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Pi-Robotics

Robotic Video

Python code used to run an autonomous robot built using Arduino, Raspberry Pi, servos, motors, ultrasonic sensors, LIDAR sensors, XBee, and blockchain technology. For the autonomous demo, the robot initially turns the LIDAR to the left, right, and center to determine the longest direction through multiple readings, removes outliers, and returns a median value. It then moves the motors towards the direction of the farthest distance. The robot takes readings while in motion for collision checking using the ultrasonic sensors. If it encounters an obstacle, it stops and calibrates again to determine the next longest direction and then moves towards that direction.

For MVP test demos between the cars, look in the demos/MVP directory.

This repository contains several modules:

  • LIDAR_test - LIDAR sensor test module
  • motor_test - Motor test module
  • servo_test - Servo test module
  • ultrasonic_test - Ultrasonic sensor test module
  • xbee_test - XBee test module
  • demos/ - Test demos for autonomous cars (MVP demo)

For the autonomous demo, run with program with:

python main.py
  • main.py - Main driver.
  • LIDARcontrol.py - Module to read LIDAR sensor data on Raspberry Pi from Arduino through the serial port.
  • motorControl.py - Module for motor control.
  • servoControl.py - Module for servo control.
  • ultrasonicControl.py - Module for reading ultrasonic sensor data on the Raspberry Pi.
  • xbeeControl.py - Module for wireless communication on the Raspberry Pi.
  • auxiliary.py - Auxiliary functions such as releasing GPIO pins and data logging.

Parts

Sensor Libraries/Datasheets

Software Block Diagram

Robot Wiring Diagram