DSTR Robot Hack

We transformed the standard DSTR Robot so that it would have a solar-based battery charging capability that tracks the sun for max charging.

IntermediateWork in progressOver 1 day674

Things used in this project

Hardware components

Texas Instruments CC3200-LAUNCHXL SimpleLink CC3200 Wi-Fi LaunchPad

Sunnytech 1.25w 5v 250ma Mini Small Solar Panel Module DIY Polysilicon Solar Epoxy Cell Charger B019

2D 2-Axis Brushless Camera Mount Gimbal

Solar Lipo Charger (3.7V) With solar cells lithium batteries you can quickly build a solar power system Applicable battery: single 3.7V lithium battery

iExcell 250 Pcs M3 x 6mm/8mm/10mm/12mm/16mm Internal Hex Drive Socket Cap Screws Kit,Stainless Steel 304, Silver Tone

Photo resistor

Software apps and online services

Texas Instruments Energia

Hand tools and fabrication machines

Wire Stripper,ZOTO Self-adjusting Cable Cutter Crimper,Automatic Wire Stripping Tool/Cutting Pliers Tool for Industry

Story

Background

Our engineering professor encouraged us to enter a design competition to create "hack" for Texas A&M's DSTR robot. This "hack" would give the robot the ability to charge using solar power while moving. This competition consisted of ten teams and three phases.

The competition consisted of an original 10 teams of 3 (Freshmen only). The was a total of 3 phases to the competition.

Phase 1

In the first phase, everyone was tasked with coming up with a design for the DSTR "hack". Everyone would present there idea, and the top three teams would move on to phase two. If we placed in the top 3 of teams, we would move on to phase 2. We placed second in phase 2 and continued to implement our design.

Phase 2

For phase 2 we used one 5v solar panel. Two small servo motors to control dual axis movement. We created a wall which would keep photoresistors separated. While our tracking worked, unfortunately our charging capability proved to be too slow. We were given extra time and the opportunity to fix our flaws in phase 3.

Phase 3

Proceeding to phase 3 we were asked to implement a second solar panel. In doing so we had to get two stronger servo motors to fit our needs. Doing so we received first place.

Design

The main points of our design were: the gimbal, the solar wall, photo resistors, the dual batteries, the solar panel, and our code which would allow everything to fall in place.

The Gimbal: We used a gimbal to place on top of our robot so that it could move the solar panel.

Photoresistors: We used four photo resistors that would read ambient light and take their reading into the code.

The Solar Wall: We created a wall that would separate four photoresistors. We placed the wall adjacent to the solar panels on top of the gimbal. By doing this every photoresistor would guarantee a different reading.

Code: The code then checked the reading in each photoresistor. Depending on which resistor had the highest light value, the gimbal would rotate the panel/wall to in that direction and repeat.

The Batteries: Our batteries were then able to charge by tracking the sun for maximum efficiency.

Schematics

Code

SolarArrayTracker

#include <Servo.h> // include Servo library 

// 180 horizontal MAX
Servo horizontal; // horizontal servo
int servoh = 180;   // 90;     // stand horizontal servo

int servohLimitHigh = 180;
int servohLimitLow = 65;

// 65 degrees MAX
Servo vertical;   // vertical servo 
int servov = 45;    //   90;     // stand vertical servo

int servovLimitHigh = 80;
int servovLimitLow = 15;


// LDR pin connections
//  name  = analogpin;
int ldrlt = A0; //LDR top left - BOTTOM LEFT    <--- BDG
int ldrrt = A1; //LDR top rigt - BOTTOM RIGHT 
int ldrld = A2; //LDR down left - TOP LEFT
int ldrrd = A3; //ldr down rigt - TOP RIGHT

void setup()
{
  Serial.begin(9600);
// servo connections
// name.attacht(pin);
  horizontal.attach(9); 
  vertical.attach(10);
  horizontal.write(180);
  vertical.write(45);
  delay(3000);
}

void loop() 
{
  int lt = analogRead(ldrlt); // top left
  int rt = analogRead(ldrrt); // top right
  int ld = analogRead(ldrld); // down left
  int rd = analogRead(ldrrd); // down rigt
  
  // int dtime = analogRead(4)/20; // read potentiometers  
  // int tol = analogRead(5)/4;
  int dtime = 10;
  int tol = 50;
  
  int avt = (lt + rt) / 2; // average value top
  int avd = (ld + rd) / 2; // average value down
  int avl = (lt + ld) / 2; // average value left
  int avr = (rt + rd) / 2; // average value right

  int dvert = avt - avd; // check the diffirence of up and down
  int dhoriz = avl - avr;// check the diffirence og left and rigt
  
  
  Serial.print(avt);
  Serial.print(" ");
  Serial.print(avd);
  Serial.print(" ");
  Serial.print(avl);
  Serial.print(" ");
  Serial.print(avr);
  Serial.print("   ");
  Serial.print(dtime);
  Serial.print("   ");
  Serial.print(tol);
  Serial.println(" ");
  
    
  if (-1*tol > dvert || dvert > tol) // check if the diffirence is in the tolerance else change vertical angle
  {
  if (avt > avd)
  {
    servov = ++servov;
     if (servov > servovLimitHigh) 
     { 
      servov = servovLimitHigh;
     }
  }
  else if (avt < avd)
  {
    servov= --servov;
    if (servov < servovLimitLow)
  {
    servov = servovLimitLow;
  }
  }
  vertical.write(servov);
  }
  
  if (-1*tol > dhoriz || dhoriz > tol) // check if the diffirence is in the tolerance else change horizontal angle
  {
  if (avl > avr)
  {
    servoh = --servoh;
    if (servoh < servohLimitLow)
    {
    servoh = servohLimitLow;
    }
  }
  else if (avl < avr)
  {
    servoh = ++servoh;
     if (servoh > servohLimitHigh)
     {
     servoh = servohLimitHigh;
     }
  }
  else if (avl = avr)
  {
    // nothing
  }
  horizontal.write(servoh);
  }
   delay(dtime);

}

DSTR Robot Hack