Project rubbish picker robot
This project is trying to create a robot that follows a line around a path and along the way picks up rubbish. Then it deposits the rubbish into a main collection bin at the start/end of the circuit.
Parts used
- Arduino UNO R3 x2
OR 
- L298N DC Motor Driver
- Motor with T Gearbox
- Bluetooth modules, the one on the left is 4.0, the on the right is Bluetooth 2.0. The last one is a HC-05 module - A HC-06 module is different because it is only a slave device whereas the HC-05 can be a host or slave device.
Design
Using Fusion 360 we made the chassis for the robot which would hold the motors, Bluetooth modules and Arduino and motor driver. The chassis will be (LASER/CNC)? cut out of plastic (probably acrylic). The walls of the project will be hot glued to each other than to the chassis. The microprocessor (Arduino UNO) will be screwed to the chassis, the Bluetooth module will be blue tacked to the main chassis, the motors will be hot glued to the chassis and the motor driver will be screwed to the chassis.
Code
We used Arduino IDE to create the following code that will control the Robot (Will Be updated later)
#include <SPI.h>
#include <WiFiNINA.h>
///////please enter your sensitive data in the Secret tab/arduino_secrets.h
char ssid[] = ""; // your network SSID (name)
char pass[] = ""; // your network password (use for WPA, or use as key for WEP)
int keyIndex = 0; // your network key index number (needed only for WEP)
int status = WL_IDLE_STATUS;
WiFiServer server(80);
void setup() {
pinMode(LEDR, OUTPUT);
pinMode(LEDG, OUTPUT);
pinMode(LEDB, OUTPUT);
pinMode(LED_BUILTIN, OUTPUT);
Serial.begin(9600); // initialize serial communication
// check for the WiFi module:
if (WiFi.status() == WL_NO_MODULE) {
Serial.println("Communication with WiFi module failed!");
// don't continue
while (true);
}
String fv = WiFi.firmwareVersion();
if (fv < WIFI_FIRMWARE_LATEST_VERSION) {
Serial.println("Please upgrade the firmware");
}
// attempt to connect to WiFi network:
while (status != WL_CONNECTED) {
Serial.print("Attempting to connect to Network named: ");
Serial.println(ssid); // print the network name (SSID);
// Connect to WPA/WPA2 network. Change this line if using open or WEP network:
status = WiFi.begin(ssid, pass);
// wait 10 seconds for connection:
delay(10000);
}
server.begin(); // start the web server on port 80
printWifiStatus(); // you're connected now, so print out the status
}
void loop() {
WiFiClient client = server.available(); // listen for incoming clients
if (client) { // if you get a client,
Serial.println("new client"); // print a message out the serial port
String currentLine = ""; // make a String to hold incoming data from the client
while (client.connected()) { // loop while the client's connected
if (client.available()) { // if there's bytes to read from the client,
char c = client.read(); // read a byte, then
Serial.write(c); // print it out the serial monitor
if (c == '\n') { // if the byte is a newline character
// if the current line is blank, you got two newline characters in a row.
// that's the end of the client HTTP request, so send a response:
if (currentLine.length() == 0) {
// HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
// and a content-type so the client knows what's coming, then a blank line:
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println();
// the content of the HTTP response follows the header:
client.print("<style>");
client.print(".container {margin: 0 auto; text-align: center; margin-top: 100px;}");
client.print("button {color: white; width: 100px; height: 100px;");
client.print("border-radius: 50%; margin: 20px; border: none; font-size: 20px; outline: none; transition: all 0.2s;}");
client.print(".red{background-color: rgb(196, 39, 39);}");
client.print(".green{background-color: rgb(39, 121, 39);}");
client.print(".blue {background-color: rgb(5, 87, 180);}");
client.print(".builtin {background-color: rgb(255, 194, 0);}");
client.print(".off{background-color: grey;}");
client.print("button:hover{cursor: pointer; opacity: 0.7;}");
client.print("</style>");
client.print("<div class='container'>");
client.print("<button class='red' type='submit' onmousedown='location.href=\"/RH\"'>ON</button>");
client.print("<button class='off' type='submit' onmousedown='location.href=\"/RL\"'>OFF</button><br>");
client.print("<button class='green' type='submit' onmousedown='location.href=\"/GH\"'>ON</button>");
client.print("<button class='off' type='submit' onmousedown='location.href=\"/GL\"'>OFF</button><br>");
client.print("<button class='blue' type='submit' onmousedown='location.href=\"/BH\"'>ON</button>");
client.print("<button class='off' type='submit' onmousedown='location.href=\"/BL\"'>OFF</button><br>");
client.print("<button class='builtin' type='submit' onmousedown='location.href=\"/IH\"'>ON</button>");
client.print("<button class='off' type='submit' onmousedown='location.href=\"/IL\"'>OFF</button>");
client.print("</div>");
// The HTTP response ends with another blank line:
client.println();
// break out of the while loop:
break;
} else { // if you got a newline, then clear currentLine:
currentLine = "";
}
} else if (c != '\r') { // if you got anything else but a carriage return character,
currentLine += c; // add it to the end of the currentLine
}
// Check to see if the client request was /X
if (currentLine.endsWith("GET /RH")) {
digitalWrite(LEDR, HIGH);
}
if (currentLine.endsWith("GET /RL")) {
digitalWrite(LEDR, LOW);
}
if (currentLine.endsWith("GET /GH")) {
digitalWrite(LEDG, HIGH);
}
if (currentLine.endsWith("GET /GL")) {
digitalWrite(LEDG, LOW);
}
if (currentLine.endsWith("GET /BH")) {
digitalWrite(LEDB, HIGH);
}
if (currentLine.endsWith("GET /BL")) {
digitalWrite(LEDB, LOW);
}
if (currentLine.endsWith("GET /IH")) {
digitalWrite(LED_BUILTIN, HIGH);
}
if (currentLine.endsWith("GET /IL")) {
digitalWrite(LED_BUILTIN, LOW);
}
}
}
// close the connection:
client.stop();
Serial.println("client disconnected");
}
}
void printWifiStatus() {
// print the SSID of the network you're attached to:
Serial.print("SSID: ");
Serial.println(WiFi.SSID());
// print your board's IP address:
IPAddress ip = WiFi.localIP();
Serial.print("IP Address: ");
Serial.println(ip);
// print the received signal strength:
long rssi = WiFi.RSSI();
Serial.print("signal strength (RSSI):");
Serial.print(rssi);
Serial.println(" dBm");
// print where to go in a browser:
Serial.print("To see this page in action, open a browser to http://");
Serial.println(ip);
}