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Bronze Challenge

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4 views12 pages

Bronze Challenge

Uploaded by

arnavgup.05
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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UTA014-Engineering Design-II

Bronze Challenge
What is Bronze Challenge ?
Single buggy move around track at least twice in
clockwise direction, under full supervisory control
(wireless communication). Buggy Can detect an
obstacle. Parks safely. Prints state of the track and
buggy at each gantry stop.
Functionality required for Bronze
Normal line following on buggy track
through wireless communication using Zig-
bee-communication
Normal line follow using IR-sensor.
Detection of obstacle through ultrasonic
sensor. (buggy should stop at each gantry
for 1-second and then continues its motion
along the path).
Gantry detection through receiver.
Cover at least two circular path along the
outer buggy track.
Parking the buggy into parking zone.
Hardware Structure
Code for Normal Line following using IR-Sensor
 void gantry()
 {
 int r1=digitalRead(t1);
 int r2=digitalRead(t2);
 if(r1==LOW&&r2==LOW)
 {
 digitalWrite(pin5,HIGH);
 digitalWrite(pin6,LOW);
 digitalWrite(pin7,LOW);
 digitalWrite(pin8,HIGH);
 }
 if(r1==LOW&&r2==HIGH)
 {
 digitalWrite(pin5,LOW);
 digitalWrite(pin6,LOW);
 digitalWrite(pin7,HIGH);
 digitalWrite(pin8,LOW);
 }
 if(r1==HIGH&&r2==LOW)
 {
 digitalWrite(pin5,HIGH);
 digitalWrite(pin6,LOW);
 digitalWrite(pin7,LOW);
 digitalWrite(pin8,LOW);
 }
 if(r1==HIGH&&r2==HIGH)
 {
 digitalWrite(pin5,HIGH);
 digitalWrite(pin6,LOW);
 digitalWrite(pin7,LOW);
 digitalWrite(pin8,HIGH);

 }
Code for Ultrasonic

 void detectObstacle()
 {
 delay(50);
 unsigned int uS = sonar.ping_cm();
 unsigned int distanceCm;
 pinMode(ECHO_PIN,OUTPUT);
 digitalWrite(ECHO_PIN,LOW);
 pinMode(ECHO_PIN,INPUT);

 //Serial.print("Ping: ");
 //Serial.print(distanceCm);
 //Serial.println("cm");
 if((distanceCm<15) && (distanceCm>0))
 {
 stopBuggy();
 delay(1000);
 }
 }
Code for Xbee

if(flag==0)
{
 if (Serial.available() > 0)
{
 char s = Serial.read();
 switch (s) {
 case 'G':
 {
 flag=1;
 }
}
Gantry detection code
 if (digitalRead(irPin)==HIGH)
 {
 StartTime = millis();
 d = pulseIn(irPin,HIGH);
 if(d > 500 and d < 1500)
 {
 //Serial.println(d);
 Serial.println("Gantry: 1");
 stopBuggy();
 delay(1000);
 }
 else if (d> 1500 and d < 2500)
 {
 // Serial.println(d);
 Serial.println("Gantry: 2");
 stopBuggy();
 delay(1000);
 }
 else if (d > 2500 and d < 3500)
 {
 // Serial.println(d);

 Serial.println("Gantry: 3");
 gantryCounter=gantryCounter+1;
 Serial.print("The gantry Counter is: ");
 Serial.println(gantryCounter);
 stopBuggy();
 delay(1000);

 }
 else {
 //Serial.println(d);
 Serial.println("Gantry: Unknown");

 }
leftBlind () for Parking
 void leftBlind()
 {

 int r2=digitalRead(t2);

 if(r2==LOW)
 {
 digitalWrite(pin5,LOW);
 digitalWrite(pin6,LOW);
 digitalWrite(pin7,HIGH);
 digitalWrite(pin8,LOW);

 }
 if(2==HIGH)
 {
 digitalWrite(pin5,HIGH);
 digitalWrite(pin6,LOW);
 digitalWrite(pin7,LOW);
 digitalWrite(pin8,HIGH);

 }
Code for Parking
 if (flag==3)
 {
 //gantryParking();
 CurrentTimeG=millis();
 ElapsedTimeG = CurrentTimeG-StartTimeG;

 if(ElapsedTimeG<2500)
 {
 flag=3;
 leftBlind();
 }
 if(ElapsedTimeG>2500 && ElapsedTimeG<6500)
 {
 flag=3;
 normalLineFollow();
 }
 if(ElapsedTimeG>6500)
 {
 stopBuggy();
 Serial.print("Buggy:1 Parked");
 //Serial.println(ElapsedTimeG);
 delay(2000);
 flag=-1;
 }

 }
 }
Bronze code

Code link: it will shared through Google


drive link
Bronze link: provide on course website
Thanks

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