Robot Mapping Obstacles
Overall Design
Project Details
The objective of this robot design is to map out obstacles within a 3ft by 3ft parameter using a uLCD screen. It would detect the obstacles using the Sonar Sensor and magnetic objects with the IMU. It would mark those obstacles as red dots in the uLCD. The robot moves using the H-bridge to control the motors on each side and being given commands from the Bluefruit App.
uLCD-144-G2 128 by 128 Smart Color LCD
Wiring
| mBed | uLCD Header | uLCD cable |
|---|---|---|
| 5V=VU | 5V | 5V |
| Gnd | Gnd | Gnd |
| TX=P13 | RX | TX |
| RX=P14 | TX | RX |
| P15 | Reset | Reset |
LSM9DS1 IMU
Wiring
| mBed | IMU |
|---|---|
| 3.3V(Vout) | VDD |
| Gnd | Gnd |
| P9 | SDA |
| P10 | SCL |
L293D dual H bridge driver
Wiring
| mBed | H bridge | Motor | External Power Supply(5V) |
|---|---|---|---|
| GND | GND | GND | |
| 3.3V(Vout) | VCC | ||
| P21 | PWMA | ||
| P22 | PWMB | ||
| 3.3V(Vout) | STBY | ||
| VMOT | +Pin | ||
| P23 | AIN1 | ||
| P24 | AIN2 | ||
| P25 | BIN1 | ||
| p26 | BIN2 | ||
| AO1 | Right Wheel +Pin | ||
| AO2 | Right Wheel -Pin | ||
| BO1 | Left Wheel +Pin | ||
| BO2 | Left Wheel -Pin |
Adafruit Bluefruit LE UART
Wiring
| mbed | Adafruit BLE | External Batter(5V) |
|---|---|---|
| GND | GND | GND |
| Vin | +Pin | |
| nc | RTS | |
| GND | CTS | |
| p27 (Serial RX) | TXO | |
| p28 (Serial TX) | RXI |
HC-SR04 Sonar Sensor
Wiring
| mbed LPC1768 | HC-SR04 Right Side | External Battery(5V) |
| Vcc | +Pin | |
| GND | GND | GND |
| p6 | trig | |
| p7 | echo |
| mbed LPC1768 | HC-SR04 Left Side | External Battery(5V) |
| Vcc | +Pin | |
| GND | GND | GND |
| p12 | trig | |
| p11 | echo |
Robot Demo
Program
Import programLab4miniproject
A robot that can detect objects and determine if the object is magnetic while drawing a map of its motion and the object's position.
Last commit 02 Nov 2016 by 
Azra Ismail
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