{"id":5780,"date":"2023-06-10T09:50:16","date_gmt":"2023-06-10T09:50:16","guid":{"rendered":"http:\/\/dyor.roboticafacil.es\/?p=5780"},"modified":"2023-06-10T09:50:16","modified_gmt":"2023-06-10T09:50:16","slug":"english-minion-stuart-dyor","status":"publish","type":"post","link":"https:\/\/dyor.webs.upv.es\/en\/english-minion-stuart-dyor\/","title":{"rendered":"Minion Stuart &#8211; DYOR"},"content":{"rendered":"<p>Stuart can follow lines, avoid obstacles and is controlled via iOS app.<\/p>\n<p><!--more--><\/p>\n<p>The task generally consisted of 4 parts.<\/p>\n<ul>\n<li>Design of the robot<\/li>\n<li>Assembly of the robot<\/li>\n<li>Implementation of two autonomous programs<\/li>\n<li>Implementation of a remote control via Bluetooth<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p><strong>Design of the robot<\/strong><\/p>\n<p>The first step was to find a design. I decided to use an existing kit of a Minion and let it drive with two wheels and a caster wheel. The kit is made from 3mm thick wood and is manufactured by laser cutting.<\/p>\n<p>The next step was to provide a 3D robot assembly in SolidWorks to visualize our idea. The sketches for most of the parts were provided so that they had to be extruded and assembled to a robot.<\/p>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5781\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/01_Front-300x298.jpg\" alt=\"\" width=\"300\" height=\"298\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/01_Front-300x298.jpg 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/01_Front-150x150.jpg 150w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/01_Front.jpg 751w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/> <img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5782\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/02_Side-291x300.jpg\" alt=\"\" width=\"291\" height=\"300\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/02_Side-291x300.jpg 291w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/02_Side.jpg 568w\" sizes=\"auto, (max-width: 291px) 100vw, 291px\" \/><\/p>\n<p><strong>Assembly of the robot<\/strong><\/p>\n<p>Once the design has been defined and visualized, the next step is to procure the individual components. The following list shows the components used here.<\/p>\n<ul>\n<li>1x Robot kit Minion<\/li>\n<li>2x Motors (fs90r)<\/li>\n<li>2x Wheels (rueda-fs90r)<\/li>\n<li>1x Caster wheel<\/li>\n<li>1x Arduino Nano 3<\/li>\n<li>1x Arduino Nano IO Extension Shield<\/li>\n<li>1x Powerbank 3600 mAh<\/li>\n<li>1x Cable Mini USB<\/li>\n<li>2x Cables Dupont (10 pieces)<\/li>\n<li>1x Ultrasonic Sensor hc-sr04<\/li>\n<li>1x Infrared Sensor tcrt5000<\/li>\n<li>1x Bluetooth Low Energy (BLE) -&gt; Important to use a BLE if you want to connect it with an iOS device<\/li>\n<\/ul>\n<p>It is recommended to first paint the parts and later assemble them. Like this you have an easier access. Acrylic paint is a cheap and easy choice to paint the parts.<br \/>\nFor gluing, a superglue worked perfectly, but you have to be quick. With a pencil you can sketch first the edges of the electrical components on the wood. This will facilitate and accelerate the positioning.<\/p>\n<p>With the Dupon cables the electronics can now be connected. Most of them have three connections. Ground (G), voltage (V) and signal (S). They have to be connected accordingly on the Arduino extension shield pins. Nevertheless, there are some limitations<\/p>\n<ul>\n<li>PIN 0 &amp; 1: Even if these are marked with RX and TX, they should only be used for USB connection. DO NOT use them to connect the Bluetooth module.<\/li>\n<li>PIN 2 \u2013 13 can all be used as digital in- &amp; outputs. Notice that via PIN 13 the integrated LED on the Arduino Nano can be controlled.<\/li>\n<li>PIN A0 \u2013 A5 can be used as analog inputs and as digital in- &amp; outputs.<\/li>\n<li>PIN A6 &amp; A7 are only analog inputs.<\/li>\n<\/ul>\n<p>The finished assembled robot looks like this.<\/p>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5784\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Front-175x300.jpg\" alt=\"\" width=\"175\" height=\"300\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Front-175x300.jpg 175w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Front-597x1024.jpg 597w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Front-768x1318.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Front-895x1536.jpg 895w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Front-1194x2048.jpg 1194w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Front-scaled.jpg 1492w\" sizes=\"auto, (max-width: 175px) 100vw, 175px\" \/>\u00a0 <img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5785\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Seite-194x300.jpg\" alt=\"\" width=\"194\" height=\"300\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Seite-194x300.jpg 194w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Seite-662x1024.jpg 662w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Seite-768x1188.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Seite-993x1536.jpg 993w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Seite-1324x2048.jpg 1324w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Seite-scaled.jpg 1655w\" sizes=\"auto, (max-width: 194px) 100vw, 194px\" \/>\u00a0 <img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5783\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Back-252x300.jpg\" alt=\"\" width=\"252\" height=\"300\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Back-252x300.jpg 252w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Back-861x1024.jpg 861w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Back-768x914.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Back-1291x1536.jpg 1291w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Back-1722x2048.jpg 1722w\" sizes=\"auto, (max-width: 252px) 100vw, 252px\" \/><\/p>\n<p><strong>Implementation of two autonomous programs<\/strong><\/p>\n<p><strong>Obstacle avoidance<\/strong><\/p>\n<p>The program consists of a loop and starts with a command to let the robot drive forwards. Every 0.1 seconds he measures with the ultrasonic sensors the distance to the next object ahead. If the measured distance is smaller than a predefined threshold distance, the robot drives backwards, turns randomly, and drives forwards again. If there is no obstacle within the threshold distance, the robot keeps driving forwards.<\/p>\n<p>The implemented program flow chart and the Arduino code is as following.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5786 aligncenter\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/OA-208x300.png\" alt=\"\" width=\"208\" height=\"300\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/OA-208x300.png 208w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/OA-710x1024.png 710w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/OA.png 725w\" sizes=\"auto, (max-width: 208px) 100vw, 208px\" \/><\/p>\n<p>Here the Servos are connected to the pins 6 and 9 and the ultrasonic sensor to pin 11 and 12. Moreover the driving forwards movement is already calibrated.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5787 aligncenter\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/OA_code-300x223.png\" alt=\"\" width=\"300\" height=\"223\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/OA_code-300x223.png 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/OA_code.png 345w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p><strong>Line following<\/strong><\/p>\n<p>For the line following algorithm the corresponding block from Facilino can be used. It is important that black and white are defined correctly. To do this, connect the robot to a computer via USB cable. In the setup you have to write Serial.begin(9600); and in the loop Serial.println(analogRead(A0)); (assuming that you have connected the infrared sensor to pin A0). Now you can read the value from the sensor in the menu under &#8220;Tools&#8221;-&gt;&#8221;Serial Monitor&#8221;.<\/p>\n<p><strong>\u00a0<\/strong><\/p>\n<p><strong>Implementation of a remote control via Bluetooth<\/strong><\/p>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5788\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/App_1-173x300.png\" alt=\"\" width=\"173\" height=\"300\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/App_1-173x300.png 173w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/App_1.png 285w\" sizes=\"auto, (max-width: 173px) 100vw, 173px\" \/> \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5789\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/App_2-173x300.png\" alt=\"\" width=\"173\" height=\"300\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/App_2-173x300.png 173w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/App_2.png 284w\" sizes=\"auto, (max-width: 173px) 100vw, 173px\" \/><\/p>\n<p>A detailed description and explanation of the code and the structure of the app is omitted here, because it is described very well on the Youtube channel of Leopoldo Armesto (e.g. <a href=\"https:\/\/www.youtube.com\/watch?v=T_pnt3jIrLo\">https:\/\/www.youtube.com\/watch?v=T_pnt3jIrLo<\/a>).<\/p>\n<p>However, it is important that the Bluetooth command is sent as a char and not as a string. The command &#8220;0&#8221; ends any activity by default.<\/p>\n<p>It should be noted that compared to remotely controlling the robot, the line following and obstacle avoidance algorithms are loops and not one-time commands. Therefore, here the command must be stored in the variable &#8220;_bt_cmd&#8221; so that the algorithm is executed in every iteration.<\/p>\n<p>Another aspect to consider is that the timer from the Bluetooth module interferes with the servos unintentionally. Even if the servos do not receive a command, they perform slow jerky movements. To avoid this problem, it is advisable to detach the servos in the setup and then always attach and detach them again.<\/p>\n<p>You can detach them by following command<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-5790 aligncenter\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/servo_1.png\" alt=\"\" width=\"152\" height=\"40\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/servo_1.png 152w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/servo_1-150x40.png 150w\" sizes=\"auto, (max-width: 152px) 100vw, 152px\" \/><\/p>\n<p>and attach them to pin 9 and 6 by this command.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-5791 aligncenter\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/servo_2.png\" alt=\"\" width=\"221\" height=\"113\" \/><\/p>","protected":false},"excerpt":{"rendered":"<p>Stuart can follow lines, avoid obstacles and is controlled via iOS app.<\/p>\n","protected":false},"author":570,"featured_media":5785,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[81],"tags":[],"class_list":["post-5780","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-blog"],"aioseo_notices":[],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Seite-scaled.jpg","jetpack_sharing_enabled":true,"jetpack-related-posts":[{"id":5980,"url":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-minion-maria\/","url_meta":{"origin":5780,"position":0},"title":"DYOR Minion &#8211; Mar\u00eda","author":"Maria Torrecilla","date":"Wednesday June 26th, 2024","format":false,"excerpt":"In this entry the DYOR Minion robot is presented. It is a robot that has been created in the Mobile Robotics class at UPV. DYOR Minion \u00a0 Components The following components have been used: Laser cut wooden parts in the shape of a minion Arduino Nano v3.0 \u00a0I\/O Extension Shield\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":4179,"url":"https:\/\/dyor.webs.upv.es\/en\/viking-dyor\/","url_meta":{"origin":5780,"position":1},"title":"Viking DYOR","author":"Askeklok","date":"Monday June 18th, 2018","format":false,"excerpt":"In this blog post, an Arduino-controlled Viking robot is presented. The post will include a brief look into how the appearance of the Viking was designed, as well as some of the programs that can be installed on the Arduino chip. Design of the Viking using Inkscape The design of\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/06\/Viking_front-min.jpg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/06\/Viking_front-min.jpg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/06\/Viking_front-min.jpg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/06\/Viking_front-min.jpg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/06\/Viking_front-min.jpg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/06\/Viking_front-min.jpg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":7626,"url":"https:\/\/dyor.webs.upv.es\/en\/english-imperialbot-assembly-and-arduino-coding\/","url_meta":{"origin":5780,"position":2},"title":"ImperialBOT Assembly and Arduino Coding","author":"defne","date":"Wednesday June 26th, 2024","format":false,"excerpt":"In this blog post, the assembly and design of the ImperialBot will be explained. 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Content of the project folder: 3D Model (STEP format, 3D-printed parts as STL) ESP32 Code (.ino,\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"CAD Model of robot assembly","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/CAD2.png?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/CAD2.png?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/CAD2.png?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/CAD2.png?resize=700%2C400&ssl=1 2x"},"classes":[]},{"id":5773,"url":"https:\/\/dyor.webs.upv.es\/en\/vectorracer\/","url_meta":{"origin":5780,"position":5},"title":"VectorRacer","author":"VectorRacer","date":"Saturday June 10th, 2023","format":false,"excerpt":"This post provides an overview of the robot presented for the Mobile Robotics subject. This robot was originally developed for the Olimpic Robotic Challenge promoted by Makers UPV. Mechanical design The robot is holonomic, meaning that each of its degrees of freedom can be controlled directly. It is capable of\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/fotoRobot-300x225.jpeg?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]}],"jetpack_likes_enabled":true,"_links":{"self":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/5780","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/users\/570"}],"replies":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/comments?post=5780"}],"version-history":[{"count":2,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/5780\/revisions"}],"predecessor-version":[{"id":5793,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/5780\/revisions\/5793"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media\/5785"}],"wp:attachment":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media?parent=5780"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/categories?post=5780"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/tags?post=5780"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}