Let's Make Robots!

Autonomous Racers!!!

Race each other around the room

Hello everyone, I’ve posted a lot on LMR, and I build robots for a living, but this is the first time I’ve built a personal robot that I’m able to tell you all about. First off, I got this idea from Fritsl (http://letsmakerobots.com/node/928 ) and I decided I wanted to build a pair of wall racers for my nephew who has always asked me to build him some robots. If you’ve never heard of a wall racer it is a modified RC car with two sonars, one pointing forward the other pointing to one side. They’re able to race about a track you make out of random stuff.

After looking around on the internet for suitable cars, I decided I really needed to see the cars in person before buying them so I went to toys-R-us and bought these two beauties:


After opening them up, I realized they were exactly the right size for an Arduino UNO

 

Instead of using relays like Fritsl did, I chose to use a L293D chip. They’re dirt cheap and pretty small. I learned how to use them from this post (http://letsmakerobots.com/node/2074) (Note: I just used the “simple” circuit and it worked just fine). Here is the circuit I used and a picture that shows my test setup

 

The only components are the 2 motors that came with the cars, the motor driver chip, the batteries, the UNO, two sonars and an on/off switch. To wire everything together I just used wire wrapping which is pretty easy and seems to hold well. I wrote a little python script to test everything out, you’ll see it at work in the video, and here is a link to the code (http://letsmakerobots.com/node/38172 )

I had to do a bit of dremeling to get the board all the way in and make room for running wires to the sonars and an entry point for the programming cable (that’s the big hole in the windshield/hood). The sonars, UNO, extra battery pack, and power switch are all attached using hot glue (the switch fit nicely where the original one was on the bottom side)

I put a whopping 6 rechargeable batteries on each robot, three underneath in the original spots and three on top! They were only rated at 1.2V so they all gave me just over the recommended 7V for the UNO (I was putting 7V straight to the motors, they seemed to handle it fine). Here are some pics of the finished products:

 

 

I tuned them to run great in my office room but once I gave them to my nephew I realized he didn’t really have a good place to run them at his house. I ended up re-tuning them (Christmas morning ha) to work better in their hallway. You’ll notice in my video they were capable of doing some long turns, but I had to take those out for it to work in the hallway, now they only do sliding turns. I also noticed that ground type makes a huge difference in the amount of time you need to pause the motor motion in order to do a slide.

That’s all for now, I’ll also post the cars’ code later, that capability seems to be down right now. Here is a rough outline of the logic:

I think it’s pretty self-explanatory. The closer the car is to the wall the harder it turns. The difference between “Turn Left” and “Hard Left” is during a “Turn Left” the wheels steer to the left while the drive wheels keep going. But during a “Hard Left” the drive wheels stop for a small amount of time so its kind of like slamming on the brakes and turning. My actual code was a little more complex than this table and there were some special cases for some situations, but this gives you the general idea.

And here's a picture of my workspace during this project just for fun:

 

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This is so cool! Awesome! :D

great, brilliant, fun

 

Make ten and throw in your hallway to see what happen !!!    lol

 

excellent next birthday party event, i will copy if is right with you, kids will love that !

Copy away, I copied it myself. 

Double post :(

To say it with Frits' words...WOW!! Awesome!!!!

I also tried to build that wall racer once but a broken gear ended the project. But now I am eager it bring it back to the workbench. Your code seems quite good to keep them on track. How does it work when the car is in reversed direction as seen shortly before the end of the video? Doers it find back or did you help manually? Could not see that happening...

Its able to get pointed back in the right direction by a combination of two things:

First, if the front sensor detects something really close, or if the wheels are being commanded to move but the front sensor value isn't changing much, the car figures it is stuck and goes in reverse while turning to get pointed 90 degrees to the left.

Second, if the car is pointed in the wrong direction, it doesn't sense anything on its right side so it turns right. I've got a special case built in so that if the side sensor doesn't sense anything at all, it turns really hard. In reality the car thinks it has just came up on a sharp right hand turn, but it works out nice for when the car gets turned around to.

Its really a combination of those two rules that adventually get the car back on the right track. Sometimes it a clumsy mess of banging into things for a few seconds, other times things just work out and it looks like it knows what it's doing lol.

Thanks for that detailed explanation. I like your writing..."...the car thinks..." yeah, that's the right spirit. Our robots are not just a collection of parts and components, no, they are something personal with a soul :-)

WOW!! Awesome!!!!

Thanks for the great post! :D

Brilliant :) Thank you :)