Caleb Ballard, Aruba Bukhari, Faheem Quazi
This code is for a robot which was built for ECE 4437 at the University of Houston. The primary objective of the robot is to navigate a maze. Our robot ultimately placed third in the final competition!
The core component of this project was a Texas Instruments Tiva C (EK-TM4C123GXL). The following wiring diagram shows the general layout of all components:
In this video, You can see the basic operation of the robot. Here is what happens:
- By default, the robot is in an idle/stopped state when powered on.
- When the "clear stop" command is sent from the laptop to the robot over Bluetooth, the robot operation starts.
- If the robot sees a thin black line (represented by one piece of electrical tape), it will start sending distance sensor data back to the computer.
- If the robot sees a thick black line (represented by two pieces of electrical tape), it will revert to the stopped state and print the time it measured to navigate the maze.
There are two projects in this repository. You can open this repository as a Code Composer 10 Workspace.
- bt_test: This was used to test the Bluetooth capabilities over UART. Our team was responsible for presenting the functionality to the class as part of a series of technical presentations given by all the other groups in the class.
- wall-e: Our robot code. We called it WALL-E since we originally wanted to 3D-print a WALL-E body and put it on the robot, but there turned out to be not enough space for turning when you put a square body in the maze!
- EVE: The control software for the robot. Since the robot is WALL-E, we called this EVE! It keeps its own race time and controls (via the Bluetooth connection) when the robot starts to navigate the maze. It also automatically plots all the distance sensor data received.