499 proje slayt

8/17/2019 499 Proje Slayt

1/21

. Ali Karakuş (201193798)

. İsmet Çelik (201193776)

.Zeynal Abiin !abaş (20119382")

#$%&'#*'+• ,. -*.-'. A/& && $'A

luet44t5 4ntr4lle

eanum 5eel '4b4t


2/21

THE OVERVIEW OF THİSPROJECT:

A mecanum wheel robot can move acrosswithout any difculty.

It can maneuver easily in tight spaceswithout the need to rotate in place.

Design and construct a mecanum wheelrobot which is controlled remotely byBluetooth.


3/21

Equipments:

Arduino Mega 256 !"Dual Motor Driver #arrier

$c6 Arduino Bluetooth Module

2% &.'( 5mAh 2# )ipo Battery

*% ".&( *25mAh 25# )ipo Batteries +,"-

25mm *2( 5 !pm D# Motor +,'-

M*5/0umper #ables

"D ilament !ed *.&5mm1)A +3sing 4or Mechanum heels-lastic %pray


4/21

&/A %A'


5/21

&&'* %A'#

4t4rs an -riers

25mm *2( 5 !pm earbo, D# Motor Dual MotorDriver


6/21

atteries

)ipo battery is the battery which has lithium and polymer chemicalcomponents.

It can be charge easily7 that 4eature gives us continuity.7

e use8

2% &.'( 5mAh 2# )ipo il Battery *% ".&( *25mAh 25#)ipo Battery +,"-


7/21

luet44t5 4ule

9o control our robot without remote control cables we will usebluetooth module via Android.

$c6 BluetoothModule


8/21

A-'*- #&*

Android Studio Overview

9o control our mechanum wheel robot via Android weuse Android %tudio rogram

3sing this program7 we will construct our compactphone menu to control robot


9/21

9otally we have several buttons to control o4 the robotsdirection.

9hese directions8 4orward7 bac:ward7 right7 le4t7 right cross7le4t cross7

e will use android studio 4or obtaining control programa4ter we load the program to any android devices.

sample


10/21

Android %tudio codes8


11/21

ECA!" WHEE#S

9he eanum :5eel is one design 4or a wheel whichcan move a vehicle in any direction.


12/21

It is a conventional wheel with a series o4 rollers attachedto its circum4erence. 9hese rollers typically each have ana,is o4 rotation at '5< to the plane o4 the wheel and at '5<to a line through the centre o4 the roller parallel to the a,is

o4 rotation o4 the wheel


13/21

/* İ# *&


14/21

3- A$;A$'<

9he cost o4 wheels is very cheap and suitable 4or us


15/21

!=!AMI>

Arduino Mega 256 !"

$c6 Arduino Bluetooth Module

Dual Motor Driver #arrier


16/21

ire ibrary 9his library allows you to communicate with I2# 1 9I devices.

;unti4ns

ire.begin+address- //// Initiate the ire library and ?ointhe I2# bus as a slave.

ire.available+-////!eturns the number o4 bytes available 4orretrieval with read+-.

ire.write+data7 length-////rites data 4rom a slave device inresponse to a re@uest 4rom a master7 or @ueues bytes 4or

transmission 4rom a master to slave device .

ire.read+- ////!eads a byte that was transmitted 4rom a slavedevice to a master a4ter a call to re@uestrom+- or was transmitted4rom a master to a slave.


17/21

void processInput +-

byte c %erial*.read +-8

switch +c-

case C4C goorward+255-8

brea:8

case CbC

goBac:wad+255-8

brea:8

E E


18/21

void goorward+int mspeed-

motor#ontrol+Fr4F7 *7 mspeed-8

motor#ontrol+Fl4F7 *7 mspeed-8

motor#ontrol+FrrF7 *7 mspeed-8

motor#ontrol+FlrF7 *7 mspeed-8

E

void goBac:wad+int mspeed-

motor#ontrol+Fr4F7 /*7 mspeed-8

motor#ontrol+Fl4F7 /*7 mspeed-8

motor#ontrol+FrrF7 /*7 mspeed-8

motor#ontrol+FlrF7 /*7 mspeed-8

E


19/21

void motor#ontrol+%tring motor%tr7int mdirection7 int mspeed-

int I>*8

int I>28

int motorM8

i4 +motor%tr Fr4F-

I>* !ightrontMotor*8

I>2 !ightrontMotor28

motorM !ightrontMotor8

E

else i4 +motor%tr Fl4F- I>* )e4trontMotor*8

I>2 )e4trontMotor28

motorM )e4trontMotor8

E


20/21


21/21

/A=#

A ....

499 proje slayt

Documents