▪ Members:

• Barış Yurdakul.

• Enes Abdülhalik.

• Emircan Demirel.

 

▪ Responsibilities:

• Deciding what sensors to use.

• Implementing control algorithms.

• Implementing sensor filtering and estimation algorithms.

• Provide an abstraction for more complicated to programs to control the robot’s movement and know its position

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▪  Module Interactions:  

• Body Assembly Module: Many tests will be done on the actual body. So, the body assembly module needs to be ready for any changes and additional tests needed.

• Circuitry Module: Provide information about how to wire electronic parts.

 

▪ Technologies to Be Used:

• C/C++: They are the best and most viable option for embedded programming. Communities provide a very large collection of libraries with high performance. It is also the language requested by the instructor.

• Raspberry Pi 3B: It has a good amount of I/O ports and pins, good performance for an embedded system, a very large and respectable community, and a lot of examples online doing the same project which will provide a good idea about what to expect from the robot.

• HC-SR04 sensors: They will probably be mounted in the front to detect when the robot is heading towards an obstacle.

• MPU6050 6DOF IMU sensor: Will provide information about rotation and linear acceleration of the robot in real time. It’s very popular, cheap, and has tons of libraries implementing various filtering and estimation algorithms.

• Raspberry Pi Camera Module: To provide real-time visual feed of what the robot is seeing.

• MG996r servo motors: They are strong, reliable, and popular servo motors that are used in such projects.

• PCA9685 I2C Servo Driver Module: This module will fill the lack of PWM I/O and insufficient power supply of the Raspberry Pi board, and will allow better cable management. It is controlled using the I2C communication protocol, which only occupies 2 pins on the Raspberry Pi board.

• 2x16 LCD: Will be used for real-time state information during operation.