Mbed Drawing Robot
Spring 2018 ECE 4180 Final Project
Joseph Sterling and Aditya Mohile
Project Description
The DrawingBot is a Bluetooth enabled robot that uses a marker to draw what the user tells it to draw. The user sends commands via the Adafruit Bluetooth app, and the DrawingBot executes them.
The DrawingBot can draw:
- Shapes (circle, square, triangle, hexagon)
- Letters (will write out a word entered by user)
The Bluetooth Commands that the user sends to perform these actions are:
draw <shape name> <shape side length (in inches)>
- the side length parameter is optional. If omitted, the side length will be 3 inches
write <desired word>
Parts List
You will need the following parts to recreate this project:
- Robot Chassis (Assembly Instructions: https://learn.sparkfun.com/tutorials/assembly-guide-for-redbot-with-shadow-chassis?_ga=2.199398830.1495204079.1525256543-704181064.1515515128)
- mbed board
- Adafruit bluetooth chip
- H-Bridge driver
- Servo
- External Power Supply
- Hall Effect Wheel Encoders https://www.sparkfun.com/products/12629
Wiring
Here are instructions on how to connect all of the components:
Bluetooth:
mbed | Adafruit BLE |
---|---|
GND | GND |
External Power | VIN |
NC | RTS |
GND | CTS |
p14 (Serial RX) | TXO |
p13 (Serial TX) | RXI |
H-Bridge Driver:
mbed | H-Bridge | External Power Supply |
---|---|---|
VM | +5V | |
GND | GND | |
VOUT | VCC | |
VOUT | STBY | |
p23 | PWMA | |
p6 | AI1 | |
p5 | AI2 | |
p21 | PWMB | |
p7 | BI1 | |
p8 | BI2 |
Motors:
H-Bridge | Left Motor | Right Motor |
---|---|---|
AO1 | GND | |
AO2 | +5V | |
BO1 | GND | |
BO2 | +5V |
Servo:
mbed | Servo | External Power |
---|---|---|
p24 | CTRL | |
+5V | +5V | |
GND | GND |
Hall Effect Wheel Encoders:
mbed | Left Encoder | Right Encoder |
---|---|---|
p15 | CTRL | |
VOUT | +3.3V | |
GND | GND | |
p16 | CTRL | |
VOUT | +3.3V | |
GND | GND |
Program
The following is the current program for the DrawingBot:
Import programECE_4180_Drawing_Robot
Basic motor code
Examples
Drawing a hexagon with side length of 2 inches
Drawing a triangle with side length of 2 inches
Writing the word "HELLO"
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