KonradStanski / pathfindingRobot

Pathfinding Arduino Rover using Djikstra's Algorithm

Pathfinding Arduino Rover

Video:

https://www.youtube.com/watch?v=gOMG96O_x_0

Included Files:

Readme
outline.txt
    Python/
        maze.py
        pathfinding.py
        pyToArd.py
        mazes/
            maze1_11X11.gif
            maze_big.gif
        soln_mazes/
            maze1_11X11_soln.gif
            maze_big_soln.gif
    Arduino/
        Makefile
        main.cpp

Running Instructions:

1. Wire the Arduino as detailed in the wiring instructions below
2. Configure the makefile as detailed below
3. Make and upload to the arduino
4. Connect with your computer to the bluetooth module using bluetooth manager
5. Determine what /dev/*** port it is connected to in bluetooth manager
6. Modify the port in writeToArd() function in pyToArd.py
7. Generate maze using reference website and crop white border or use example maze
8. Specify maze name and path in maze.py
9. Turn on arduino connected to appropriate power source
10. For debug output, in a terminal open sudo minicom to the same /dev/**** as sepcified in pathfinding.py
11. Run sudo python3 pathfinding.py
12. The robot will now run the maze and print its current state to the minicom terminal over bluetooth

Python Requirments:

pillow import as PIL
    sudo pip3 install pillow
time import as time
numpy import as numpy
    sudo pip3 install numpy
pyserial import as serial
    sudo pip3 install pyserial

Wiring instructions:

//Stepper Drivers
Arduino digital pin 3     // IN1 on the ULN2003 driver 1
Arduino digital pin 4     // IN2 on the ULN2003 driver 1
Arduino digital pin 5     // IN3 on the ULN2003 driver 1
Arduino digital pin 6     // IN4 on the ULN2003 driver 1
Arduino digital pin 8     // IN1 on the ULN2003 driver 2
Arduino digital pin 9     // IN2 on the ULN2003 driver 2
Arduino digital pin 10    // IN3 on the ULN2003 driver 2
Arduino digital pin 11    // IN4 on the ULN2003 driver 2
5-12V Power Source        // +VCC on ULN2003 driver 1 and 2
Arduino GND               // GND on ULN2003 driver 1 and 2

//Bluetooth
Arduino digital pin 14 TX // RX on HC-05 Module
Arduino digital pin 15 RX // TX on HC-05 Module
Arduino 5-12V             // VCC on HC-05 Module
Arduino GND               // GND on HC-05 Module

//Arduino
5-12V Power Source        // Arduino VIN
GND Power Source          // Arduino GND

Makefile Configuration and Requirments for Arduino:

In order to make main.cpp, you need to navigate to /usr/share/arduino/libraries
and copy the Servo Library and copy it to /arduino-ua/libraries
It is also necessary to download the virtualWire library from:
https://platformio.org/lib/show/251/VirtualWire
and place it in /arduino-ua/libraries.

You then need to go into the provided arduino makefile and modify the entry that
defines what user libraries to include in the make.
To do this you simply add the name of the folders. it should now look like this:
ARDUINO_LIBS = SD SPI Adafruit_GFX Adafruit_ILI9341 TouchScreen AccelStepper

Resources:

maze generation:
https://hereandabove.com/maze/mazeorig.form.html

Stepper Control:
http://www.airspayce.com/mikem/arduino/AccelStepper/classAccelStepper.html
https://42bots.com/tutorials/28byj-48-stepper-motor-with-uln2003-driver-and-arduino-uno/

Comms:
http://www.userk.co.uk/arduino-bluetooth-linux/
https://botforge.wordpress.com/2016/07/26/the-right-way-to-connect-an-hc-05-bluetooth-module-to-an-arduino/

Notes:

Serial port is defined in writeToArd() function in pyToArd.py
Function comments can be found with the functions