e-yantra robotics competition 2014-15 report by e … · e-yantra robotics competition – 2014-15...

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e-Yantra Robotics Competition – 2014-15

REPORT

By E-yantra Team

Team id :- e-yrc #354-WM

Team Leader :- Saksham Srivastava

Team members:-

1. Shubham Anand

2. Rajat Kumar Soni

3. Rashmi Singh

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

JSS ACADEMY OF TECHNICAL EDUCATION

C-20/1 SECTOR-62, NOIDA

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Name E-mail Contact Branch Year

Saksham Srivastava

[email protected] 07503900271 Electronics And Communication Engineering

3rd

Shubham Anand


3rd

Rajat Kumar Soni


3rd

Rashmi Singh


3rd

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SCORE CARD

# Task Name

Marks Obtained

(A) Penalty

(B) Final Marks

(A+B) Remarks

1 Task 0 - Flex Printing

Task 0 Accepted Great Job !

2 Task 1 - Theme Analysis

53/60 0 53/60 Great Job ! Keep it up

3 Task 2 - Implementation

Analysis

116/125 0 116/125 Good Job. Keep it up.

4 Task 3 - Video Demo Submission

For Original Configuration

945 0 945 Very good mechanism. Creative Marks Distribution Graph

For Bonus Configuration

885 0 (20% of score (A) is used to calculate the

final score(B)) 177

Very good mechanism.

Creative

5 Task 4 - Documented Code

Submission 60

60 0 60 Good work

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INDEX

Sno. Content name Page no

1. Certificates i-iv

2. Score Card 7

3. Introduction 9

4. You Tube link of video 9

5. Problem statement 10

6. Arena 10

7. Software used 11

8. Robot used 11

9. Technical specification 12-13

10. External hardware used 13

11. Flowchart 14-19

12. Code 20-30

13. Acknowledgment 31

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E-yantra robotics competition is organized by IIT Mumbai and it’s supported by

MHRD. This year over 3400 teams registered out of which 260 teams were

qualified for next level. Clearing and completing different tasks and challenges 6

teams per theme are selected for the finale which was held at IIT-Bombay.

Our hard work, dedication and perseverance has made us qualified for the top 6

finale. In task 3 that was video demonstration of the problem solution we have the

highest marks among all the teams participated all over India. In the finale we were

at 5th position.

Theme:- Warehouse management

Introduction

Warehouse management system is vital in storage and movement of goods. On-

line purchasing has gained tremendous popularity among people of all generations

and this entails receiving orders, packaging, transportation, storage and shipment.

Goods are packaged in cartons of defined sizes -- received, stored and shipped

from a warehouse. Given that storage is vital in the supply chain, optimizing

storage space through proper placement of packages such that movement of

packages is minimized is the key. Automating the process of receiving the

packages, placing them in correct locations in the warehouse reduces manual labor

and avoids damage to the packages.

Keeping with the importance of this subject, in e-Yantra Robotics Competition

2014 (eYRC-2014), one of the themes chosen was warehouse management. In this

theme, we focus on automating the task of placing the packages in designated

locations in the warehouse. The theme design represents a simplified warehouse

having 12 pick-up points where packages arrive. We use different colored blocks

to represent three types of packages. There are five deposition zones, each

designated for deposition of a particular type of package. The robot has to visit

each pick-up point and if there is a valid package(red , blue or green ) pick up the

package and don’t pick up the invalid package(black color package). The robot

detects the color of the package using a color sensor provided and places it in the

appropriate deposition zone.

YouTube link of the video:-

1. http://youtu.be/Q12QuPvdV5s ----task 3 video

2. http://youtu.be/W4JaAQ8lx-I----- bonus task video

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Problem statement

Make an autonomous robot that performs the following tasks:

1. The robot starts from START position of the arena representing a warehouse

Thermocol blocks are used to represent packages. Three colors Red (R),

Blue (B), or Green (G) are used to represent different types of packages.

There are twelve pick-up points in the warehouse where packages are

placed on arrival to the warehouse. Each pick-up point can contain: (i) No

package – when the pick-up point is empty (ii) Valid package – when a

package of one of the colors – Red (R), Blue (B), or Green (G) – is at the

pick-up point or (iii) Invalid package – when a Black package is at the

pick-up point which should not be picked up. Number of valid packages to

be picked up from the pick-up points can vary from 3 to 7.

There are five Deposition Zones numbered 1 to 5. Each deposition zone has

an associated color – only packages of that color can be deposited in that

deposition zone. A deposition table (explained in Section 6: Theme rules)

provides the information on the designated color for each deposition zone.

For example, if deposition zones 1 and 2 are designated as R, only red

packages can be deposited in these deposition zones. Each deposition zone

can take a maximum of 2 packages only.

2. The robot traverses the path around the warehouse and does the following:

Checks pick-up point for a package.

If the package is Invalid, sounds a buzzer and moves on.

If the package is Valid, does the following:

1. Indicates the color of the package by turning on the appropriate color in the

RGB Light Emitting Diode (LED) provided with the kit.

2. Picks up the package and deposits it in the appropriate deposition zone.

Robot repeats the above protocol till it picks up and deposits all the valid

packages on the arena.

After depositing the last package at the appropriate zone, the robot sounds

the buzzer continuously.

Sound of the continuous buzzer indicates END of task.

ARENA

The arena for this theme is a simplified abstraction of a warehouse. There are 12

pick-up points marked on the arena. Packages of different types represented by

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blocks of colors Red, Blue, or Green will be placed on these pick-up points. A

pick-up point may or may not contain a package. For example, with reference to

Figure 1, there are 2 red blocks, 3 blue blocks, and 2 Green blocks placed on the

pick-up points. There are three black blocks that are invalid packages and two

pick-up points are empty. The deposition zones are indicated by 1, 2, 3, 4, and 5 in

the arena. The black line on the arena is the line along which the robot will

navigate its path.

ARENA

Software used:- Atmel Studio 6.0

Robot used :- Fire Bird V ATMEGA 2560

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Technical specification of Robot:-

1. Microcontroller:

i. Atmel ATMEGA2560 as Master microcontroller (AVR architecture

based Microcontroller)

ii. Atmel ATMEGA8 as Slave microcontroller (AVR architecture based

Microcontroller)

2. Sensors:

i. Three white line sensors (extendable to 7)

ii. Five Sharp GP2Y0A02YK IR range sensor (One in default

configuration)

iii. Eight analog IR proximity sensors

iv. Two position encoders (extendable to four)

v. Battery voltage sensing

vi. Current Sensing (Optional)

vii. Five Max Botix Ultrasonic Range Sensors (Optional)

3. Indicators:

i. 2 x 16 Characters LCD

ii. Buzzer and Indicator LEDs

4. Control:

i. Autonomous Control

ii. PC as Master and Robot as Slave in wired or wireless mode

5. Communication:

i. USB Communication

ii. Wired RS232 (serial) communication

iii. Wireless ZigBee Communication (2.4GHZ) (if XBee wireless module

is installed)

iv. Wi-Fi communication (if Wi-Fi module is installed)

v. Bluetooth communication (if Bluetooth wireless module is installed)

vi. Simplex infrared communication (From infrared remote to robot)

6. Dimensions:

i. Diameter: 16cm

ii. Height: 8.5cm

iii. Weight: 1100gms

7. Power:

i. 9.6V Nickel Metal Hydride (NiMH) battery pack and external

Auxiliary power from battery charger.

ii. On Board Battery monitoring and intelligent battery charger.

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8. Battery Life:

2 Hours, while motors are operational at 75% of time

9. Locomotion:

i. Two DC geared motors in differential drive configuration and caster wheel

at front as support

ii. Top Speed: 24 cm / second

iii. Wheel Diameter: 51mm

iv. Position encoder: 30 pulses per revolution

External Hardware used :-

1. Color Sensor :- Color sensor is a type of sensor that senses the color of a

particular wavelength or frequency from an external environment by using

Frequency to voltage conversion .

2. SERVO MOTOR

A servomotor is a rotatory actuator that allows for precise control of angular

position, velocity and acceleration.

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FLOWCHART:-

FLOWCHART FOR MOVEMENT OF ROBOT

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FLOWCHART FOR DETECTION OF PACKAGE

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FLOWCHART FOR PUTTING THE PACKAGE

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SUMMARY OF THE FLOWCHART:-

1) At the 1st check point for the very first time the robot will take a left turn.

2) But after then it will never take a left turn at 1st check point.

3) It reaches the next check point.

4) It will check for the presence of package.

5) If the package is present and is valid i.e. color of the package is RED, BLUE

or GREEN then the corresponding LED will glow otherwise it will move to

next check point.

6) The value of R or B or G will be increased by 1 which was initially set to 0.

7) The robotic arm will pick the package.

8) And as per the deposition table given to us it will follow the shortest path to

that deposition zone & put the package there.

9) If the deposition zone is filled with 2 packages already then it will go to the

next deposition zone as per the deposition table.

10) If the color of package is black means package is invalid, it will sound

the buzzer for 1 second & move forward for the next check point.

11) The above process will continue until all the packages are placed at

their corresponding deposition zone.

12) When all the packages are kept at their corresponding zone then the

buzzer will sound continuously, hence indicting the task has been

completed.

DEPOSITION TABLE

SNO. TYPE OF PACKAGE NUMBER OF

PACKAGE

DESIGNATED

DEPOSITION

ZONE (X)

1. RED (R) Will be given as

per the problem

statement.

1 OR 3 OR 10 OR

12 OR 14 OR 21

(Exact value will be

given as per the

problem statement).

2. BLUE (B) do do

3. GREEN (G) do do

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Code:-

For I/O interfacing

#define F_CPU 14745600

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>

//Function to initialize Buzzer

void buzzer_pin_config (void)

{

DDRC = DDRC | 0x08; //Setting PORTC 3 as outpt

PORTC = PORTC & 0xF7; //Setting PORTC 3 logic low to turnoff buzzer

}

//Function to configure Interrupt switch

void interrupt_switch_config (void)

{

DDRE = DDRE & 0x7F; //PORTE 7 pin set as input

PORTE = PORTE | 0x80; //PORTE7 internal pull-up enabled

}

//Function to configure LDD bargraph display

void LED_bargraph_config (void)

{

DDRJ = 0xFF; //PORT J is configured as output

PORTJ = 0x00; //Output is set to 0

}

//Function to Initialize PORTS

void port_init (void)

{

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buzzer_pin_config();

interrupt_switch_config();

LED_bargraph_config();

}

void buzzer_on (void)

{

unsigned char port_restore = 0;

port_restore = PINC;

port_restore = port_restore | 0x08;

PORTC = port_restore;

}

void buzzer_off (void)

{

unsigned char port_restore = 0;

port_restore = PINC;

port_restore = port_restore & 0xF7;

PORTC = port_restore;

}

void init_devices (void)

{

cli(); //Clears the global interrupts

port_init();

sei(); //Enables the global interrupts

}

//Main Function

int main(void)

{

init_devices();

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while(1)

{

if((PINE & 0x80) == 0x80) //switch is not pressed

{

buzzer_off(); //Turn off buzzer

PORTJ = 0x00; //Turn off bargraph LEDs

}

else

{

buzzer_on(); //Turn on buzzer

PORTJ = 0xFF; //Turn on bargraph LEDs

}

}

}

Motion control---


#include <avr/io.h>



void motion_pin_config (void)

{

DDRA = DDRA | 0x0F; //set direction of the PORTA 3 to PORTA 0 pins as output

PORTA = PORTA & 0xF0; // set initial value of the PORTA 3 to PORTA 0 pins to logic 0

DDRL = DDRL | 0x18; //Setting PL3 and PL4 pins as output for PWM generation

PORTL = PORTL | 0x18; //PL3 and PL4 pins are for velocity control using PWM

}

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//Function to initialize ports

void port_init()

{

motion_pin_config();

}

//Function used for setting motor's direction

void motion_set (unsigned char Direction)

{

unsigned char PortARestore = 0;

Direction &= 0x0F; // removing upper nibbel as it is not needed

PortARestore = PORTA; // reading the PORTA's original status

PortARestore &= 0xF0; // setting lower direction nibbel to 0

PortARestore |= Direction; // adding lower nibbel for direction command and restoring the PORTA status

PORTA = PortARestore; // setting the command to the port

}

void forward (void) //both wheels forward

{

motion_set(0x06);

}

void back (void) //both wheels backward

{

motion_set(0x09);

}

void left (void) //Left wheel backward, Right wheel forward

{

motion_set(0x05);

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}

void right (void) //Left wheel forward, Right wheel backward

{

motion_set(0x0A);

}

void soft_left (void) //Left wheel stationary, Right wheel forward

{

motion_set(0x04);

}

void soft_right (void) //Left wheel forward, Right wheel is stationary

{

motion_set(0x02);

}

void soft_left_2 (void) //Left wheel backward, right wheel stationary

{

motion_set(0x01);

}

void soft_right_2 (void) //Left wheel stationary, Right wheel backward

{

motion_set(0x08);

}

void stop (void) //hard stop

{

motion_set(0x00);

}

void init_devices (void)

{

cli(); //Clears the global interrupts

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port_init();

sei(); //Enables the global interrupts

}

//Main Function

int main()

{

init_devices();

while(1)

{

forward(); //both wheels forward

_delay_ms(1000);

stop();

_delay_ms(500);

back(); //bpth wheels backward

delay_ms(1000);

stop();

_delay_ms(500);

left(); //Left wheel backward, Right wheel forward

_delay_ms(1000);

stop();

_delay_ms(500);

right(); //Left wheel forward, Right wheel backward

_delay_ms(1000);

stop();

_delay_ms(500);

soft_left(); //Left wheel stationary, Right wheel forward

_delay_ms(1000);

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stop();

_delay_ms(500);

soft_right(); //Left wheel forward, Right wheel is stationary

_delay_ms(1000);

stop();

_delay_ms(500);

soft_left_2(); //Left wheel backward, right wheel stationary

_delay_ms(1000);

stop();

_delay_ms(500);

soft_right_2(); //Left wheel stationary, Right wheel backward

_delay_ms(1000);

stop();

_delay_ms(1000);

}

}

For interfacing servo motor


#include <avr/io.h>



//Configure PORTB 5 pin for servo motor 1 operation

void servo1_pin_config (void)

{

DDRB = DDRB | 0x20; //making PORTB 5 pin output

PORTB = PORTB | 0x20; //setting PORTB 5 pin to logic 1

}


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{



}



{



}

//Initialize the ports

void port_init(void)

{

servo1_pin_config(); //Configure PORTB 5 pin for servo motor 1 operation



}

//TIMER1 initialization in 10 bit fast PWM mode

//prescale:256

// WGM: 7) PWM 10bit fast, TOP=0x03FF

// actual value: 52.25Hz

void timer1_init(void)

{

TCCR1B = 0x00; //stop

TCNT1H = 0xFC; //Counter high value to which OCR1xH value is to be compared with

TCNT1L = 0x01; //Counter low value to which OCR1xH value is to be compared with

OCR1AH = 0x03; //Output compare Register high value for servo 1

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OCR1AL = 0xFF; //Output Compare Register low Value For servo 1

OCR1BH = 0x03; //Output compare Register high value for servo 2

OCR1BL = 0xFF; //Output Compare Register low Value For servo 2

OCR1CH = 0x03; //Output compare Register high value for servo 3

OCR1CL = 0xFF; //Output Compare Register low Value For servo 3

ICR1H = 0x03;

ICR1L = 0xFF;

TCCR1A = 0xAB; /*{COM1A1=1, COM1A0=0; COM1B1=1, COM1B0=0; COM1C1=1 COM1C0=0}

For Overriding normal port functionality to OCRnA outputs.

{WGM11=1, WGM10=1} Along With WGM12 in TCCR1B for Selecting

FAST PWM Mode*/

TCCR1C = 0x00;

TCCR1B = 0x0C; //WGM12=1; CS12=1, CS11=0, CS10=0 (Prescaler=256)

}

//Function to initialize all the peripherals

void init_devices(void)

{

cli(); //disable all interrupts

port_init();

timer1_init();

sei(); //re-enable interrupts

}

//Function to rotate Servo 1 by a specified angle in the multiples of 1.86 degrees

void servo_1(unsigned char degrees)

{

float PositionPanServo = 0;

PositionPanServo = ((float)degrees / 1.86) + 35.0;

OCR1AH = 0x00;

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OCR1AL = (unsigned char) PositionPanServo;

}



{

float PositionTiltServo = 0;

PositionTiltServo = ((float)degrees / 1.86) + 35.0;

OCR1BH = 0x00;

OCR1BL = (unsigned char) PositionTiltServo;

}



{

float PositionServo = 0;

PositionServo = ((float)degrees / 1.86) + 35.0;

OCR1CH = 0x00;

OCR1CL = (unsigned char) PositionServo;

}

{

OCR1AH = 0x03;

OCR1AL = 0xFF; //Servo 1 off

}

void servo_2_free (void) //makes servo 2 free rotating

{

OCR1BH = 0x03;

OCR1BL = 0xFF; //Servo 2 off

}

void servo_3_free (void) //makes servo 3 free rotating

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{

OCR1CH = 0x03;

OCR1CL = 0xFF; //Servo 3 off

}

//Main function

void main(void)

{

unsigned char i = 0;

init_devices();

for (i = 0; i <90; i++)

{

servo_1(i);

_delay_ms(30);

servo_2(i);

_delay_ms(30);

servo_3(i);

_delay_ms(30);

}

_delay_ms(2000);

servo_1_free();

servo_2_free();

servo_3_free();

while(1);

NOTE:- It’s a sample code(exact code can not be reproduced here) that is for the reference and

help. For exact code please refer the team members.

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Acknowledgement:-

This project consumed huge amount of work, research and dedication. Still,

implementation would not have been possible if we did not have a support of many

individuals and organizations. Therefore we would like to extend our sincere

gratitude to all of them.

We would like to express our special thanks of gratitude to our mentors Ms.

GAYATRI SAKYA and Mr. PRASAD M. who gave us the golden opportunity

to participate in this wonderful competition. They also helped us in doing a lot of

research and we came to know about so many new things.

Secondly we would also like to thank our parents, friends and teachers who helped

me a lot in finalizing this project within the limited time frame and supported

technically ,non technically and morally in the best possible manner they can.

Last but not the least we are thankful to E-yantra for their competition. For

providing the robot and for providing necessary guidance concerning the

implementation.

e-yantra robotics competition 2014-15 report by e … · e-yantra robotics competition – 2014-15...

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