EE-31-Junior-Design-Project

Developing code to operate a bot that will work as a swarm bot team

Build

Clone the repository, and build + upload with ino build && ino upload. This requires ino, a command line utility for Arduino.

Arduino

We are using ATMega256 microprocessor for this project.

Notes

Project was merged with https://github.com/joshpfosi/mazarine for final working code

States

• ON
• GO

ON State

Infinite loop which reads and sets a boolean reflecting which bot (1 or 2) our bot is. The loop is broken only by a HIGH input on pin GO_SWITCH causing a transition to GO.

GO State

Sequential code to run through the task, making bot specific decisions based on boolean.

BOT 1

• Puts bot in motion (forward())
  • Loops until collision (boolean is set in ISR)
  • Assumes it hit the correct wall and turns a predetermined angle to the left
  • Moves forward
  • Stops on red, flashing a red LED
  • Turns a predetermined angle to the right, and follows red
  • Stops on yellow, flashing yellow LED twice
  • Moves forward
  • Follows red
  • Stops on yellow, turns on yellow LED, turns 180 degrees
  • Moves forward until red
  • Follows red
  • Stops on yellow
  • Communicates to Bot 2: START
  • Waits for ACK_START
  • Flashes green LED
  • Moves forward until red
  • Follows red
  • TBD // we want this to be close to a specific location
  • Turns on green LED
  • Waits for TOXIC
  • Flash yellow LED continuously
  • Waits for STOP_YELLOW
  • Turns off yellow LED
  • Waits for DONE
  • Flashes green LED

BOT 2

• Waits for START
• Flash green LED
• Puts bot in motion (forward())
• Loops until collision (boolean is set in ISR)
• Assumes it hit the correct wall and turns a predetermined angle to the left
• Moves forward
• Stops on blue, flashing a blue LED
• Turns a predetermined angle to the right, and follows blue
• Stops on yellow, flashing yellow LED twice
• Moves forward
• Follows blue
• Stops on yellow, turns on yellow LED, turns 180 degrees
• Communicates to Bot 1: TOXIC
• Flash yellow continuously
• Moves forward until blue
• Follows blue
• Stops on yellow
• Communicates to Bot 1: STOP_YELLOW
• Stop flashing yellow LED
• Moves forward until blue
• Follows blue
• TBD // we want this to be close to a specific location
• Communicates to Bot 1: DONE
• Flashes green LED

Communication Protocol

• START:
• ACK_START:
• TOXIC:
• YELLOW_LED:
• DONE:

Pin Mapping

See pinmap.h for definitions.