AUTONOMOUS ARDUINO TANK (A.A.T)

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Intro: Autonomous Arduino Tank (A.A.T)

Hey everyone, this is my very first robot. I'm a 15 year old freshman. I've been interested in robots since the 6th grade and been trying to build one ever since. I've decided to call it A.A.T because it's an autonomous arduino tank, just as the name states.

My robot consist of a reused remote control tank chassis and a couple of other components which can be found below in the "Materials Needed" section. I've never used an Arduino before but I have heard of them since the 7th grade and now I'm psyched in having to use one. I've completed this robot with the help of many sources for example websites, books about Arduinos, family, and friends.

Step 1: Materials Needed

Materials

1. RC Tank Chassis
2. Arduino Uno
3. Breadboard w/ Jumper Wire Set
4. SN754410NE Motor Driver
5. Standard Servo
6. Ping Ultrasonic Range Finder
7. 9 Volt Snap Connector
8. 9 Volt Battery
9. DC Power Plug
10. x4 D Size Batteries
11. x4 D Battery Holder
12. Male Servo Extension
13. USB A to B Cable
14. 6" x 6" Base Plate (Optional)

Tools

1. Screw Driver Set
2. Hot Glue Gun
3. Solder Pencil

Step 2: RC Tank Chassis

The chassis of this robot is an old RC Abrams Tank that I had purchased at the second hand store for only 10 bucks. I stripped the whole thing until the chassis was left. You don't really need to use the exact same tank, any RC Tank will do just fine. Also, the motor driver on the original tank sucked, so i decided to construct my own which can be seen on the next step.

So the base plate I'm using was hot glued into place as in the picture shown(exact position of the plate doesn't matter), but i preferred to place mine in the center.

Step 3: SN754410NE Motor Driver

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In order to control and power the duel motors on my robot I used the SN754410NE Motor Driver. You don't necessarily need to use this one, another example would be the L293 Motor Driver, but it was the one I had purchased years ago.

Okay, so I will now be explaining how to connect the motor driver to the Arduino Uno. First, connect all ground pins to ground on the breadboard, which are pins 4,5,12, and 13 of the motor driver. Then connect Pins 1 and 16 of the motor driver to Pins 9 and 10 on the Arduino. Next, connect pins 2 and 7 of the motor driver to pins 3 and 4 on the Arduino, which are the inputs of the left motor. After that is complete, connect pins 10 and 15 of the driver to pins 5 and 6 on the Arduino, which are the inputs of the right motor. Pins 3 and 6 of the motor driver have to connect to the left motor and pins 14 and 11 have to connect to the right motor. Pins 3,6,11, and 14 are all output pins, which mean that they will send the signal from the Arduino to the motors and tell it when to move or when to be stationary.And the last two pins which are pins 8 and 16 of the motor driver need to be connected to power on the breadboard. The power source will be a 9 volt battery hooked up to the breadboard as shown in one of the pictures.

Step 4: Attaching the Ping Sensor

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The sensor I used on my robot that will help it avoid walls or objects in its trajectory is the Ping Ultrasonic Range Finder. The sensor will be situated on a standard servo, which can be purchased at your local Radio Shack, and the whole platform will be placed on the front part of the tank. Every time the robot gets within 10 cm of an object, the servo will turn both sides and then the program in the Arduino decides which side is most clear for the robot to pass through.

The first step to this is to attach the Male Servo Extension to the ping sensor so that it can connect from the front of the tank to the middle. Next, tape the ping sensor with the extension on top of the Standard Servo so that it wont move when the servo turns both 90 and 180 degrees(Left or Right).

There are three pins on the sensor, ground, 5v, and signal. The ground obviously will be connected to ground, the 5v to the Arduino's regulated pin, and the signal pin on pin 7 of the Arduino.

Step 5: Power Supply

Okay, so for the Arduino I bought a DC Power Plug(Size N) and 9V Battery Snap Connectors, which can be purchased at your local Radio Shack for about $5. For the power supply for both duel motors in the tank, I used 4 D Size Batteries and purchased a 4 D Battery Holder for $2.

For the Arduino power supply, you would have to solder the DC Power Plug to the 9V Snap Connector. Then for the motor power supply, you would have to just connect the Battery holder straight to the Breadboard containing the SN754410NE motor driver.

Step 6: Putting Everything Together

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Once every step is completed, now its time to put everything together. First we would need to attach the Arduino and the Breadboard on to the piece of HDPE. Then, attaching the Ping sensor with the servo to the front of the robot using hot glue. Then comes the part where you would have to attach both battery power supplies, which will power both the motors and the Arduino. These can be place to your preference, but I attached them right next to the Arduino and the Breadboard. After everything is attached and secured you can now wire everything up and turn on the Arduino to watch it run.

Step 7: A.A.T. Source Code

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Okay, so after the construction of your robot it is now time to program it. The program will tell the robot when to move and stop in order to avoid collision with an object. I've had many failed attempts in writing this sketch and after a couple of days without sleep I've managed to finish it.

First, the program will tell the robot to move in a forward direction until it is within 10 cm away from an object. If it is in this range the program will now tell the robot to stop and scan both sides using the Ping sensor. Once both sides been scanned the program can now determine which side is most clear and safest for the robot to move towards that direction. If both sides aren't clear and have objects blocking the robots' way, it will turn a full 180 degrees and continue its trajectory without colliding.

The sketch for this robot can be found in the link below

Arduino Calculator using 4x4 Keypad

ARDUINO

Arduino Calculator using 4x4 Keypad

Programming is always fun and Arduino is a wonderful platform if you are just getting started with Embedded programming. In this tutorial we will build our own calculator with Arduino. The values can be sent in through a keypad (4×4 keypad) and result can be viewed on a LCD screen (16×2 Dot-matrix). This calculator could perform simple operations like Addition, Subtraction, Multiplication and Division with whole numbers. But once you understand the concept you can implement even scientific functions with Arduino’s built in functions.

At the end of this project you will know how to use a 16x2 LCD and Keypad with Arduino and also how easy it is to program for them using the readily available libraries. You will also understand how to program your Arduino for accomplishing a particular task.

Materials Required:

Arduino Uno (Any version will work)
16×2 LCD Display
4×4 Keypad
9V Battery
Breadboard and Connecting wires

Circuit Diagram:

The complete circuit diagram of this Arduino Calculator Project is given above. The +5V and ground connection shown in the circuit diagram can be obtained from the 5V and ground pin of the Arduino. The Arduino itself can be powered from your laptop or through the DC jack using a 12V adapter or 9V battery.

We are operating the LCD in 4-bit mode with Arduino so only the last four data bits of the LCD is connected to Arduino. The Keyboard will have 8 output pins which have to be connected from pin 0 to pin 7 as shown above. You can use the following connection table to verify your connection with Arduino, you can also check 4x4 Keypad interfacing with Arduino.

Arduino Pin Name:	Connected to:
D0	1st pin of the keyboard
D1	2nd pin of the keyboard
D2	3rd pin of the keyboard
D3	4th pin of the keyboard
D4	5th pin of the keyboard
D5	6th pin of the keyboard
D6	7th pin of the keyboard
D7	8th pin of the keyboard
D8	Register select pin of LCD (pin 4)
D9	Enable pin of LCD (pin 6)
D10	Data pin 4 (pin 11)
D11	Data pin 4 (pin 11)
D12	Data pin 4 (pin 11)
D13	Data pin 4 (pin 11)
+5V	Connected to Vdd pin of LCD (pin 2)
Ground	Connected to Vss,Vee and RW pin of LCD (pin 1,3 and 5)

Some Arduino boards might show an error while uploading program if there are anything connected to pin 0 and pin1, so if you experience any just remove the keypad while uploading the program.

Once your connections are done your hardware will look something like this below

Arduino Calculator using 4x4 Keypad in action hardware implementation

Arduino Calculator Program:

The complete Arduino program for this project is given at the end of this project. The code is split into small meaningful chunks and explained below.

As told earlier we are going to interface a LCD and keypad with Arduino using libraries. So let’s add them to our Arduino IDE first. The library for LCD is already included in your Arduino by default so we need not worry about it. For Keypad library click on the link to download it from Github. You will get a ZIP file, then add this lib to Arduino by Sketch -> Include Library -> Add .ZIP file and point the location to this downloaded file. Once done we are all set for programming.

Even though we have used a library for using a keypad we have to mention few details (shown below) about the keypad to the Arduino. The variable ROWS and COLS will tell how many rows and columns our keypad has and the keymap shows the order in which the keys are present on the keyboard. The keypad that i am using in this project looks like this below to the key map also represents the same.

Further below we have mentioned to which pins the Keypad is connected using the variable array rowPins and colPins.

const byte ROWS = 4; // Four rows
const byte COLS = 4; // Three columns

// Define the Keymap
char keys[ROWS][COLS] = {
  {'1','2','3','A'},
  {'4','5','6','B'},
  {'7','8','9','C'},
  {'*','0','#','D'}
};
byte rowPins[ROWS] = { 0, 1, 2, 3 };// Connect keypad ROW0, ROW1, ROW2 and ROW3 to these Arduino pins.
byte colPins[COLS] = { 4, 5, 6, 7 }; // Connect keypad COL0, COL1 and COL2 to these Arduino pins.

Once we have mentioned what type of keypad we are using and how it is connected, we can create the keypad using those details using the line below

Keypad kpd = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS ); //  Create the Keypad

Similarly we also have to tell to which pins of the Arduino the LCD is connected to. According to our circuit diagram the definitions would be like below

const int rs = 8, en = 9, d4 = 10, d5 = 11, d6 = 12, d7 = 13; //Pins to which LCD is connected
LiquidCrystal lcd(rs, en, d4, d5, d6, d7); //create the LCD

Inside the setup function, we just display the name of the project and then proceed to while loop where the main project lies.

Basically, we have to check if anything is being typed on the keypad, if typed we have to recognize what is being typed and then convert it to a variable when the “=” is pressed we have to calculate the result and then finally display it on the LCD. This is exactly what is done inside the loop function as shown below

key = kpd.getKey(); //storing pressed key value in a char

if (key!=NO_KEY)
DetectButtons();

if (result==true)
CalculateResult();

DisplayResult();

What happens inside each function is explained using the comment lines, go through the complete code below, fiddle around with it to understand how it actually works. If you have any doubt on a specific line, feel free to use the comment section or the forums.

Simulation of Arduino Calculator:

We can also try simulating the project using Proteus software. Proteus does not have an Arduino component on it’s own, but can be easily downloaded and added to its library. Once you have the Arduino component on Proteus, just add Alphanumeric LCD and Keypad to make the connection as shown in the circuit diagram.

Then download the hex file from here and add it to the Arduino by double clicking on board in Proteus and point the “program file” to this downloaded hex file. A snap shot of the simulation is shown below, the complete working is shown in the video below.

Note: The hex file given is not as same as the original of the program given below. It has been modified to since the keymap of the simulation keypad and the actual hardware keypad is different.

Working of Arduino Calculator:

Make the connections as per circuit diagram and upload the code below. If it shows error make sure you have added the library as per the instruction given above. You can also try the simulation to check if the problem is with your hardware. If everything is done as it’s supposed to be, then your hardware will look something like this below with the LCD displaying this

Arduino Calculator using 4x4 Keypad in action

Since the keypad used here does not have proper markings on it I have assumed the Alphabets to be operators as listed below

Character on Keypad	Assumed to be
“A”	Addition (+)
“B”	Subtraction (-)
“C”	Multiplication (*)
“D”	Division (/)
“*”	Clear (C)
“#”	Equals (=)

You can use a marker to write over what each button actually represents.

With that done, you can directly start using the calculator. Types the number and will appear on the second line press the operand and type your second number finally press the “#” key to get your result. You can also try building this Touchscreen based Arduino calculator.

Code

/*
* Arduino Keypad calculator Program
*/

#include <LiquidCrystal.h> //Header file for LCD from https://www.arduino.cc/en/Reference/LiquidCrystal
#include <Keypad.h> //Header file for Keypad from https://github.com/Chris--A/Keypad

const byte ROWS = 4; // Four rows
const byte COLS = 4; // Three columns

// Define the Keymap
char keys[ROWS][COLS] = {

{'7','8','9','D'},

{'4','5','6','C'},

{'1','2','3','B'},

{'*','0','#','A'}

};

byte rowPins[ROWS] = { 0, 1, 2, 3 };// Connect keypad ROW0, ROW1, ROW2 and ROW3 to these Arduino pins.
byte colPins[COLS] = { 4, 5, 6, 7 }; // Connect keypad COL0, COL1 and COL2 to these Arduino pins.

Keypad kpd = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS ); // Create the Keypad

const int rs = 8, en = 9, d4 = 10, d5 = 11, d6 = 12, d7 = 13; //Pins to which LCD is connected
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);

long Num1,Num2,Number;
char key,action;
boolean result = false;

void setup() {
lcd.begin(16, 2); //We are using a 16*2 LCD display
lcd.print("DIY Calculator"); //Display a intro message
lcd.setCursor(0, 1); // set the cursor to column 0, line 1
lcd.print("-CircuitDigest"); //Display a intro message

delay(2000); //Wait for display to show info
lcd.clear(); //Then clean it
}

void loop() {

key = kpd.getKey(); //storing pressed key value in a char

if (key!=NO_KEY)
DetectButtons();

if (result==true)
CalculateResult();

DisplayResult();
}

void DetectButtons()
{
lcd.clear(); //Then clean it
if (key=='*') //If cancel Button is pressed
{Serial.println ("Button Cancel"); Number=Num1=Num2=0; result=false;}

if (key == '1') //If Button 1 is pressed
{Serial.println ("Button 1");
if (Number==0)
Number=1;
else
Number = (Number*10) + 1; //Pressed twice
}

if (key == '4') //If Button 4 is pressed
{Serial.println ("Button 4");
if (Number==0)
Number=4;
else
Number = (Number*10) + 4; //Pressed twice
}

if (key == '7') //If Button 7 is pressed
{Serial.println ("Button 7");
if (Number==0)
Number=7;
else
Number = (Number*10) + 7; //Pressed twice
}

if (key == '0')
{Serial.println ("Button 0"); //Button 0 is Pressed
if (Number==0)
Number=0;
else
Number = (Number*10) + 0; //Pressed twice
}

if (key == '2') //Button 2 is Pressed
{Serial.println ("Button 2");
if (Number==0)
Number=2;
else
Number = (Number*10) + 2; //Pressed twice
}

if (key == '5')
{Serial.println ("Button 5");
if (Number==0)
Number=5;
else
Number = (Number*10) + 5; //Pressed twice
}

if (key == '8')
{Serial.println ("Button 8");
if (Number==0)
Number=8;
else
Number = (Number*10) + 8; //Pressed twice
}

if (key == '#')
{Serial.println ("Button Equal");
Num2=Number;
result = true;
}

if (key == '3')
{Serial.println ("Button 3");
if (Number==0)
Number=3;
else
Number = (Number*10) + 3; //Pressed twice
}

if (key == '6')
{Serial.println ("Button 6");
if (Number==0)
Number=6;
else
Number = (Number*10) + 6; //Pressed twice
}

if (key == '9')
{Serial.println ("Button 9");
if (Number==0)
Number=9;
else
Number = (Number*10) + 9; //Pressed twice
}

if (key == 'A' || key == 'B' || key == 'C' || key == 'D') //Detecting Buttons on Column 4
{
Num1 = Number;
Number =0;
if (key == 'A')
{Serial.println ("Addition"); action = '+';}
if (key == 'B')
{Serial.println ("Subtraction"); action = '-'; }
if (key == 'C')
{Serial.println ("Multiplication"); action = '*';}
if (key == 'D')
{Serial.println ("Devesion"); action = '/';}

delay(100);
}

}

void CalculateResult()
{
if (action=='+')
Number = Num1+Num2;

if (action=='-')
Number = Num1-Num2;

if (action=='*')
Number = Num1*Num2;

if (action=='/')
Number = Num1/Num2;
}

void DisplayResult()
{
lcd.setCursor(0, 0); // set the cursor to column 0, line 1
lcd.print(Num1); lcd.print(action); lcd.print(Num2);

if (result==true)
{lcd.print(" ="); lcd.print(Number);} //Display the result

lcd.setCursor(0, 1); // set the cursor to column 0, line 1
lcd.print(Number); //Display the result
}

Suthiwas

Friday, September 28, 2018

https://www.instructables.com/id/Autonomous-Arduino-Tank-AAT/

AUTONOMOUS ARDUINO TANK (A.A.T)

Intro: Autonomous Arduino Tank (A.A.T)

Step 1: Materials Needed

Step 2: RC Tank Chassis

Step 3: SN754410NE Motor Driver

Step 4: Attaching the Ping Sensor

Step 5: Power Supply

Step 6: Putting Everything Together

Step 7: A.A.T. Source Code

https://circuitdigest.com/microcontroller-projects/arduino-calculator-using-4x4-keypad

Arduino Calculator using 4x4 Keypad

Materials Required:

Circuit Diagram:

Arduino Calculator Program:

Simulation of Arduino Calculator:

Working of Arduino Calculator:

สรุปงานที่ 5 Internet of Things (IoT)

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