AutonomicPerfectionist / CyBot

repository for CyBot libraries

CyBot

Code created for CPRE 288 at Iowa State. ##Table of Contents

• CyBot
  • CyBot Software (C)
    • Information
    • UART Information
    • Sensor Data:
    • Commands:
      • Drive (w) w[param]x
        • Examples
        • Return Format
      • Turn (d) d[param]x
        • Examples
        • Return Format
      • Scan (d) s
        • Return Format
  • GUI (Python)
    • Python Requirements:
    • GUI Information
      • CyBot
        • Direction
        • Servo/Scan Angle
      • Scan Data
        • IR Data
        • Detected Objects
      • Bot Information
        • Mode Information
        • Bump Sensor
        • Position Data
    • GUI Commands
      • Drive w/s
      • Turn a/d
      • Scan s
      • Calibrate c
      • Clear k
      • Toggle Mode t

CyBot Software (C)

Information

• Tiva™TM4C123GH6PM Microcontroller
• Iowa State CyBot

UART Information

• Baudrate is 115200

Sensor Data:

• IR Sensor
  • Additional IR Sensors (WIP)
• Bump Sensors
• Ping Sensor
• Cliff Sensor (WIP)
• Battery Data (WIP)

Commands:

Drive (w) w[param]x

Drives the CyBot forwards and backwards. [param] is in centimeters.

[param] > 0 ( foward ) [param] < 0 ( backward )

Examples

• Drive backwards 10 centimeters: w-10x
• Drive forward 20 centimeters: w20x

Return Format

TURN,ANGLE

Turn (d) d[param]x

Turns the CyBot left and right. [param] is in degrees.

[param] > 0 ( left / co-clockwise ) [param] < 0 ( right / clockwise )

Examples

• Turn clockwise 15 degrees: w-10x
• Turn co-clockwise 45 degrees: w45x

Return Format

MOV,DIST

Scan (d) s

Returns scan data 180 degrees infront of the CyBot, every two degrees.

Return Format

SCN,SCAN_ANGLE,IR_RAW_VAL,PING_VAL

GUI (Python)

Python Requirements:

• python 3.9
• pyserial
• pygame
• math

GUI Information

CyBot

The CyBot is identified by the large white dot, starting in the middle of the window.

Direction

The direction of the CyBot is indicated by the green arc on the Player sprite

Servo/Scan Angle

The direction of the Servo and Scan Angle is indicated by the blue line on the Player sprite

Scan Data

IR Data

The small red dots indicate IR scan data

Detected Objects

Objects detected are indicated by white polygons

Bot Information

Mode Information

The current mode (auto/manual) is indicated in the top left.

Bump Sensor

The bump sensor data is indicated in the top left, below the mode information.

Position Data

The position information of the CyBot is indicated in the top left, below the bump sensor

GUI Commands

Drive w/s

Drive the bot 20 centimeters forwards or backwards

Turn a/d

Turn the bot 15 degrees left or right

Scan s

Take a 180 degree scan and map objects

Calibrate c

Take measurements to calibrate IR sensor and update approximation formula

Clear k

Clears the simulation of scan data

Toggle Mode t

Toggles between Manual and Autonomous mode. On autonomous mode, the bot automatically drives towards the smallest object, while avoiding objects.