Mini Sumo Robot

thingiverse

This is a mini Sumo robot I designed for the Zebra Explorers post. It has the following features: 1. Controlled by a Raspberry Pi ZeroW 2. Two analog reflection sensors 3. Laser TOF distance sensor 4. AVR micro for power management and analog/IR input 5. Uses Python 3 for programming, and C for the driver libraries The bill of materials includes all parts and pricing as well as sources. The cost when building 30 units was around $72 each. The instructions to set up the bot from a standard Raspbian install are included in setup.txt. The sumo.zip file has the necessary software. If you prefer, there is an already setup image at: https://drive.google.com/open?id=1Gz2-_0Ix04LEAgToGsfgUNn8eieP8vRQ Instructions for building the bot are in Assembly.pdf. You communicate with the Pi using SSH either over Wi-Fi or USB. The Zero will appear as an NDIS Ethernet adapter when plugged into your PC. It shows up at 192.168.42.1, the account is of course pi, and the password is SumoBot. After logging in, cd to code/test. There you will find some test code. sensors.py displays the distance and reflection sensor values as well as the battery voltage. motors.py can be used to test the motors as well as for adjusting the center point pots. The last one, move.py will move around a Sumo ring reversing whenever it hits the edge. It will also stop if anything is within about 4 inches in front of the bot. To turn on the bot, press and hold the switch for a second until the blue LED on the board comes on. To turn the bot off, press and hold the switch for a few seconds until the blue LED starts to blink. When the LED goes off, the bot is completely powered off. The battery is blocked by a FET so you don't have to worry about leaving it plugged in. If the blue LED starts to blink while running that means the battery is getting low. The bot should shut down before the battery gets too low but you might want to turn it off at that point just in case. Prebuilt image: A full disk image for the bot is at: https://drive.google.com/file/d/1jy782rhkDbJNw0DNjqbzCECFT25PkEJW/view?usp=sharing You will need to go into code/AVR and do the command make prog. That will program the AVR micro. Also, you will need to set up the Wi-Fi to your local access point.