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Sample Project: 3pi Wall Follower

1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2. Materials and Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

3. Construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

4. Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

5. Suggested Improvements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

6. Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

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Summary of content (10 pages)

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Sample Project: 3pi Wall Follower © 2001–2010 Pololu Corporation Sample Project: 3pi Wall Follower 1. Introduction . . . . . . . 2. Materials and Tools . . . 3. Construction . . . . . . 4. Software . . . . . . . . 5. Suggested Improvements 6. Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Sample Project: 3pi Wall Follower © 2001–2010 Pololu Corporation 1. Introduction 3pi wall follower’s path around an irregularly shaped object. The 3pi robot [http://www.pololu.com/catalog/product/975] is complete mobile platform designed to excel in line-following and maze-solving competitions. The 3pi has user accessible I/O lines that can be connected to different sensors to expand its behavior beyond line-following and maze-solving.
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Sample Project: 3pi Wall Follower © 2001–2010 Pololu Corporation 2. Materials and Tools Beyond the Polou 3pi robot + USB programmer + cable combo [http://www.pololu.com/catalog/product/1306], you will need a few other materials for this project. You only need the materials listed under the “required” section to make the wall follower work, but the optional headers make it easier to reconfigure your 3pi with other sensors later by allowing you to unplug your distance sensors.
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Sample Project: 3pi Wall Follower © 2001–2010 Pololu Corporation 3. Construction Begin by soldering the 2×7 female header where it fits between the 3pi’s gearmotors. Also solder the 1×2 female header into the VCC and GND on the front-right side of the 3pi—this header will be used to power one of your Sharp distance sensors.
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Sample Project: 3pi Wall Follower © 2001–2010 Pololu Corporation Remove the ADC7 and PC5 jumpers and use double sided tape to secure the two distance sensors to the front of the 3pi as shown in the picture below. Mount the distance sensors with a slight upward angle so that they do not see the floor if the robot tips forward. Fully constructed 3pi wall follower. Note: You must be careful if you also want to use the Pololu AVR library’s line sensor routines while your distance sensor is connected to PC5.
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Sample Project: 3pi Wall Follower © 2001–2010 Pololu Corporation 4. Software Insert fresh batteries into your 3pi and use an AVR ISP programmer (like our USB AVR programmer [http://www.pololu.com/catalog/product/1300]) to program your 3pi with the following code. For information on programming your 3pi please visit the programming your 3pi [http://www.pololu.com/docs/0J21/6] section of the 3pi robot user’s guide [http://www.pololu.com/docs/0J21].
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Sample Project: 3pi Wall Follower © 2001–2010 Pololu Corporation // Always wait for the button to be released so that 3pi doesn't // start moving until your hand is away from it. wait_for_button_release(BUTTON_B); clear(); print("Go!"); } // Play music and wait for it to finish before we start driving.
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Sample Project: 3pi Wall Follower © 2001–2010 Pololu Corporation if (TIME_TO_DISPLAY) { clear(); lcd_goto_xy(0,0); print_long(proximity); lcd_goto_xy(5,0); print_long(pd); } } } 4. Software // // // // // // // lcd_goto_xy(0,1); print_long(left_set); lcd_goto_xy(4,1); print_long(right_set); last_proximity = proximity; // remember last proximity for derivative This part of the code is never reached.
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Sample Project: 3pi Wall Follower © 2001–2010 Pololu Corporation 5. Suggested Improvements • The female headers you soldered into your 3pi make it easy to plug in additional sensors. You can use the procedure here to be creative and plug in various analog and digital sensors.
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Sample Project: 3pi Wall Follower © 2001–2010 Pololu Corporation 6. Conclusion With the addition of two distance sensors and some simple code, the 3pi can be altered to navigate its environment while avoiding obstacles. We encourage you to try to improve upon this project by adding more sensors [http://www.pololu.com/catalog/category/7] or even by merely enhancing the code. For example, you can try racing multiple 3pis around the same obstacle course to see whose version of the program works the best.