Aidan Callahan
Published

Bottle Detection with TI RSLK Max

A completely autonomous object detection algorithm using the TI RSLK Max.

IntermediateFull instructions provided20 hours19
Bottle Detection with TI RSLK Max

Things used in this project

Hardware components

TI Robotics System Learning Kit TI-RSLK
Texas Instruments TI Robotics System Learning Kit TI-RSLK
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1

Software apps and online services

Energia
Texas Instruments Energia

Hand tools and fabrication machines

Multitool, Screwdriver
Multitool, Screwdriver

Story

Read more

Code

Object Searching algorithm

C/C++
#include "SimpleRSLK.h"
#include "QTRSensors.h"
#include "RSLK_MAX_Pins.h"

#include <stdio.h>

#define LED RED_LED
#define LED2 GREEN_LED

const int echo = 10;
const int trig = 9;

double duration;

int leftReading;
int rightReading;
int centerReading;


void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  delay(500);

  leftReading = 0;
  rightReading = 0;
  centerReading = 0;

  setupRSLK();

  
  pinMode(LED, OUTPUT);
  pinMode(echo, INPUT);
  pinMode(trig, OUTPUT);

  simpleCalibrate();

  
  delay(4000);
  enableMotor(BOTH_MOTORS);
  setMotorDirection(BOTH_MOTORS,MOTOR_DIR_FORWARD);
  setMotorSpeed(BOTH_MOTORS,10);
  
}

void simpleCalibrate() {
  int16_t count;
  Serial.println("Driver robot forward to calibrate sensors");

  setMotorDirection(BOTH_MOTORS,MOTOR_DIR_FORWARD);

  setMotorSpeed(BOTH_MOTORS,10);
  enableMotor(BOTH_MOTORS);

  count = getEncoderLeftCnt();
  while(getEncoderLeftCnt() < count + 200) {
    calLineSensor();
  }
  setMotorSpeed(BOTH_MOTORS,0);
  delay(1000);
  setMotorSpeed(BOTH_MOTORS,10);
  setMotorDirection(BOTH_MOTORS,MOTOR_DIR_BACKWARD);

  Serial.println("Driver robot forward to calibrate sensors");
  count = getEncoderLeftCnt();
  while(getEncoderLeftCnt() < count + 200) {
    calLineSensor();
  }  

  setMotorSpeed(BOTH_MOTORS,0);
  disableMotor(BOTH_MOTORS);
  setMotorDirection(BOTH_MOTORS,MOTOR_DIR_FORWARD);
}

void loop() {


  for(int x = 0;x<6;x++)
    {
      if(isBumpSwitchPressed(x) == true) {
        
        End();
      }
   }

 
  setMotorDirection(BOTH_MOTORS,MOTOR_DIR_FORWARD);
  setMotorSpeed(BOTH_MOTORS,10);
  bool inBound = ReadSurface();
  

  if (inBound == false)
  {
    //stop
    digitalWrite(LED, HIGH);
    setMotorSpeed(BOTH_MOTORS,0);
    setMotorDirection(BOTH_MOTORS,MOTOR_DIR_BACKWARD);
    delay(1000);

    //Back up
    while (inBound == false) 
    {
      setMotorSpeed(BOTH_MOTORS, 10);
      inBound = ReadSurface();
    }

    delay(1000);

    // Lastly Turn Around
    digitalWrite(LED, LOW);
    setMotorSpeed(LEFT_MOTOR, 0);
    int counter = 0;
    while (counter < 2750)
    {
      inBound = ReadSurface();
      delay(250);

      if (inBound == false)
      {
        counter == 4000; 
      }
      counter = counter + 250;
    }

    

    // Now Drive Forward
    setMotorSpeed(BOTH_MOTORS, 0);
    setMotorDirection(BOTH_MOTORS,MOTOR_DIR_FORWARD);
    setMotorSpeed(BOTH_MOTORS, 10);
  }
  else // Search for the bottle
  {
    centerReading = 1;
    leftReading = 1;
    rightReading = 1;
    
    //Move forward a second
    digitalWrite(LED, LOW);
    delay(500);

    setMotorSpeed(BOTH_MOTORS, 0);
    delay(500);
    centerReading = ReadDistance();

    if (centerReading == 0)
    {
      setMotorSpeed(LEFT_MOTOR, 10);
    
      delay(1000);
      setMotorSpeed(LEFT_MOTOR, 0);
      delay(500);
      rightReading = ReadDistance();

      if (rightReading == 0)
      {
        setMotorSpeed(RIGHT_MOTOR, 10);
    
        delay(2000);
        setMotorSpeed(RIGHT_MOTOR, 0);
        delay(500);
        leftReading = ReadDistance();

        if (leftReading == 0)
        {
          setMotorSpeed(LEFT_MOTOR, 10);
    
          delay(1000);
          setMotorSpeed(LEFT_MOTOR, 0);
          delay(500);
        }
        else if (leftReading < 20)
        {
          End();
        }
        
      }
      else if (rightReading < 20)
      {
        End();
      }
    }
    else if (centerReading < 20)
    {
      End();
    }
  }
}

bool ReadSurface()
{

  unsigned int lineSensor[8];
  getLineSensorCalValue(lineSensor);

  double averageReflectance = 0;
  for (int i = 0;i<8;i++) {
    averageReflectance = averageReflectance + lineSensor[i];
    //Serial.print(lineSensor[i]);
    //Serial.print(",");
  }

  averageReflectance = averageReflectance / 8;
  //Serial.println(averageReflectance);

  if (averageReflectance > 100)
  {
    return false;
  }
  else
  {
    return true;
  }
}

int ReadDistance()
{
  digitalWrite(trig, LOW);
  delayMicroseconds(2);

  digitalWrite(trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(trig, LOW);

  duration = pulseIn(echo, HIGH);
  duration = duration*0.034/2;
   if (duration > 70)
    {
      return 0;
    }
    else
    {
      return duration;
    }
  
}

void End()
{
  while (true)
  {
    setMotorSpeed(BOTH_MOTORS, 0);
    disableMotor(BOTH_MOTORS);
    digitalWrite(LED2, HIGH);
    digitalWrite(LED, LOW);
  }
  
}

Credits

Aidan Callahan

Aidan Callahan

0 projects • 0 followers
Thanks to Texas Instruments.

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