This is the 14CORE Mini sumobot driven by Arduino Microcontroller. this bot is programmed automatically find its opponents and automatically push the opponent out of the black circle, however this robots are equipped with sensors programmed to search and look to his opponent & avoid leaving the arena, ones placed in starting position and activated, should operate under their own internal logic programmed code, without your guidance or control.
Required Components
- Arduino Microcontroller, ATMEGA328 16/12, ATMEGA32u4 16 MHz, ATMEGA250 16 MHz, ATSAM3x8E, ATSAM21 (Note: The Diagram below is using NANO. (please refer to the respective pin-outs)
- L298N (H-Bridge Motor Controller)
- Tracking Sensor / Module
- Acrylic / Plastic (Body)
- Wheels / Tire
- Roller / Rounded Plastic Cup
- Obstacle Avoidance Sensor / Module (Optional)
- Ultrasonic Sensor (HCSR04)
- Gear Head Motor
- Soldering Iron
- PCB Board
- Jumper Wire / DuPont Wire
- Solder-less Breadboard
For the assembly you can use cardboard, acrylic, aluminum plate or cardboard.
Wiring Diagram
Sketch Code
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/* ============================================================== 14CORE | 2 Wheel Mini SumoBot Warning: You need to test the 14CORE robot out to get desired & Best results. if your using 4 wheeled you need to modify the behavior of the l298n. Note: You can customize the pin configuration as you want Note: Some code below is not yet calibrated. -------------------------------------------------------------- ENA - 11 ENB - 9 IN1- D8 IN2- D10 IN3- D12 IN4- D13 LED- D6 BUZ- D7 A0 - Front Left Sensor A1 - Front Right Sensor A2 - Rear Left Sensor A3 - Rear Right Sensor Front Ultrasonic - ECHO - D3 Front Ultrasonic - TRIG - D2 Rear Ultrasonic - ECHO - D5 Rear Ultrasonic - TRIG - D4 ============================================================== */ #include <NewPing.h> //#include <Automaton.h> //#include <timeObj.h> //#include <pidDriver.h> #define PulseA 11 //Optional #define IN1 8 #define IN2 10 #define PulseB 9 //Optional #define IN3 12 #define IN4 13 #define RTrigger 4 #define REcho 5 #define FTrigger 2 #define FEcho 3 //timeObj monTime (3000); //boolean monMtr = false; #define Front_Maximum_Distance 200 #define FrontMinimum_Distance 0 #define Rear_Maximum_Distance 180 #define Rear_Minimum_Diatance 0 int LineVal = 128; int ReturnPath; int Ping; const int SoundFX = 7; const int OutLedPin = 6; int FxCounter = 0; int LSFrontLeft; int LSFrontRight; int LSBackLeft; int LSBackRight; /*SOUND-FX*/ const int c = 261; const int d = 294; const int e = 329; const int f = 349; const int g = 391; const int gS = 415; const int a = 440; const int aS = 455; const int b = 466; const int cH = 523; const int cSH = 554; const int dH = 587; const int dSH = 622; const int eH = 659; const int fH = 698; const int fSH = 740; const int gH = 784; const int gSH = 830; const int aH = 880; /*END OF SOUND FX*/ int ObstacleAvoidance_Left; //Optional int ObstacleAvoidance_Right; //Optional NewPing FrontSonic (FTrigger,FEcho, Front_Maximum_Distance); NewPing BackSonic (RTrigger, REcho, Rear_Maximum_Distance); void setup(){ Serial.begin(115200); pinMode(SoundFX, OUTPUT); pinMode(OutLedPin, OUTPUT); pinMode(PulseA, OUTPUT); pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(PulseB, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); } void loop(){ int front_distance = FrontSonic.ping_cm(); int rear_distance = BackSonic.ping_cm(); SoundFX1(); beep(f, 250); beep(gS, 500); beep(f, 350); beep(a, 125); beep(cH, 500); beep(a, 375); beep(cH, 125); beep(eH, 650); delay(200); SoundFX2(); beep(f, 250); beep(gS, 500); beep(f, 375); beep(cH, 125); beep(a, 500); beep(f, 375); beep(cH, 125); beep(a, 650); delay(200); if (LSFrontRight || LSFrontLeft > 100 ) { Serial.println("Starting......"); Serial.println("--------------------------"); Serial.println("14CORE | Front Sensor"); Serial.println("=========================="); Serial.println("Front Ping Value:"); Serial.println(front_distance); Serial.println("CM:"); Serial.println(); Serial.println("14CORE | Rear Sensor"); Serial.println("=========================="); Serial.println("Rear Ping Value:"); Serial.println(rear_distance); Serial.println("CM:"); if (front_distance > 25){ searchMode(); delay(100); } if (front_distance <= 25){ MoveForward(); delay(300); } else { ScapeRotateLeft(); } if (rear_distance <= 20){ ScapeRotateRight(); delay(500); MoveForward(); delay(100); FullStop(); } else { MoveLeft(); delay(300); MoveForward(); delay(200); FullStop(); } } while(1) // FRONT LINE SENSOR { LSFrontLeft = analogRead(14); LSFrontRight = analogRead(15); LSBackLeft = analogRead(16); LSBackRight = analogRead(17); if (LSFrontLeft < LineVal && LSFrontRight < LineVal){ MoveBackward(); delay(300); if (LSFrontLeft < LineVal){ ScapeRotateRight(); delay(300); } if (LSFrontRight < LineVal){ ScapeRotateLeft(); delay(300); } } //REAR LINE SENSOR if ( LSBackLeft < LineVal && LSBackRight < LineVal){ MoveForward(); delay(300); } if ( LSBackLeft < LineVal){ MoveRight(); delay(300); } if(LSBackRight < LineVal){ MoveLeft(); delay(300); } } } //START H-BRIDGE void MoveForward(){ analogWrite(PulseA, 200); digitalWrite(IN1, 0); digitalWrite(IN2, 1); analogWrite(PulseB, 200); digitalWrite(IN3, 1); digitalWrite(IN4, 0); } void MoveBackward(){ analogWrite(PulseA, 150); digitalWrite(IN1, 0); digitalWrite(IN2, 1); analogWrite(PulseB, 200); digitalWrite(IN3, 0); digitalWrite(IN4, 1); } //Turn 180* void MoveRight(){ analogWrite(PulseA, 200); digitalWrite(IN1, 1); digitalWrite(IN2, 0); analogWrite(PulseB, 200); digitalWrite(IN3, 0); digitalWrite(IN4, 1); } //Turn 180* void MoveLeft(){ analogWrite(PulseA, 200); digitalWrite(IN1, 1); digitalWrite(IN2, 0); analogWrite(PulseB, 200); digitalWrite(IN3, 0); digitalWrite(IN4, 1); } void ScapeRotateRight(){ analogWrite(PulseA, 150); digitalWrite(IN1, 1); digitalWrite(IN2, 0); analogWrite(PulseB, 200); digitalWrite(IN3, 0); digitalWrite(IN4, 1); } void ScapeRotateLeft(){ analogWrite(PulseA, 200); digitalWrite(IN1, 1); digitalWrite(IN2, 0); analogWrite(PulseB, 150); digitalWrite(IN3, 1); digitalWrite(IN4, 0); } void FullStop(){ analogWrite(PulseA, 200); digitalWrite(IN1, 1); digitalWrite(IN2, 1); analogWrite(PulseB, 200); digitalWrite(IN3, 1); digitalWrite(IN4, 1); } void chargeOpt(){ analogWrite(PulseA, 250); digitalWrite(IN1, 0); digitalWrite(IN2, 1); analogWrite(PulseB, 250); digitalWrite(IN3, 1); digitalWrite(IN4, 0); } void defenseOpt(){ analogWrite(PulseA, 200); digitalWrite(IN1, 1); digitalWrite(IN2, 0); analogWrite(PulseB, 200); digitalWrite(IN3, 0); digitalWrite(IN4, 1); delay(500); analogWrite(PulseA, 200); digitalWrite(IN1, 1); digitalWrite(IN2, 0); analogWrite(PulseB, 200); digitalWrite(IN3, 0); digitalWrite(IN4, 1); } void searchMode(){ analogWrite(PulseA, 150); digitalWrite(IN1, 1); digitalWrite(IN2, 0); analogWrite(PulseB, 200); digitalWrite(IN3, 0); digitalWrite(IN4, 1); delay(500); analogWrite(PulseA, 200); digitalWrite(IN1, 1); digitalWrite(IN2, 1); analogWrite(PulseB, 200); digitalWrite(IN3, 1); digitalWrite(IN4, 1); delay(500); analogWrite(PulseA, 200); digitalWrite(IN1, 1); digitalWrite(IN2, 0); analogWrite(PulseB, 150); digitalWrite(IN3, 1); digitalWrite(IN4, 0); } // START SOUND FX & LIGHT INDICATOR void beep(int note, int duration){ tone(SoundFX, note, duration); if(FxCounter % 2 == 0){ digitalWrite(OutLedPin, 1); delay(duration); digitalWrite(OutLedPin, 0); } noTone(SoundFX); delay(50); FxCounter++; } void SoundFX1() { beep(a, 500); beep(a, 500); beep(a, 500); beep(f, 350); beep(cH, 150); beep(a, 500); beep(f, 350); beep(cH, 150); beep(a, 650); delay(500); beep(eH, 500); beep(eH, 500); beep(eH, 500); beep(fH, 350); beep(cH, 150); beep(gS, 500); beep(f, 350); beep(cH, 150); beep(a, 650); delay(500); } void SoundFX2() { beep(aH, 500); beep(a, 300); beep(a, 150); beep(aH, 500); beep(gSH, 325); beep(gH, 175); beep(fSH, 125); beep(fH, 125); beep(fSH, 250); delay(325); beep(aS, 250); beep(dSH, 500); beep(dH, 325); beep(cSH, 175); beep(cH, 125); beep(b, 125); beep(cH, 250); delay(350); } |
Downloads
14CORE Mini Sumo Robot with Multi-senors on Arduino Microcontroller
HI, i was just wondering how heavy is this?
Its depend on how you construct the body/kit, you can use allow or light plastics or metal, motor controller can handle 24v.
Can I ask you something. If using 4 engines, you have to adjust what of the l298n
Engine? you mean motor, if your using 4 motor use PWM, coded to your MCU, see below, link.
https://www.14core.com/wiring-driving-the-l298n-h-bridge-on-2-to-4-dc-motors/
Estimado:
No logro compilar el arcchivo me tira este error:
Tone.cpp.o (symbol from plugin): In function
timer0_pin_port':__vector_7′(.text+0x0): multiple definition of
libraries\NewPing\NewPing.cpp.o (symbol from plugin):(.text+0x0): first defined here
collect2.exe: error: ld returned 1 exit status
exit status 1
Error compilando para la tarjeta Arduino Uno.
Tendrias alguna solucion?
Muchas Gracias.