{"id":5952,"date":"2024-06-26T07:04:00","date_gmt":"2024-06-26T07:04:00","guid":{"rendered":"http:\/\/dyor.roboticafacil.es\/?p=5952"},"modified":"2024-06-26T07:04:00","modified_gmt":"2024-06-26T07:04:00","slug":"english-dyor-sponge-rob","status":"publish","type":"post","link":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-sponge-rob\/","title":{"rendered":"DYOR Sponge Rob"},"content":{"rendered":"<p>In this entry I will present my robot from the Mobile Robotics class at UPV based on the DYOR Robot Concept.<\/p>\n<p><!--more--><\/p>\n<h2><strong>Design<\/strong><\/h2>\n<p>For this project, I used the design of DYOR robot base and I redesigned in solidworks robot hands and face. After, I assembled a 3D model as shown below.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5953\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Imagen1-300x212.png\" alt=\"\" width=\"300\" height=\"212\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Imagen1-300x212.png 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Imagen1.png 499w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<h2>Components<\/h2>\n<p>For making this robot I used the next electronic components:<\/p>\n<ul>\n<li>Arduino UNI + I\/O Exension Shield Arduino UNO<\/li>\n<li>Powerbank 3600mAh<\/li>\n<li>Ultrasoundsensor HC-SR04<\/li>\n<li>Buzzer KY-006<\/li>\n<li>2 x Servos SG90 (for arms)<\/li>\n<li>2 x Servos FS90R (for wheels)<\/li>\n<li>2 x Wheels for FS90R servos<\/li>\n<li>Bluetooth SPP-C<\/li>\n<li>Line Tracker module TCRT5000<\/li>\n<li>LED Matrix Display 8&#215;8<\/li>\n<li>Caster Wheel<\/li>\n<li>Dupont cables<\/li>\n<\/ul>\n<h2>Functionalities<\/h2>\n<p>Sponge Rob is able to do the next tasks:<\/p>\n<ul>\n<li>Remote control movement<\/li>\n<li>Line tracker<\/li>\n<li>Obstacle avoidance<\/li>\n<\/ul>\n<h2>Implementation<\/h2>\n<p>The first step was to assemble the robot. Once I had the robot as it is shown in the picture below, I started to program it.<\/p>\n<h2><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5985\" style=\"color: #333333; font-size: 16px;\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/bob-300x225.jpeg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/bob-300x225.jpeg 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/bob-1024x768.jpeg 1024w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/bob-768x576.jpeg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/bob-1536x1152.jpeg 1536w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/bob.jpeg 1600w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/h2>\n<p>For the line tracking mode, the robot uses a proportional controller so that depending on the level of light that the sensor detects and an intermediate reference of light (a value between the calibration values of black and white), the weel&#8217;s rotation will be changed. Facilino&#8217;s code is shown below.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5955\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/segulineas-300x201.jpg\" alt=\"\" width=\"300\" height=\"201\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/segulineas-300x201.jpg 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/segulineas-768x514.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/segulineas-75x50.jpg 75w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/segulineas.jpg 800w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<div style=\"width: 600px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-5952-1\" width=\"600\" height=\"330\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/linetraker.mp4?_=1\" \/><a href=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/linetraker.mp4\">https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/linetraker.mp4<\/a><\/video><\/div>\n<p>For the obstacle avoidance, the robot moves forward until detects an obstacle, then it turns right until it does not detect an obstacle and after afther that, it moves forward again. While the robot does not detect an obstacle, Sponge Rob statement is written in the LED matrix display, and when an obstacle is detected, a sound alarm is activated and the LED matrix shows a cross (X). Facilino&#8217;s code is shown below.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5957\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/obtacle-1-140x300.jpg\" alt=\"\" width=\"140\" height=\"300\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/obtacle-1-140x300.jpg 140w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/obtacle-1.jpg 259w\" sizes=\"auto, (max-width: 140px) 100vw, 140px\" \/><\/p>\n<p>To finish, for remote control two things were needed: a mobile app and a robot program.<\/p>\n<p>The mobile app, that was created with app inventor2, let us control the robot movement with our mobile phone. The orders that the robot can do are:<\/p>\n<ul>\n<li>Move forward\/backward<\/li>\n<li>Turn left\/right<\/li>\n<li>Close gripper<\/li>\n<li>Stopping the movement<\/li>\n<li>Play Sponge Bob song<\/li>\n<\/ul>\n<p>The app interface is show below.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5961\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/WhatsApp-Image-2021-06-20-at-13.38.50-300x150.jpeg\" alt=\"\" width=\"300\" height=\"150\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/WhatsApp-Image-2021-06-20-at-13.38.50-300x150.jpeg 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/WhatsApp-Image-2021-06-20-at-13.38.50-1024x512.jpeg 1024w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/WhatsApp-Image-2021-06-20-at-13.38.50-768x384.jpeg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/WhatsApp-Image-2021-06-20-at-13.38.50-1536x768.jpeg 1536w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/WhatsApp-Image-2021-06-20-at-13.38.50.jpeg 1600w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>With the buttons of the app, the mobile sends a leter thorugh bluetooth to the robot and the robot, depending on the letter received, does one of the tasks listed before. As I said, one task is playing the Sponge Bob song. For this, I intoduced the musical notes in arduino with facilino. The part of Facilino&#8217;s code where the song is introduced is shown below.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5960\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/RC-300x231.jpg\" alt=\"\" width=\"300\" height=\"231\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/RC-300x231.jpg 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/RC-768x592.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/RC.jpg 843w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<h2>Programs<\/h2>\n<p><a href=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Programas-Arduino.zip\">Programas Arduino<\/a><\/p>\n<h2>Author<\/h2>\n<p>Andr\u00e9s Fortaleza Lobillo<\/p>\n<p>Universitat Polit\u00e8cnica de Val\u00e8ncia<\/p>","protected":false},"excerpt":{"rendered":"<p>In this entry I will present my robot from the Mobile Robotics class at UPV based on the DYOR Robot Concept.<\/p>\n","protected":false},"author":585,"featured_media":8089,"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-5952","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\/bob-300x225-1.jpeg","jetpack_sharing_enabled":true,"jetpack-related-posts":[{"id":5054,"url":"https:\/\/dyor.webs.upv.es\/en\/dyor-adventures-of-robolink\/","url_meta":{"origin":5952,"position":0},"title":"DYOR Adventures of RoboLink","author":"dewus","date":"Friday June 14th, 2019","format":false,"excerpt":"In this entry I will present my robot from the Mobile Robotics class at UPV based on the DYOR Robot Concept. My main theme is the video game \"The Legend of Zelda\". Design For our robot projects it was unfortunately not possible to choose other robot-face designs or specific arm\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\/2019\/06\/20190527_114900.jpg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2019\/06\/20190527_114900.jpg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2019\/06\/20190527_114900.jpg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2019\/06\/20190527_114900.jpg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2019\/06\/20190527_114900.jpg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2019\/06\/20190527_114900.jpg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":7349,"url":"https:\/\/dyor.webs.upv.es\/en\/english-frogbot3000\/","url_meta":{"origin":5952,"position":1},"title":"FrogBot3000","author":"leoharling","date":"Friday June 30th, 2023","format":false,"excerpt":"This post presents FrogBot 3000 a low-cost Arduino-based mobile robot DYOR: FrogBot3000 mobile robot build GOAL The goal is to build a mobile robot based on a frog. It will be able to raise and lower its arms, move in any direction, display a plethora of emotions, follow a black\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\/2023\/06\/IMG_0431-scaled.jpeg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":5839,"url":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-darthbot\/","url_meta":{"origin":5952,"position":2},"title":"DYOR DarthBot","author":"DanielMoreno","date":"Wednesday June 26th, 2024","format":false,"excerpt":"In this post I will explain DarthBot, the robot I have made for the mobile robotics subject at UPV. The robot is based on Dart Vader. Desing For the design, I have used a premade kit and I have modified it a bit adding a wood structure so that the\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\/Robot-1.jpg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Robot-1.jpg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Robot-1.jpg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Robot-1.jpg?resize=700%2C400&ssl=1 2x"},"classes":[]},{"id":5954,"url":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-batbot\/","url_meta":{"origin":5952,"position":3},"title":"DYOR BatBot","author":"mariadelmar2497","date":"Wednesday June 26th, 2024","format":false,"excerpt":"In this entry I will briefly explain the work I have done assembling and programming my BatBot. Components The assembly was made with the following components: Wood structure Arduino Nano v3.0 I\/O Extension Shield to Arduino Nano Powerbank 3600mAh USB 2 continuous servos FS90R with wheels 2 micro servos SG90\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\/20210617_132502-2-851x1024-1.jpg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/20210617_132502-2-851x1024-1.jpg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/20210617_132502-2-851x1024-1.jpg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/20210617_132502-2-851x1024-1.jpg?resize=700%2C400&ssl=1 2x"},"classes":[]},{"id":7676,"url":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-mobile-robotics-report-colorbot\/","url_meta":{"origin":5952,"position":4},"title":"DYOR: Mobile Robotics Report &#8211; ColorBot","author":"JosefKhedri","date":"Wednesday June 26th, 2024","format":false,"excerpt":"This report presents our work behind the ColorBot, made for the main assignment in the course Mobile Robotics at the UPV. Design of the Robot: Parts: Arduino Nano with Extension Shield Color Sensor (TCS3200) Bluetooth Module (HC-06) 8x8 LED-matrix Infrared Sensor (TCRT5000) 2x FS90R servos with 60mm wheels Castor Wheel\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\/2024\/06\/WhatsApp-Bild-2024-06-15-kl.-12.49.27_386e7423-225x300.jpg?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":4179,"url":"https:\/\/dyor.webs.upv.es\/en\/viking-dyor\/","url_meta":{"origin":5952,"position":5},"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":[]}],"jetpack_likes_enabled":true,"_links":{"self":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/5952","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\/585"}],"replies":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/comments?post=5952"}],"version-history":[{"count":4,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/5952\/revisions"}],"predecessor-version":[{"id":8090,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/5952\/revisions\/8090"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media\/8089"}],"wp:attachment":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media?parent=5952"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/categories?post=5952"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/tags?post=5952"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}