Project Log
Hey Everyone!
This is my 1.5-2 year project that I have referenced to a couple times. I thought I would start a project log, since I'm kind of proud of it. Unfortunately I'm almost done with it, so this may be a rather short thread. Here it is still in construction:
I will upload some more photos later.
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Some more photos:
The main boards with the ICs not on yet:
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Yesterday I did some more work on it and got the front IR sensors mounted.
----------------------------------------------------
Did some more work on it the other day. Got the side IR sensors mounted. And a lot of wires hooked up. I hope to get the back IR sensors hooked up today. The Front:
The side with the sensors distance adjust pots:
My work space (kind of messy):
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Well I got a lot more done today then I thought I would!
I mounted the back sensors, and hooked up just about everything I could before I mount the main boards. I got the tires glued on to.
----------------------------------------------------
Well I just finished it. Got everything hooked up and the battery mounted. Then I flipped it on and IT DIDN'T WORK!!!!!!! It didn't even try to work. Nothing turned on at all. And also the battery are getting kind of hot.
I guess I have got a long day of trouble shooting tomorrow.
----------------------------------------------------
YAY!! I just tested one of the main boards and the + and - terminals are a dead short! That explains why the battery was getting hot and why nothing worked. I just hope thats all thats wrong with it. I will find out tomorrow!
----------------------------------------------------
Well I got it kind of working. The problem was I did not have the microcontroller hooked up to each other. And there was a small piece of wire stuck between two capacitor pins. Right now it turns in circles and some of the edge sensors don't work. Hopefully that will be an easy fix.
----------------------------------------------------
Well after a LOT of work, I got it going straight. One of the wheels is faster then the other one (I wonder how that happened), so I programed it to correct itself by going the other direction every 1 second. I think I have got most of it working, but I lost one of the main microcontrollers. Most likely I will find it by stepping on it with the pins up, or I will find it on my desk. Heres a photo of it:
Right now it weighs some where around 498g. The limit on weight for a robot sumo is 500g. And I still don't have the front on!
----------------------------------------------------
Well after some thought, I decided to just go ahead and post the whole project. Because it's not like I did anything new. And maybe one day someone else will build it, and possibly even learn something too!
Here's the schematic:
Link to Express PCB File
----------------------------------------------------
And here's the code:
NOTE: This code is some of the first PICAXE BASIC code I ever wrote. It can be simplified greatly and should be. It uses way to many gotos and has almost no comments. One day I will get around to totally rewriting it.
Code for U2:
Code for U7:
This is my 1.5-2 year project that I have referenced to a couple times. I thought I would start a project log, since I'm kind of proud of it. Unfortunately I'm almost done with it, so this may be a rather short thread. Here it is still in construction:
I will upload some more photos later.
----------------------------------------------------
Some more photos:
The main boards with the ICs not on yet:
----------------------------------------------------
Yesterday I did some more work on it and got the front IR sensors mounted.
----------------------------------------------------
Did some more work on it the other day. Got the side IR sensors mounted. And a lot of wires hooked up. I hope to get the back IR sensors hooked up today. The Front:
The side with the sensors distance adjust pots:
My work space (kind of messy):
----------------------------------------------------
Well I got a lot more done today then I thought I would!
I mounted the back sensors, and hooked up just about everything I could before I mount the main boards. I got the tires glued on to.----------------------------------------------------
Well I just finished it. Got everything hooked up and the battery mounted. Then I flipped it on and IT DIDN'T WORK!!!!!!!
It didn't even try to work. Nothing turned on at all. And also the battery are getting kind of hot.I guess I have got a long day of trouble shooting tomorrow.
----------------------------------------------------
YAY!!
I just tested one of the main boards and the + and - terminals are a dead short! That explains why the battery was getting hot and why nothing worked. I just hope thats all thats wrong with it. I will find out tomorrow!----------------------------------------------------
Well I got it kind of working.
The problem was I did not have the microcontroller hooked up to each other. And there was a small piece of wire stuck between two capacitor pins. Right now it turns in circles and some of the edge sensors don't work. Hopefully that will be an easy fix.----------------------------------------------------
Well after a LOT of work, I got it going straight. One of the wheels is faster then the other one (I wonder how that happened), so I programed it to correct itself by going the other direction every 1 second. I think I have got most of it working, but I lost one of the main microcontrollers. Most likely I will find it by stepping on it with the pins up, or I will find it on my desk.
Heres a photo of it:Right now it weighs some where around 498g. The limit on weight for a robot sumo is 500g.
And I still don't have the front on!----------------------------------------------------
Well after some thought, I decided to just go ahead and post the whole project. Because it's not like I did anything new. And maybe one day someone else will build it, and possibly even learn something too!
Here's the schematic:
----------------------------------------------------
And here's the code:
NOTE: This code is some of the first PICAXE BASIC code I ever wrote. It can be simplified greatly and should be. It uses way to many gotos and has almost no comments. One day I will get around to totally rewriting it.
Code for U2:
Code:
main1:
high b.0,b.2
low b.1,b.3,b.5,c.4
pause 5000
high b.5,c.4
goto main
main:
let b0=0
pwmout b.4, 25, 51
low b.0,b.1,b.2,b.3
goto start
start:
if pinc.0=1 then
goto cella
endif
if pinc.1=1 then
goto cellb
endif
if pinc.2=1 then
goto cellc
endif
if pinc.3=1 then
goto celld
endif
goto main
cella:
if pinc.0=1 then
pause 100 ;debounce
if pinc.1=1 then
goto cellab
endif
endif
if pinc.0=1 then
pause 100 ;debounce
if pinc.2=1 then
goto cellac
endif
endif
goto cella2
cella2:
high b.1,b.2
low b.0,b.3
pause 100
low b.0,b.2
high b.1,b.3
pause 1000
goto main
cellb:
if pinc.0=1 then
pause 100 ;debounce
if pinc.1=1 then
goto cellab
endif
endif
if pinc.3=1 then
pause 100 ;debounce
if pinc.1=1 then
goto cellbd
endif
endif
goto cellb2
cellb2:
high b.0,b.3
low b.1,b.2
pause 100
low b.0,b.2
high b.1,b.3
pause 1000
goto main
cellc:
if pinc.2=1 then
pause 100 ;debounce
if pinc.0=1 then
goto cellac
endif
endif
if pinc.3=1 then
pause 100 ;debounce
if pinc.2=1 then
goto cellcd
endif
endif
goto cellc2
cellc2:
high b.2
low b.0,b.1,b.3
pause 100
low b.0,b.1,b.2,b.3
pause 1000
goto main
celld:
if pinc.3=1 then
pause 100 ;debounce
if pinc.2=1 then
goto cellcd
endif
endif
if pinc.1=1 then
pause 100 ;debounce
if pinc.3=1 then
goto cellbd
endif
endif
goto celld2
celld2:
high b.0
low b.1,b.2,b.3
pause 100
low b.0,b.1,b.2,b.3
pause 1000
goto main
cellab:
high b.1,b.3
low b.0,b.2
pause 1100
goto main
cellcd:
high b.2
low b.0,b.1,b.3
pause 100
high b.0
low b.1,b.2,b.3
pause 100
low b.0,b.1,b.2,b.3
pause 800
goto main
cellac:
high b.1,b.2
low b.0,b.3
pause 300
high b.0
low b.1,b.2,b.3
pause 300
goto main
cellbd:
high b.0,b.3
low b.1,b.2
pause 300
high b.2
low b.0,b.1,b.3
pause 300
goto mainCode for U7:
Code:
main1:
low b.0,b.1,b.2,b.3 ;F
if pinb.5=1 then
pause 100
if pinb.5=1 then
goto main
endif
endif
goto main1
main:
let w0=0
low b.0,b.1,b.2,b.3 ;F
goto start
start:
if b2=10 then
high b.2 ;L
pause 650
low b.2
let b2=0
goto start
endif
if pinc.0=1 then
pause 100
if pinc.0=1 then
goto cella
endif
endif
if pinc.1=1 then
pause 100
if pinc.1=1 then
goto cellb
endif
endif
if pinc.2=1 then
pause 100
if pinc.2=1 then
goto cellc
endif
endif
if pinc.3=1 then
pause 100
if pinc.3=1 then
goto celld
endif
endif
if pinc.4=1 then
pause 100
if pinc.4=1 then
goto celle
endif
endif
if pinb.4=1 then
pause 100
if pinb.4=1 then
goto cellf
endif
endif
pause 100
inc b2
goto start
cella:
if pinc.0=1 then
pause 100
if pinc.0=1 then
if pinb.4 = 1 then
pause 100
if pinb.4=1 then
goto cellaf
endif
endif
endif
endif
goto cella2
cella2:
inc w0
if w0=400 then
goto main
endif
if pinc.0=1 then
pause 100
if pinc.0=1 then
if pinc.1=1 then
pause 100
if pinc.1=1 then
goto main
endif
endif
endif
endif
high b.1,b.3 ;B
low b.0,b.2
pause 10
goto cella2
cellb:
if pinc.1=1 then
pause 100
if pinc.1=1 then
if pinc.2=1 then
pause 100
if pinc.2=1 then
goto cellbc
endif
endif
endif
endif
goto cellb2
cellb2:
inc w0
if w0=400 then
goto main
endif
if pinc.0=1 then
pause 100
if pinc.0=1 then
if pinc.1=1 then
pause 100
if pinc.1=1 then
goto main
endif
endif
endif
endif
high b.1,b.3 ;B
low b.0,b.2
pause 10
goto cellb2
cellc:
if pinc.2=1 then
pause 100
if pinc.2=1 then
if pinc.3=1 then
pause 100
if pinc.3=1 then
goto cellcd
endif
endif
endif
endif
if pinc.2=1 then
pause 100
if pinc.2=1 then
if pinc.1=1 then
pause 100
if pinc.1=1 then
goto cellbc
endif
endif
endif
endif
goto cellc2
cellc2:
inc w0
if w0 = 400 then
goto main
endif
if pinc.1=1 then
pause 100
if pinc.1=1 then
goto main
endif
endif
high b.0 ;R
low b.2,b.1,b.3
pause 10
goto cellc2
celld:
if pinc.2=1 then
pause 100
if pinc.2=1 then
if pinc.3=1 then
pause 100
if pinc.3=1 then
goto cellcd
endif
endif
endif
endif
goto celld2
celld2:
inc w0
if w0=400 then
goto main
endif
if pinc.1=1 then
pause 100
if pinc.1=1 then
goto main
endif
endif
high b.0 ;R
low b.2,b.1,b.3
pause 10
goto celld2
celle:
if pinb.4=1 then
pause 100
if pinb.4=1 then
if pinc.4=1 then
pause 100
if pinc.4=1 then
goto cellef
endif
endif
endif
endif
if pinc.3=1 then
pause 100
if pinc.3=1 then
if pinc.4=1 then
pause 100
if pinc.4=1 then
goto celled
endif
endif
endif
endif
goto celle2
celle2:
inc w0
if w0=400 then
goto main
endif
if pinc.0=1 then
pause 100
if pinc.0=1 then
goto main
endif
endif
high b.2 ;L
low b.1,b.0,b.3
pause 10
goto celle2
cellf:
if pinc.0=1 then
pause 100
if pinc.0=1 then ;debounce
if pinb.4=1 then
pause 100
if pinb.4=1 then
goto cellaf
endif
endif
endif
endif
if pinc.4=1 then
pause 100
if pinc.4=1 then ;debounce
if pinb.4=1 then
pause 100
if pinb.4=1 then
goto cellef
endif
endif
endif
endif
goto cellf2
cellf2:
inc w0
if w0=400 then
goto main
endif
if pinc.0=1 then
pause 100
if pinc.0=1 then
goto main
endif
endif
high b.2 ;L
low b.1,b.0,b.3
pause 10
goto cellf2
cellaf:
inc w0
if w0=400 then
goto main
endif
if pinc.0=1 then
pause 100
if pinc.0=1 then
if pinc.1=1 then
pause 100
if pinc.1=1 then
goto main
endif
endif
endif
endif
high b.2 ;L
low b.1,b.0,b.3
pause 10
goto cellaf
cellbc:
inc w0
if w0=400 then
goto main
endif
if pinc.0=1 then
pause 100 ;debounce
if pinc.0=1 then
if pinc.1=1 then
pause 100
if pinc.1=1 then
goto main
endif
endif
endif
endif
high b.0 ;R
low b.2,b.1,b.3
pause 10
goto cellbc
cellcd:
inc w0
if w0=400 then
goto main
endif
if pinc.0=1 then
pause 100
if pinc.0=1 then ;debounce
if pinc.1=1 then
pause 100
if pinc.1=1 then
goto main
endif
endif
endif
endif
high b.0 ;R
low b.2,b.1,b.3
pause 10
goto cellcd
cellef:
inc w0
if w0=400 then
goto main
endif
if pinc.0=1 then
pause 100
if pinc.0=1 then ;debounce
if pinc.1=1 then
pause 100
if pinc.1=1 then
goto main
endif
endif
endif
endif
high b.2 ;L
low b.1,b.0,b.3
pause 10
goto cellef
celled:
high b.0 ;R
low b.2,b.1,b.3
if pinc.4=0 then
pause 100
if pinc.4=0 then ;debounce
if pinc.3=0 then
pause 100
if pinc.3=0 then
goto main
endif
endif
endif
endif
goto celled
