Demo 1

I decided to create a wall following robot, with 2 wheels and 2 distance measuring sensors I bought from ROBOTIS.

Here is the electrical design of the robot’s system:

And here is the mechanical design of the robot:

The system design of the robot is shown below:

And here is the software design or the flowchart of the codes inside OpenCM (microcontroller):

And here is the pseudo code for the robot:

Initialize Dynamixel XL-320 on Serial Port (USART) OpenCM 9.04

Initialize the first Dynamixel XL-320

Initialize the second Dynamixel XL-320

Include OLLO library for DMS-80

Initialize dynamixel bus with baudrate: 1 Mbps

wheelMode on Dynamixel 1

wheelMode on Dynamixel 2

DMS Module must be connected at port 1.

DMS Module must be connected at port 3.

Initialize robot’s movement (turning right)

If distance of front DMS is less than 10 cm

If distance of right DMS is less than 14 cm

Robot turns left

Else

Robot turns right

Else

If distance of right DMS Is less than 14 cm

Robots moves forward

Else

Robot turns right

And here is the source code using the ROBOTIS compiler application for OpenCM 9.04:

Calibration for DMS-80:

0 cm – 3 cm = 1900 – 2900 units of distance

3 cm – 10 cm = 2900 units of distance

10 cm – 70 cm = 2900 – 300 units of distance

This is the final design of the robot:

This is the video of the robot:

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