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Tachyon Robot

What is Tachyon?

Tachyon is a Remote Controlled Obstacle Avoiding Robot. It is Bluetooth Controlled, i.e. Wireless Controller. It uses TachyonController application as a Bluetooth Controller.

*Note: Address of HC-05 is hard codded in the application, rebuild the application for personal use-cases.

Third-party Applications

Third party Controllers are Supported as well. These applications are needed to be configured as per the Constants.h or vise versa.

Libraries Used

  1. AFMotor.h
  2. Servo.h

Components

  1. Arduino UNO
  2. L293D Motor Shield. (Four motors + 2 servos)
  3. Servo Motor SG-90
  4. HC-SR04 Ultrasonic Sensor
  5. HC-05 Bluetooth Module
  6. Chassis (4WD)
  7. 4x Gear Motors + Wheels

Setting Up

Again only Constants.h file is needed to setup. As per dimentions and turning radius of the vehicle. You can achive personalisation.

How does it works?

BluetoothManager.h

Bluetooth Manager has few functions which are used to communicate between the controller and vehicle.

  • Next method returns a character(input) if any or returns STATE_NULL.
  • Send method is used to send any character to the controller.

Constants.h

Constants.h is a simple config file which can be used to customize robot as per useage

DetectionManager.h

Detection Manager manages the HC-SR04 Sensor. It only has one method GetDistance which returns the distance in cm.

MotorManager.h

To manage Motors MotorManager can be used. it uses MOTOR_ constants from Constants.h to setup motors. It has functions to MoveForward, MoveBackward, MoveLeft, MoveRight and `Stop which operates motors at max speed.

ServoManager.h

This Class manages the servo and keeps track of the currentAngle of the servo motor. It has a method RotateTowards which rotates towards a specific angle with respect to the body, and not relative to current rotation angle.

Robot.h

Robot controls all the Managers and uses the mentioned Methods as per logic and States.

STATES

Robot works on the principle of state machines. The Robot can be either of one state mentioned in Constants.h. As per Input th switches between states and works accordingly.

Robot pollsInputs and assigns the currentState, as per the inputs and handleInputs based on the current state. Also depending upon the currentState, it automatically switches between states as per requirnment.