Published October 30, 2018 © GPL3+

Underwater Monitoring and Sampling Robot

I have designed and built a prototype of an underwater robot with ARM technology AI. For the monitoring, cartography and data collection.

AdvancedWork in progress10 hours2,679

Underwater Monitoring and Sampling Robot

Things used in this project

Hardware components

BeagleBoard.org SeeedStudio BeagleBone Green

Arduino UNO

Helium Starter Kit (LEGACY)

Seeed Studio Motor Bridge Cape

Seeed Studio 12V electric motor

Seeed Studio Grove - 6-Axis Accelerometer&Gyroscope

Seeed Studio Grove - Sunlight Sensor

Seeed Studio Grove - Air quality sensor v1.3

Seeed Studio Grove - Multichannel Gas Sensor

Seeed Studio Grove - High Temperature Sensor

Seeed Studio Water sensor grove

Battery 12V 1400 MaP

Seeed Studio wire grove x5 30cm

Male/Male Jumper Wires

Software apps and online services

Arduino IDE

Helium Dashboard

Hand tools and fabrication machines

Tube cutter

Tweezers and Pliers

Hot glue gun (generic)

PVC pipe glue

Pipes and PVC connections

black tape insulating

Story

The exploration of the marine depths are investigations of the physical, chemical and biological conditions of the seabed, for scientific or commercial reasons. Deep ocean exploration is a relatively recent human activity, so the deep sea remains unexplored in a large part of planet Earth.

That is why we have proposed to build an underwater robot for exploration, mapping and data collection and biological samples. This is possible thanks to the power of the AM335x 1GHz ARM® Cortex-A8 processor of the BeagleBone Green.

By National Geographic

Step 1: Design and Sketches

During different rains of ideas and consultations on the web, we decided to make our own design for the first prototype.

As well as finding a design of the objective that we want to build.

1 / 2 • We decided to opt for a heterogeneous and cubic structure

Step 2: Structure

the structure as in the previous images is appreciated, it is constructed of PVC pipes and unions easy to get in hardware stores. We also decided to give it a little color with a spray.

1 / 3 • Pipes, elbows and PVC T

Step 3: Taking and Recording IoT Data

It is essential that we have access to the information obtained in the depths that is why for our first prototype we have decided to implement the Helium System Kit due to its wide coverage and effectiveness.

1 / 2

We proceed to configure: in the Helium website we will find a brief tutorial to connect our Arduino to IoT: https://www.helium.com/dev

Step 2: Programming and Arduino Code

We will load the code left under the project in Arduino IDE.

Step 3: Engines and BeagleBone Green

It is necessary that we have the Cape Bridge Motor to connect and control the engines through the BeagleBone.

We proceed to connect the motors

1 / 2

Step 4: Code BeagleBone Green

We load the respective code left below the project.

Step 5: Connect Arduino to BeagleBone Green

Since the Helium device does not have direct connectivity to BeagleBone, we proceed to make a connection between the two devices in order to share data and information during its operation.

/*Accept command from BBB via Serial
*Turns on/off on-board LED
*by OP from teachmemicro.com */
#include <SoftwareSerial.h>
SoftwareSerial mySerial(8, 7); // RX, TX
char inChar;
void setup()
{
// Open serial communications and wait for port to open:
Serial.begin(9600);
Serial.println("Awaiting command from the Almighty BBB...");
// set the data rate for the SoftwareSerial port
mySerial.begin(9600);
pinMode(13, OUTPUT);
}
void loop() // run over and over
{
if (mySerial.available()){
inChar = (char)mySerial.read();
if(inChar=='1'){
Serial.print("The Almighty BBB said Let There Be Light! ");
Serial.println("Then there was light!");
digitalWrite(13, HIGH);
}else if(inChar =='0'){
Serial.print("The Almighty BBB said Let There Be Darkness! ");
Serial.println("Then darkness commenced!"); 
digitalWrite(13, LOW);
}else{
Serial.print("The Almighty BBB said Something! ");
Serial.println("We fear that something!"); 
}
}
}

Step 6: Sensors and Meters

We will use the following sensors:

Water level
Temperature
Air quality
Sunlight
UV
Multichannel gas

All these sensors will be in a homemade storage chamber made with a bottle.

A moderate amount of water enters the bottle and is studied by the sensors.

Step 7: Waterproofing

Proceed to seal or waterproof all devices and sensors to prevent water seepage.

1 / 2

Step 7, 8, 9, 10: COMING SOON!

Due to the fact that in our country several inconveniences and natural catastrophes have occurred in the last months, it has been difficult for us to work entirely in this great project.

We hope to share the rest of the process of this great idea in the next week!

UPDATE: 10/30/2018

We are working on our prototype to implement a camera or cartography sensor to map and have a dimensional image of the depths to be studied. We hope to share them this week!

Conclusions:

We have designed and built an underwater robot capable of monitoring and taking samples in the depths of our waters. We can also say that we are contributing significantly to the development of ideas in the field of engineering and technology by encouraging the children of the schools that helped us build this project.

With the support of more than 30 children, we managed to build and at the same time teach the operation of the products and devices as well as a bit of basic programming. We hope to continue sharing in this fascinating way with the children and young people of the public schools of my country.

We hope everyone has fun building projects for this challenge as we have done.

Thanks ARM! For making all this possible.

Code

// 1 channel RCInput with 5ns accuracy
// 12 channel RCOutput with 1us accuracy 

// Timer
#define TICK_PER_US 200
#define TICK_PER_MS 200000

// PWM

// 920 us
#define PWM_PULSE_DEFAULT (920 * TICK_PER_US)

// 50 Hz
#define PWM_FREQ_DEFAULT (20 * TICK_PER_MS)

// Ringbuffer size
#define RCIN_RINGBUFFERSIZE 300

// PRU Constants Table
#define ECAP C3
#define RAM C24
#define IEP C26

// IEP
#define IEP_TMR_GLB_CFG 0x0
#define IEP_TMR_GLB_STS 0x4
#define IEP_TMR_CNT 0xc

#define IEP_CNT_ENABLE 0x0
#define IEP_DEFAULT_INC 0x4

// ECAP
#define ECAP_TSCTR 0x0
#define ECAP_CTRPHS 0x4
#define ECAP_CAP1 0x8
#define ECAP_CAP2 0xc
#define ECAP_CAP3 0x10
#define ECAP_CAP4 0x14
#define ECAP_ECCTL1 0x28
#define ECAP_ECCTL2 0x2a
#define ECAP_ECEINT 0x2c
#define ECAP_ECFLG 0x2e
#define ECAP_ECCLR 0x30
#define ECAP_ECFRC 0x32
#define ECAP_REVID 0x5c

// ECCTL1
#define ECAP_CAP1POL 0
#define ECAP_CTRRST1 1
#define ECAP_CAP2POL 2
#define ECAP_CTRRST2 3
#define ECAP_CAP3POL 4
#define ECAP_CTRRST3 5
#define ECAP_CAP4POL 6
#define ECAP_CTRRST4 7
#define ECAP_CAPLDEN 8
#define ECAP_PRESCALE 9
#define ECAP_FREE_SOFT 14

// ECCTL2
#define ECAP_CONT_ONESHT 0
#define ECAP_STOP_WRAP 1
#define ECAP_RE_ARM 3
#define ECAP_TSCTRSTOP 4
#define ECAP_SYNCI_EN 5
#define ECAP_SYNCO_SEL 6
#define ECAP_SWSYNC 8
#define ECAP_CAP_APWM 9
#define ECAP_APWMPOL 10

// ECEINT, ECFLG
#define ECAP_INT 0
#define ECAP_CEVT1 1
#define ECAP_CEVT2 2
#define ECAP_CEVT3 3
#define ECAP_CEVT4 4
#define ECAP_CNTOVF 5
#define ECAP_PRDEQ 6
#define ECAP_CMPEQ 7

// RAM
#define CH_ENABLE_RAM_OFFSET (0 * 4)
#define CH_1_PULSE_TIME_RAM_OFFSET (1 * 4)
#define CH_1_T_TIME_RAM_OFFSET  (2 * 4)
#define CH_2_PULSE_TIME_RAM_OFFSET (3 * 4)
#define CH_2_T_TIME_RAM_OFFSET  (4 * 4)
#define CH_3_PULSE_TIME_RAM_OFFSET (5 * 4)
#define CH_3_T_TIME_RAM_OFFSET  (6 * 4)
#define CH_4_PULSE_TIME_RAM_OFFSET (7 * 4)
#define CH_4_T_TIME_RAM_OFFSET  (8 * 4)
#define CH_5_PULSE_TIME_RAM_OFFSET (9 * 4)
#define CH_5_T_TIME_RAM_OFFSET  (10 * 4)
#define CH_6_PULSE_TIME_RAM_OFFSET (11 * 4)
#define CH_6_T_TIME_RAM_OFFSET  (12 * 4)
#define CH_7_PULSE_TIME_RAM_OFFSET (13 * 4)
#define CH_7_T_TIME_RAM_OFFSET  (14 * 4)
#define CH_8_PULSE_TIME_RAM_OFFSET (15 * 4)
#define CH_8_T_TIME_RAM_OFFSET  (16 * 4)
#define CH_9_PULSE_TIME_RAM_OFFSET (17 * 4)
#define CH_9_T_TIME_RAM_OFFSET  (18 * 4)
#define CH_10_PULSE_TIME_RAM_OFFSET (19 * 4)
#define CH_10_T_TIME_RAM_OFFSET  (20 * 4)
#define CH_11_PULSE_TIME_RAM_OFFSET (21 * 4)
#define CH_11_T_TIME_RAM_OFFSET  (22 * 4)
#define CH_12_PULSE_TIME_RAM_OFFSET (23 * 4)
#define CH_12_T_TIME_RAM_OFFSET  (24 * 4)

#define MAX_CYCLE_TIME_OFFSET (25 * 4)

#define RCIN_RING_HEAD_OFFSET 0x1000
#define RCIN_RING_TAIL_OFFSET 0x1002
#define RCIN_RINGBUFFER_RAM_OFFSET 0x1004

// RCOut pins
#define RC_CH_1_PIN r30.t10
#define RC_CH_2_PIN r30.t8
#define RC_CH_3_PIN r30.t11
#define RC_CH_4_PIN r30.t9
#define RC_CH_5_PIN r30.t7
#define RC_CH_6_PIN r30.t6
#define RC_CH_7_PIN r30.t5
#define RC_CH_8_PIN r30.t4
#define RC_CH_9_PIN r30.t3
#define RC_CH_10_PIN r30.t2
#define RC_CH_11_PIN r30.t1
#define RC_CH_12_PIN r30.t0

// RCOut enable bits
#define RC_CH_1_ENABLE register.ch_enable.t0
#define RC_CH_2_ENABLE register.ch_enable.t1
#define RC_CH_3_ENABLE register.ch_enable.t2
#define RC_CH_4_ENABLE register.ch_enable.t3
#define RC_CH_5_ENABLE register.ch_enable.t4
#define RC_CH_6_ENABLE register.ch_enable.t5
#define RC_CH_7_ENABLE register.ch_enable.t6
#define RC_CH_8_ENABLE register.ch_enable.t7
#define RC_CH_9_ENABLE register.ch_enable.t8
#define RC_CH_10_ENABLE register.ch_enable.t9
#define RC_CH_11_ENABLE register.ch_enable.t10
#define RC_CH_12_ENABLE register.ch_enable.t11

// Register struct
.struct RegisterStruct
   .u32 ch_enable
   .u32 ch_1_next_time
   .u32 ch_2_next_time
   .u32 ch_3_next_time
   .u32 ch_4_next_time
   .u32 ch_5_next_time
   .u32 ch_6_next_time
   .u32 ch_7_next_time
   .u32 ch_8_next_time
   .u32 ch_9_next_time
   .u32 ch_10_next_time
   .u32 ch_11_next_time
   .u32 ch_12_next_time
   .u32 time
   .u32 time_max 
   .u32 time_cycle
   .u32 rcin_ram_pointer
   .u32 rcin_ram_pointer_index
   .u32 rcin_ram_pointer_index_max
   .u32 rcin_ram_pointer_head
   .u32 rcin_ram_pointer_tail
   .u32 temp
   .u32 temp1
   .u32 test
 .ends
 .assign RegisterStruct, R4, *, register

.macro RCOUT_PWM
.mparam RC_CH_X_PIN, CH_X_NEXT_TIME, CH_X_ENABLE, CH_X_PULSE_TIME_RAM_OFFSET, CH_X_T_TIME_RAM_OFFSET
pwm:
   // Handle arithmetic and counter overflow, check if there is something to do
   sub register.temp, CH_X_NEXT_TIME, register.time
   mov register.temp1, 0xF0000000
   qbgt pwmend, register.temp, register.temp1

      mov CH_X_NEXT_TIME, register.time

      // Set pin or clear pin?
      qbbs pwmclear, RC_CH_X_PIN

         // Load pulse duration
         lbco register.temp, RAM, CH_X_PULSE_TIME_RAM_OFFSET, 4

         // Calculate time to next event
         add CH_X_NEXT_TIME, CH_X_NEXT_TIME, register.temp

         // Check if channel is enabled 
         qbbc pwmend, CH_X_ENABLE
            
            // Set pin
            set RC_CH_X_PIN
         jmp pwmend

      pwmclear:
         // Load pulse time
         lbco register.temp1, RAM, CH_X_PULSE_TIME_RAM_OFFSET, 4

         // Load T time
         lbco register.temp, RAM, CH_X_T_TIME_RAM_OFFSET, 4

         // Calculate time to next event (T - pulse duration)
         sub register.temp, register.temp, register.temp1
         add CH_X_NEXT_TIME, CH_X_NEXT_TIME, register.temp
         
         // Clear pin
         clr RC_CH_X_PIN
pwmend:
.endm

.macro RCIN_ECAP_INIT
   // Initialize ECAP
   mov register.temp, (1 << ECAP_CTRRST1) | (1 << ECAP_CAP1POL) | (1 << ECAP_CTRRST2) | (1 << ECAP_CAPLDEN)
   sbco register.temp, ECAP, ECAP_ECCTL1, 4
   mov register.temp, (1 << ECAP_STOP_WRAP) | (1 << ECAP_TSCTRSTOP) | (2 << ECAP_SYNCO_SEL)
   sbco register.temp, ECAP, ECAP_ECCTL2, 4
.endm

.macro RCIN_ECAP
   // New value?
   lbco register.temp, ECAP, ECAP_ECFLG, 4
   qbbc rcin_ecap_end, register.temp.t2

      // Copy S0 and S1 duration to temp and temp1
      lbco register.temp, ECAP, ECAP_CAP1, 8

      // Copy S0 and S1 duration to RAM
      sbbo register.temp, register.rcin_ram_pointer, 0, 8

      // Clear event flags
      mov register.temp, (1 << ECAP_CEVT1) | (1 << ECAP_CEVT2)
      sbco register.temp, ECAP, ECAP_ECCLR, 4

      // Set new tail value
      RCIN_WRITE_TAIL register.rcin_ram_pointer_index

      // Update pointer
      add register.rcin_ram_pointer_index, register.rcin_ram_pointer_index, 1
      add register.rcin_ram_pointer, register.rcin_ram_pointer, 8

      // Check end of ringbuffer
      qblt rcin_ecap_end, register.rcin_ram_pointer_index_max, register.rcin_ram_pointer_index
         mov register.rcin_ram_pointer, RCIN_RINGBUFFER_RAM_OFFSET 
         mov register.rcin_ram_pointer_index, 0
rcin_ecap_end:
.endm

.macro RCIN_WRITE_HEAD
.mparam RCIN_HEAD
   sbbo RCIN_HEAD, register.rcin_ram_pointer_head, 0, 2
.endm

.macro RCIN_WRITE_TAIL
.mparam RCIN_TAIL
   sbbo RCIN_TAIL, register.rcin_ram_pointer_tail, 0, 2
.endm

.macro MAX_CYCLE_TIME
   lbco register.temp1, IEP, IEP_TMR_CNT, 4
   sub register.temp, register.temp1, register.time_cycle
   mov register.time_cycle, register.temp1
   max register.time_max, register.time_max, register.temp
   sbco register.time_max, RAM, MAX_CYCLE_TIME_OFFSET, 4
.endm

.macro INIT
   // Reset PWM pins
   mov r30, 0x0

   // Clear register
   zero &register, SIZE(register)

   // Initialize max cycle time
   mov register.temp, 0
   sbco register.temp, RAM, MAX_CYCLE_TIME_OFFSET, 4

   // Initialize ringbuffer
   mov register.rcin_ram_pointer, RCIN_RINGBUFFER_RAM_OFFSET
   mov register.rcin_ram_pointer_index_max, RCIN_RINGBUFFERSIZE 
   mov register.rcin_ram_pointer_head, RCIN_RING_HEAD_OFFSET
   mov register.rcin_ram_pointer_tail, RCIN_RING_TAIL_OFFSET
   mov register.temp, 0
   RCIN_WRITE_HEAD register.temp
   RCIN_WRITE_TAIL register.temp

   // Load balancing
   mov register.ch_1_next_time, 1000
   mov register.ch_2_next_time, 2000
   mov register.ch_3_next_time, 3000
   mov register.ch_4_next_time, 4000
   mov register.ch_5_next_time, 5000
   mov register.ch_6_next_time, 6000
   mov register.ch_7_next_time, 7000
   mov register.ch_8_next_time, 8000
   mov register.ch_9_next_time, 9000
   mov register.ch_10_next_time, 10000
   mov register.ch_11_next_time, 11000
   mov register.ch_12_next_time, 12000

   // Disable all PWMs
   mov register.ch_enable, 0x0
   sbco register.ch_enable, RAM, CH_ENABLE_RAM_OFFSET, 4

   // Initialize PWM pulse (920us)
   mov register.temp, PWM_PULSE_DEFAULT
   sbco register.temp, RAM, CH_1_PULSE_TIME_RAM_OFFSET, 4 
   sbco register.temp, RAM, CH_2_PULSE_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_3_PULSE_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_4_PULSE_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_5_PULSE_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_6_PULSE_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_7_PULSE_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_8_PULSE_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_9_PULSE_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_10_PULSE_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_11_PULSE_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_12_PULSE_TIME_RAM_OFFSET, 4

   // Initialize PWM frequency (50Hz)
   mov register.temp, PWM_FREQ_DEFAULT
   sbco register.temp, RAM, CH_1_T_TIME_RAM_OFFSET, 4 
   sbco register.temp, RAM, CH_2_T_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_3_T_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_4_T_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_5_T_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_6_T_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_7_T_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_8_T_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_9_T_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_10_T_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_11_T_TIME_RAM_OFFSET, 4
   sbco register.temp, RAM, CH_12_T_TIME_RAM_OFFSET, 4

   // Initialize counter (1 step = 5ns) 
   mov register.temp, 1 << IEP_DEFAULT_INC
   sbco register.temp, IEP, IEP_TMR_GLB_CFG, 4

   // Reset counter
   mov register.temp, 0xffffffff
   sbco register.temp, IEP, IEP_TMR_CNT, 4

   // Start counter 
   lbco register.temp, IEP, IEP_TMR_GLB_CFG, 4
   or register.temp, register.temp, 1 << IEP_CNT_ENABLE
   sbco register.temp, IEP, IEP_TMR_GLB_CFG, 4
.endm

.origin 0
init:
   INIT
   RCIN_ECAP_INIT
mainloop:
   lbco register.ch_enable, RAM, CH_ENABLE_RAM_OFFSET, 4
   lbco register.time, IEP, IEP_TMR_CNT, 4
   RCOUT_PWM RC_CH_1_PIN, register.ch_1_next_time, RC_CH_1_ENABLE, CH_1_PULSE_TIME_RAM_OFFSET, CH_1_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_2_PIN, register.ch_2_next_time, RC_CH_2_ENABLE, CH_2_PULSE_TIME_RAM_OFFSET, CH_2_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_3_PIN, register.ch_3_next_time, RC_CH_3_ENABLE, CH_3_PULSE_TIME_RAM_OFFSET, CH_3_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_4_PIN, register.ch_4_next_time, RC_CH_4_ENABLE, CH_4_PULSE_TIME_RAM_OFFSET, CH_4_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_5_PIN, register.ch_5_next_time, RC_CH_5_ENABLE, CH_5_PULSE_TIME_RAM_OFFSET, CH_5_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_6_PIN, register.ch_6_next_time, RC_CH_6_ENABLE, CH_6_PULSE_TIME_RAM_OFFSET, CH_6_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_7_PIN, register.ch_7_next_time, RC_CH_7_ENABLE, CH_7_PULSE_TIME_RAM_OFFSET, CH_7_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_8_PIN, register.ch_8_next_time, RC_CH_8_ENABLE, CH_8_PULSE_TIME_RAM_OFFSET, CH_8_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_9_PIN, register.ch_9_next_time, RC_CH_9_ENABLE, CH_9_PULSE_TIME_RAM_OFFSET, CH_9_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_10_PIN, register.ch_10_next_time, RC_CH_10_ENABLE, CH_10_PULSE_TIME_RAM_OFFSET, CH_10_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_11_PIN, register.ch_11_next_time, RC_CH_11_ENABLE, CH_11_PULSE_TIME_RAM_OFFSET, CH_11_T_TIME_RAM_OFFSET
   RCOUT_PWM RC_CH_12_PIN, register.ch_12_next_time, RC_CH_12_ENABLE, CH_12_PULSE_TIME_RAM_OFFSET, CH_12_T_TIME_RAM_OFFSET
   RCIN_ECAP
//   MAX_CYCLE_TIME
jmp mainloop

#include "AirQuality.h"
#include "Arduino.h"
#include "Board.h"
#include "Helium.h"
#include "HeliumUtil.h"
#include <TH02_dev.h>
#include "Arduino.h"
#include "Wire.h" 


AirQuality airqualitysensor;

#define CHANNEL_NAME "SPAQM"

Helium  helium(&atom_serial);
Channel channel(&helium);

void setDisplayToOriginalState()
{
    
}

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  delay(150);
  /* Reset HP20x_dev */
  TH02.begin();
  delay(100);
  Serial.println("TH02_dev is available.\n");    
  DBG_PRINTLN(F("Starting"));

  // Begin communication with the Helium Atom
  // The baud rate differs per supported board
  // and is configured in Board.h
  helium.begin(HELIUM_BAUD_RATE);

  // Connect the Atom to the Helium Network
  helium_connect(&helium);

  // Begin communicating with the channel. This should only need to
  // be done once. The HeliumUtil functions add simple retry logic
  // to re-create a channel if it disconnects.
  channel_create(&channel, CHANNEL_NAME);
  Wire.begin();
  airqualitysensor.init(14);
}

void loop() {
  //Set quality from 0 to 255, with one to 100 being normal
  //Air Quality Pollution
//  int sensorValue = analogRead(A0);
//  int airquality = map(sensorValue, 0, 1023, 0, 255);
    int airquality = airqualitysensor.slope();
  
    //Sound Pollution
    long sound = 0;
    for(int i=0; i<32; i++)
    {
        
    }
  
    float temper = TH02.ReadTemperature(); 
    float humidity = TH02.ReadHumidity();
  
    
    String dataString = "air=" + String(airquality) + "&noise=" + String(sound) + "&temperature=" + String(temper) + "&humidity=" + String(humidity);
    char data[dataString.length()];
    dataString.toCharArray(data, dataString.length());
    channel_send(&channel, CHANNEL_NAME, data, strlen(data));
    Serial.println(data);
  
   
    String temperaturestring = String(temper) + " C";
    char tempbuffer[temperaturestring.length()];
    temperaturestring.toCharArray(tempbuffer, temperaturestring.length());
    
   
    String humidstring = "Humid: " + String(humidity);
    char humidbuffer[temperaturestring.length()];
    humidstring.toCharArray(humidbuffer, humidstring.length());
    

    
ISR(TIMER1_OVF_vect)
{
  if(airqualitysensor.counter==61)//set 2 seconds as a detected duty
  {

      airqualitysensor.last_vol=airqualitysensor.first_vol;
      airqualitysensor.first_vol=analogRead(A0);
      airqualitysensor.counter=0;
      airqualitysensor.timer_index=1;
      PORTB=PORTB^0x20;
  }
  else
  {
    airqualitysensor.counter++;
  }
}

Credits

Gabriel Alejandro Giraldo Santiago

12 projects • 85 followers

Expert maker with strong soft skills, a leading Hispanic figure in emerging technologies, always seeking new challenges and achievements.

Thanks to Seeed Studio.

Underwater Monitoring and Sampling Robot

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Step 1: Design and Sketches

Step 2: Structure

Step 3: Taking and Recording IoT Data

Step 2: Programming and Arduino Code

Step 3: Engines and BeagleBone Green

Step 4: Code BeagleBone Green

Step 5: Connect Arduino to BeagleBone Green

Step 6: Sensors and Meters

Step 7: Waterproofing

Step 7, 8, 9, 10: COMING SOON!

UPDATE: 10/30/2018

Conclusions:

Schematics

Connect Arduino to BeagleBone

Code

Code to BeagleBone

Code to Arduino

Credits

Gabriel Alejandro Giraldo Santiago

Comments

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Underwater Monitoring and Sampling Robot

Underwater Monitoring and Sampling Robot

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Step 1: Design and Sketches

Step 2: Structure

Step 3: Taking and Recording IoT Data

Step 2: Programming and Arduino Code

Step 3: Engines and BeagleBone Green

Step 4: Code BeagleBone Green

Step 5: Connect Arduino to BeagleBone Green

Step 6: Sensors and Meters

Step 7: Waterproofing

Step 7, 8, 9, 10: COMING SOON!

UPDATE: 10/30/2018

Conclusions:

Schematics

Connect Arduino to BeagleBone

Code

Code to BeagleBone

Code to Arduino

Credits

Gabriel Alejandro Giraldo Santiago

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