceUp > 12 ) {
    analogWrite(WS1, 170);
    digitalWrite(WF1, LOW);
    digitalWrite(WR1, HIGH);
    analogWrite(WS2, 80);
    digitalWrite(WF2, LOW);
    digitalWrite(WR2, HIGH);
    analogWrite(WS3, 80);
    digitalWrite(WF3, LOW);
    digitalWrite(WR3, HIGH);
    return 1;
  } else {
    stopMotors();
    delay(100);
    return 0;
  }
}

void stopMotors() {
    analogWrite(WS1, 0);
    digitalWrite(WF1, LOW);
    digitalWrite(WR1, LOW);
    analogWrite(WS2, 0);
    digitalWrite(WF2, LOW);
    digitalWrite(WR2, LOW);
    analogWrite(WS3, 0);
    digitalWrite(WF3, LOW);
    digitalWrite(WR3, LOW);
}

void readDistance() {
  // Up
  pinMode(UUT, OUTPUT);
  digitalWrite(UUT, LOW);
  delayMicroseconds(2);
  digitalWrite(UUT, HIGH);
  delayMicroseconds(10);
  digitalWrite(UUT, LOW);
  pinMode(UUE, INPUT);
  distanceUp = pulseIn(UUE, HIGH) / 29 / 2;
  // Down
  pinMode(UDT, OUTPUT);
  digitalWrite(UDT, LOW);
  delayMicroseconds(2);
  digitalWrite(UDT, HIGH);
  delayMicroseconds(10);
  digitalWrite(UDT, LOW);
  pinMode(UDE, INPUT);
  distanceDown = pulseIn(UDE, HIGH) / 29 / 2;
  // Print
  Serial.println(distanceUp);
  Serial.println(distanceDown);
  Serial.println();
}

void readRotationStatus() {
  long currentTime = millis();
  long nextReadTime = ROT_DEBDELAY + ROT_DEBTIME;
  if (nextReadTime < currentTime) {
    if (digitalRead(ROT) == 0) {
      ROT_DIRECTION = -1 * ROT_DIRECTION;
      stopRotate();
    }
  }
}