Team Direct: Garret Nordmeyer, Shaun, Alejandro

Published April 16, 2015 © Beerware

Back-Saver

Backpack-carrying follower robot powered by Wunderbar and Sparkfun RedBoard

BeginnerWork in progress1,073

Things used in this project

Hardware components

SparkFun RedBoard

DC Stepper Motor 28-BY-J-48

MB 1010 LV-Max-Sonar EZ1

Relayr WunderBar

Story

A Sparkfun Red-Board utilizes a LV-Max Sonar component to judge distances between the user and the robot, powering the DC stepper motor to move forward, reverse or change direction. Each motor requires around 5V to operate.

In the future, a feature using the TellMeWhen Relayr app and the Wunderbar proximity sensor will send a notification to an Arduino 2.0 BLE shield when the proximity threshold is violated, overriding the LV-Max Sonar readings.

This project wasn't finished under the deadline and therefore should be treated as incomplete, i.e. the interface between the motor and sonar wasn't completed. This project can be run either with using the sonar sensor code to read the distance sensor in or with the code running the stepper motors. Please take everything with a grain of salt and let us know about any mistakes.

Schematics

Code

/*
This code reads the Analog Voltage output from the
LV-MaxSonar sensors
If you wish for code with averaging, please see
playground.arduino.cc/Main/MaxSonar
Please note that we do not recommend using averaging with our sensors.
Mode and Median filters are recommended.
*/

const int anPin1 = 0;
long distance1;

void setup() {
  Serial.begin(9600);  // sets the serial port to 9600
}

void read_sensors(){
  /*
  Scale factor is (Vcc/512) per inch. A 5V supply yields ~9.8mV/in
  Arduino analog pin goes from 0 to 1024, so the value has to be divided by 2 to get the actual inches
  */
  distance1 = analogRead(anPin1)/2;
}

void print_all(){
  Serial.print("S1");
  Serial.print(" ");
  Serial.print(distance1);
  Serial.print("inches");
  Serial.println();
}

void loop() {
  read_sensors();
  print_all();
  delay(50); 
}

/****************************************************************************
   BYJ48 Stepper motor code
   Connect :

   Stepper 1
   IN1 >> D8
   IN2 >> D9
   IN3 >> D10
   IN4 >> D11
   
   Stepper 2	
   IN1 >> D5 
   IN2 >> D4
   IN3 >> D3
   IN4 >> D2
 
   VCC ... 5V Prefer to use external 5V Source
   Gnd
   written By :Mohannad Rawashdeh
  http://www.instructables.com/member/Mohannad+Rawashdeh/
     28/9/2013

Edited by Team Direct: Added second motor, runs in opposite direction.
http://www.hackster.io/direct/back-saver

  **************************************************************************/

#define IN1  10
#define IN2  11
#define IN3  12
#define IN4  13
#define IN5  5
#define IN6  4
#define IN7  3
#define IN8  2



int Steps = 0;
boolean Direction = true;// gre
unsigned long last_time;
unsigned long currentMillis ;
int steps_left=4095;
long time;
void setup()
{
Serial.begin(115200);
pinMode(IN1, OUTPUT); 
pinMode(IN2, OUTPUT); 
pinMode(IN3, OUTPUT); 
pinMode(IN4, OUTPUT); 
pinMode(IN5, OUTPUT); 
pinMode(IN6, OUTPUT); 
pinMode(IN7, OUTPUT); 
pinMode(IN8, OUTPUT);



// delay(1000);

}
void loop()
{
  while(steps_left>0){
  currentMillis = micros();
  if(currentMillis-last_time>=1000){
  stepper(1); 
  time=time+micros()-last_time;
  last_time=micros();
  steps_left--;
  }
  }
   Serial.println(time);
  Serial.println("Wait...!");
  //delay(2000);0
  Direction=1;//!Direction;
  steps_left=4095;
}

void stepper(int xw){
  for (int x=0;x<xw;x++){
switch(Steps){
   case 0:
     digitalWrite(IN1, LOW); 
     digitalWrite(IN2, LOW);
     digitalWrite(IN3, LOW);
     digitalWrite(IN4, HIGH);
     
     digitalWrite(IN5, HIGH); 
     digitalWrite(IN6, LOW);
     digitalWrite(IN7, LOW);
     digitalWrite(IN8, HIGH);
   break; 
   case 1:
     digitalWrite(IN1, LOW); 
     digitalWrite(IN2, LOW);
     digitalWrite(IN3, HIGH);
     digitalWrite(IN4, HIGH);
     
     digitalWrite(IN5, HIGH); 
     digitalWrite(IN6, LOW);
     digitalWrite(IN7, LOW);
     digitalWrite(IN8, LOW);    
     
   break; 
   case 2:
     digitalWrite(IN1, LOW); 
     digitalWrite(IN2, LOW);
     digitalWrite(IN3, HIGH);
     digitalWrite(IN4, LOW);
     
     digitalWrite(IN5, HIGH); 
     digitalWrite(IN6, HIGH);
     digitalWrite(IN7, LOW);
     digitalWrite(IN8, LOW);       
     
   break; 
   case 3:
     digitalWrite(IN1, LOW); 
     digitalWrite(IN2, HIGH);
     digitalWrite(IN3, HIGH);
     digitalWrite(IN4, LOW);
     
     digitalWrite(IN5, LOW); 
     digitalWrite(IN6, HIGH);
     digitalWrite(IN7, LOW);
     digitalWrite(IN8, LOW);     
     
   break; 
   case 4:
     digitalWrite(IN1, LOW); 
     digitalWrite(IN2, HIGH);
     digitalWrite(IN3, LOW);
     digitalWrite(IN4, LOW);
     
     digitalWrite(IN5, LOW); 
     digitalWrite(IN6, HIGH);
     digitalWrite(IN7, HIGH);
     digitalWrite(IN8, LOW);
   break; 
   
   case 5:
     digitalWrite(IN1, HIGH); 
     digitalWrite(IN2, HIGH);
     digitalWrite(IN3, LOW);
     digitalWrite(IN4, LOW);
     
     digitalWrite(IN5, LOW); 
     digitalWrite(IN6, LOW);
     digitalWrite(IN7, HIGH);
     digitalWrite(IN8, LOW);      
     
   break; 
     case 6:
     digitalWrite(IN1, HIGH); 
     digitalWrite(IN2, LOW);
     digitalWrite(IN3, LOW);
     digitalWrite(IN4, LOW);
     
     digitalWrite(IN5, LOW); 
     digitalWrite(IN6, LOW);
     digitalWrite(IN7, HIGH);
     digitalWrite(IN8, HIGH);
     
   break; 
   case 7:
     digitalWrite(IN1, HIGH); 
     digitalWrite(IN2, LOW);
     digitalWrite(IN3, LOW);
     digitalWrite(IN4, HIGH);
     
     digitalWrite(IN5, LOW); 
     digitalWrite(IN6, LOW);
     digitalWrite(IN7, LOW);
     digitalWrite(IN8, HIGH);
     
   break; 
   default:
     digitalWrite(IN1, LOW); 
     digitalWrite(IN2, LOW);
     digitalWrite(IN3, LOW);
     digitalWrite(IN4, LOW);
     
     digitalWrite(IN5, LOW); 
     digitalWrite(IN6, LOW);
     digitalWrite(IN7, LOW);
     digitalWrite(IN8, LOW);     
     
   break; 
}
SetDirection();
}
} 
void SetDirection(){
if(Direction==1){ Steps++;}
if(Direction==0){ Steps--; }
if(Steps>7){Steps=0;}
if(Steps<0){Steps=7; }
}

Back-Saver

Things used in this project

Hardware components

Story

Custom parts and enclosures

Stepper Motor 1 Diagram

Stepper Motor 2 Diagram

Sonar Sensor Diagram

Schematics

Back-Saver Motor and Sonar connections to RedBoard

Back-Saver Motor Connections_bb.png

Code

Sonar Code

stepper motor code

Credits

Garret Nordmeyer

Shaun

Alejandro

Comments

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Back-Saver

Back-Saver

Things used in this project

Hardware components

Story

Custom parts and enclosures

Stepper Motor 1 Diagram

Stepper Motor 2 Diagram

Sonar Sensor Diagram

Schematics

Back-Saver Motor and Sonar connections to RedBoard

Back-Saver Motor Connections_bb.png

Code

Sonar Code

stepper motor code

Credits

Garret Nordmeyer

Shaun

Alejandro

Comments

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