Robotics

KILABOT
____________
A Design Project
Presented to
The Engineering and Technical Courses Department
College of Science and Technology
Adventist University of the Philippines
____________
In Partial Fulfillment
of the Requirements for the Course
ECEE 513 Robotics
____________
DARWIN TIPDAS
March 10, 2013
I. INTRODUCTION
1.1
Statement of the Project

Sumobot is a robotic competition of custom robots that has a level of intelligence
to outwit its opponent. As the name suggests, the competition is based on the sport Sumo
wrestling. The goal of each players robot is knock the opponent out of the ring while
avoiding falling out of the ring itself. The use of sensors in coordination with motors is
the basic of a Sumobot. Stability, Intelligence and Strength of the design are the three
important characteristic of Sumobot. With these, the robot will unlikely suffer from
suicide, find the enemy, and then push them out of the arena by force.
1.2
Objectives
The objective is to create a robot that has an ability to detect the boundary of the
arena by using sensors. To make a platform that is rigid and compact to pass the
dimension limits which is 20 x 20 cm. To have intelligence to detect the enemy and have
enough force to push the enemy outside the arena.
1.3
Scope and Delimitation

This project scope is only about the manipulation and control of sensors and
motors and not an design for an innovative system. The robot is for competition purpose
but can be incorporated to a number of actual applications. Thus the robot is a basic study
of sensors and motors.
1.4
Description of the Project

Sumobot KilaBot was a robot that has the ability to detect the boundary of the
arena by the use of an infrared sensor that distinguishing black from white. With this, it
set the condition for the control of the motors. KilaBot has 4 DC motors that are
controlled individually using an IC. It also has a proximity sensor that detects
obstructions which in this case the enemy robot. The robot has the three basic
requirements for a Sumobot, capability of detecting the enemy, ability to stay in the arena
and speed to ram the opponent.
II. DESIGN CONSIDERATIONS

2.1
Block Diagram
Motor
CNY70 (Line
Detector)
Arduino
Figure 2.2.1 Project Block Diagram

US-100
(Proximity
Sensor)
2.2
Schematic Diagram
Figure 2.3.1 Project Schematic Diagram
2.3
PCB Layout
Figure 2.3.1 Project PCB Layout
2.4
Flow Chart
Detect Edge
Yes
No
Reverse and Rotate

Detect Enemy
Yes
Attack
No
Rotate
Figure 2.4.1 Project Flow Chart
The program flows like this. First detect if the sensor is on the edge or not. If yes
then reverse and rotate. If no, detect the enemy. If enemy on sight, attack. If no, rotate.
2.5
Source Code
//Pins for LM293D (Motor Control)

#define MotorA1 2
#define MotorA2 3
#define MotorB1 4
#define MotorB2 5
#define MotorC1 6
#define MotorC2 7
#define MotorD1 9
#define MotorD2 10
const int Val1 = A0; //Right CNY70 (Infrared)
const int Val2 = A1; //Left CNY70
const int trigger = 25; //Trigger pin of US-100 (Proximity)
const int echo = 26; //Echo pin of US-100
float distance;
int value1 = 0;
int value2 = 0;
void setup()
{
pinMode(MotorA1, OUTPUT);
pinMode(MotorA2, OUTPUT);
pinMode(MotorB1, OUTPUT);
pinMode(MotorB2, OUTPUT);
pinMode(MotorC1, OUTPUT);
pinMode(MotorC2, OUTPUT);
pinMode(MotorD1, OUTPUT);
pinMode(MotorD2, OUTPUT);
Serial.begin(9600);
pinMode(trigger, OUTPUT);
pinMode(echo, INPUT);
}
void loop()
{
value1 = analogRead(Val1); //Read Right sensor
value2 = analogRead(Val2); //Read Left sensor
Serial.println(value1);
Serial.println(value2);
// Trigger US-100 start measurement
// set up trigger
digitalWrite(trigger, LOW);
delayMicroseconds (5);
// Start measurement
digitalWrite(trigger, HIGH);
delayMicroseconds (10);
digitalWrite(trigger, LOW);
// Acquire and convert to meters
distance = pulseIn(echo, HIGH);
distance = distance*0.0001657;
// Send result to UART
Serial.println(distance);
delay(50);
//If right sensor detects the boundary reverse then rotate to the left
if (value1 <= 1014){
digitalWrite(MotorA1, LOW);
digitalWrite(MotorA2, HIGH);
digitalWrite(MotorB1, LOW);
digitalWrite(MotorB2, HIGH);
digitalWrite(MotorC1, LOW);
digitalWrite(MotorC2, HIGH);
digitalWrite(MotorD1, LOW);
digitalWrite(MotorD2, HIGH);
delay(2000);
delay(2000);
}
//If left sensor detects boundary reverse then rotate to the right
if(value2 <= 1014){
delay(2000);
delay(2000);
}
//If enemy is at range attack
if(distance <= 0.35){
}
//If no detection rotate
else {
}
delay(5);
}
2.6
Structure of the System
Figure 2.6.1 Actual Project
2.7
Materials
Material
Gizduino
Atmega 644
DC Motor
CNY70
US-100
SLB Battery
SLB Charger
PCB
Headers
and Connectors
220
Resistor
10 M Resistor
DC Plug
DC socket
Wheels
Acrylic
Screws
Total
Price (Php)
760
Quantity
1
140
60
300
400
400
45
150
4
2
1
1
8
1
15
2
10
10
100/pair
150
1
2
3
2
2
1
20
P 2727.00
Table 2.7.1 Materials and Price List
III. RESULTS AND DISCUSSION
The Sumobot KilaBot unfortunately lost all of its battles against other robots.
First conclusion, the sensor gives different readings every fight so technically the robot
suicides. The line detection sensor is not stable. Second, almost all opponents used servo
motor that has a high torque rating. DC motor cannot win against it unless use a bigger
one. But through the tests and initial calibrations, the robot KilaBot passed almost all the
requirements. The platform is stable but the sensors malfunction due to unstable
connection.
IV. CONCLUSION AND RECOMMENDATION

The robot Kilabot shows poorly in the competition but it passed almost all of it
initial testing requirements. Stability is important especially the battle is about ramming
other Sumobot. Sensors didnt work in the actual competition and the motors dont sync
with the sensors. These are important because it will prevent the robot from falling out of
the arena. The robot also cannot push hard because of it light weight of 0.8 kg. This
makes Kilabot easily pushed back but cannot push in return. In implementing this project
again, it is better to use a more stable sensor because CNY70 is not that sensitive at all
times. Use a bigger motor for strength and add weight to the robot to be able for it to
withstand others.
IV. APPENDICES
4.1
User Manual
Steps on using KilaBot
1. Check first all the sensors and motors for correct and loose contacts.
2. Attach the battery and let it go.
3. The robot is now working and the sensors will detect the edge and the enemy.
4. If the robot detects boundary it will reverse and rotate to prevent falling.
5. If the robot detects enemy it will attack.
6. The robot will push through the enemy until one of them is out of the arena.
4.2 Specification Sheets

Gizduino Atmega 644
Figure 4.2.1 Gizduino Atmega 644

Basic Information
Arduino software
compatible
Power Inputs
4.5V 5.5V, 5.0V Nominal

16MHz (ATMEGA 164,
Clock Frequency
324, 644)
Programming Ports
Arduino & ICSP
Board Dimension
73.5mm L x 53mm W
CNY70
Figure 4.2.2 CNY70 Specification Sheet
US-100
Figure 4.2.3 US-100 (Ultrasonic Sensor) Specification Sheet
SLB-1647
Figure 4.2.4 Samsung SLB-1647
DC Motor
Figure 4.2.5 6V DC Motor
H-Bridge
Figure 4.2.7 H-Bridge Motor Driver

Robotics

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KILABOT

Statement of the Project

Scope and Delimitation

Description of the Project

II. DESIGN CONSIDERATIONS

Figure 2.2.1 Project Block Diagram

Figure 2.3.1 Project Schematic Diagram

Figure 2.3.1 Project PCB Layout

Reverse and Rotate

//Pins for LM293D (Motor Control)

Structure of the System

Figure 2.6.1 Actual Project

Table 2.7.1 Materials and Price List

III. RESULTS AND DISCUSSION

IV. CONCLUSION AND RECOMMENDATION

4.2 Specification Sheets

Figure 4.2.1 Gizduino Atmega 644

4.5V 5.5V, 5.0V Nominal

Arduino & ICSP

Figure 4.2.2 CNY70 Specification Sheet

Figure 4.2.3 US-100 (Ultrasonic Sensor) Specification Sheet

Figure 4.2.4 Samsung SLB-1647

Figure 4.2.5 6V DC Motor

Figure 4.2.7 H-Bridge Motor Driver

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