Transcripts
1. Introduction to The Course -Course Overview and Projects: Hello, students. Welcome to
a new course in robotics. Here in this course, we are going to learn about ordinal robotics,
without any codings. Because if I talk about codings, the students might
afraid about that one. So I'm going to reduce that one. We are going to learn dino
robotics without any coding. So how can we
control the robots? Yeah. In this course, I'm going to explain to you how we can do the
scratch programming. Easy programming that we can
do by drag and drop future. In this way, everyone can learn robotics very easily
and efficiently. So let's talk about what we
will discuss in our course. So basically, this is
the course overview. We will learn about
the introduction to the basic robotics. What are the things we
will learn in robotics, maybe electronics,
electrical things, what are the components
that we use, and especially, I
will introduce you a software in order to practice
what we have to practice. So basically, that
particular soft daa can be accessible by your smartphone or your computer or whatever the device
you may have, right? Basically, it's just a website, and we are going to
create an account, and then after we can use that particular Softaa for
our simulation purposes. So in that particular software, we will have some
electronic components, and we can do the programming. And also the important benefit from that particular
software is we can generate the code from scratch programming
to cplus pest coding. We can automatically generate the code for us to
write it on the dinar. How cool is that? So we are
going to learn that Softaa, I will explain it to you step by step how you can
access to the softia. And then we will
learn about what are the electronic
components that may require for us to design the robotics
components and the projects. So basically, in this course, we will discuss five projects. And first of all, we will
make a home security system. And the next project will
be object deduction system. As an example, if any
person near sensa and then that particular sensa will
detect that person and it will alarm or maybe it will
indicate through an able. And the third project
that we will look after is automatic
small dspin system. On that particular project, we will make a project that if we wanted to
put our garbages to the dapins and then
we have to near to the dapin and then it will automatically
open up the lid, and then after we put our
garbages or the dusts, then it will be
closed automatically. So that project will be
discussed in our course. And then we will
learn how to make some moving robots as an example, obstacle
avoiding robot. How we can make a robot
that can avoid obstacles, if there is an obstacle
present in front of the sensa and then
it will turn, right? And the final project
that we will discuss in this course is
line following robot. So we design a predefined
path on the floor. And our robot will follow that particular path
according to our design. It can start, turn and stop. So these are the projects that we are going to discuss
in this course. So this one will be very
interesting for us to learn. So let's just look after how we can interact
to the software.
2. Sensors: So here, we have several types of sensors
we may use in robotics. I will talk about
only six projects in this basic robotic course, but if I teach you
only six projects, that doesn't mean you can
only do those six projects. That doesn't mean, right? So if I talk about six
projects, you can expand it. Why? Because all the sensa that have three pins
may work similarly. If I teach you how we can connect a three
pin sensa then you can explore how to connect other sensa
Maybe as an example, if I use flame sensor
how we can connect. And then you can connect
other sensa how we can connect the pad
sensor and how we can connect the temperature sensa, raindrop sensor
et cetera, right? So we have to be
aware about that one, so we can do a lot of projects, if I teach you only six
projects, right? Okay. Basically, we have first
one is Pats search sensor. It's like a R sensor. It will emit infrared rays, and then it will be
reflected back to this black color
sensight the blue color is a transmeuor and the black
color one is a receiver. The signal will be
reflected back to here, and this is the sensor, but entire thing is
a sensor module. Why? Why we call
them as modules? Because the module can
be used by the user over a person by having
these three pins, right? Basically, we will
have three pins. I will tell you what
are those pins, right? So basically, we
will have a pin. CCP, we may have
ground pin GND pin or the third pin
that we may have called as out pin in
this particular sensors. So what those meanings are? You can think about
VCC is simple. We have to give power to that particular
sensor As an example, if you wanted to
operate your TV, via remote, what will you do? We have to power up
the remote control. Then after we can
press the button to change the channels
on the TV, right? Likewise, the sensors are
also working similar. We have to power In order to get the job
done from the sensor, we have to power them up. If we do so, then
only we can connect them to other circuits or maybe with the
controllers, right? So first pin may be VCC. That is the power pin. We have to obtain the batteries positive terminal and
then connect it to VCC. If we see GND or the ground pin of the
sensa what we have to do is we have to obtain the
negative terminal of the better and connect it to that
particular sensa module. Then after we have
connected those two pins, C and the ground with the bed, then you can notice
that in the module, a bulb will be turned on. That means the sensa has
been powered up correctly. And then after we will
be left only one pin. Right? So that particular pin is called as out pin, right? So that particular may
be signal pin, right? So sensors may have written
as signal pins, right? So that particular pin
is a signal, right? Whenever Sensa
detects something, there will be an
output voltage, right? So as an example, if we use one path search
sensor if there is any object present in front of the sensa and then it will
provide five voltages. If the sensa doesn't have any object in front of that
particular sensa range, and then output
signal will be zero. It will provide us zero voltages instead of five voltages. So what that means
is if the sensa is working and then it will
provide us five voltage. If it is not working
and then it will provide zero voltage
on the signal pin, or maybe out pin. That is how the
sensors are working. And I have just explained to you how they are working, right? But same three pin sensors
are working like this, right? But particularly the
ultrasonic sensor is a little bit different. I will explain it
to you how we can connect the ultrasonic
sensor later. But this sens flame sense laser
head sensor clock module, soil sensor, drop sensor, they are working same, right? Right. So the
difference is between the sensor is sensing
property, right? So the flame sensor will
detect if there is any flame, it will provide as five voltage, if there is nothing, and then it will
provide zero voltage on the output, right? So that is the
conclusion of that one, and laser head sensor the
laser beam is reflected from this particular sensor if the laser beam is cut
down anywhere else, and then it will provide as the voltage difference, right? So basically, in here, We have two types of sensors. One is digital type sensors, and another one is
analog type sensors. So digital sensors are only providing either zero
voltage or five voltage. But analog sensors are
different from digital sensor. Analog sensors can
provide zero voltage or five voltage in
between voltages as well. So that is the difference
between digital sensor and analog sensa there are tons and tons of sensors
available in the market. We can find out the
different kinds of sensors according
to our requirement. We have soil sensor. It can detect soil
moisture capacity, whether we have the moisture
content in the soil or not, raindrop sensa if the rain comes and then it will
produce electricity. Likewise, you can think
about different projects from each sensa by using each sensa how
many projects we can do. There are tons of possibilities.
You can think about it. And we have a lot more
sens, ultrasonic sensor, human body sensa PR
sensa tilt sensa, photosensitive sensor,
sound sensor, et ce. There are tons and tons
of sensors available. I'm not going to go
through one by one because each the
basic idea is same, but the difference
is sensing property. Tilt sensor can sense
the tilt angle, how much is the tilt tangle
of the sensor currently is. Right? And ultrasonic
sensor is different. It has four terminals, four pins on the pins category, and I will tell you
how we can connect ultrasonic sensor in
the project later.
3. Actuators: Now, we are going to
learn about actuators. Actuators are different
from sensors. Sensor will sense something. Some physical properties will
be sensed by the sensor. But the actuators are different. They will do the job. Whatever the job we want, they can do according to
their specific conditions. As an example for the
actuator is motor. Motor will rotate
and LE balds alarms, buzzers, and display. Those are actuators. Or in other terms, we can call them
as output devices. They will produce the outputs. Okay. So here are some
examples for the actuators, you can see that and here
are some examples of motors, they are tons and tons of
motors available in the market, according to our requirement, we can choose the right motor, and you can notice that the
motors are different, right? So basically, these motors
are called as DC motors, and these motors
are servomotors. So if I talk about
the servomotors, instead of DC motors, what the servomotors
will do is They will keep an object at a
position that we desire, right? So if you take DC motor, it will continuously rotate. But the servo motor, it will take a position and
it will place on it, right? So maybe some
servomotors are limited to zero to 180 degrees. Only in between those degrees, the motor can
position the objects. Okay. And these are
some linear actuators. So this is a linear
actuator motor, and they are some
geared motors as well, geared DC motors. Okay.
4. Controllers - Arduino Explained: Talk about types of ordinal. So there are some
different kinds of dinos available here. So before we talk
about the types. So basically what is arduino, Arduino is a device
or a controller that controls the inputs
and outputs together. Maybe, let's say, if you see that a ball
is coming to hit you. So what will you do
if you see the ball. And then you will suddenly recognize that the ball
is approaching to you, and then you will
try to catch it. Right? So like this
simple phenomena, you can think about in terms
of electronics, right? As an example, if
there is any object present in front of the
sensa the sensa will sense that particular
object and it will sense the electrical signal or the electrical voltage to
the dino or the controller. And then the controller
will detect, the sensor detects something. And then it will
actuate the motor or the LD bulb or whatever the output we wanted
to connect it, right? So that is what happens
in electronics. So the sensors will obtain
the signals, right? Recognize them, and then the controllers will
control, this is the output, this is the motor that
should rotate according to this particular
sensors input, right? So that is what will happen by this arduino.
It will control. So I'm talking about
controlling, right? So how can they control?
Is they automatic? Yeah, they are automatic, but we have to program it. So how can we program it? It's very simple on these
kinds of ordinos we can connect them to our
computer or our smartphones. By using the computer
or the smartphone, there is a specific software
called as Arduino IDE. And on that particular
Softa we can do the coding. But the codings are
on C language, right? So maybe C language may be
hard for some students, but I will just introduce you the visual
programming method. In the Tinkercad Softa we will
do the visual programming, and then it will automatically convert it to the C language. And then that particular
C language will be uploaded by the Softa on your computer or
your smartphone, and then the Adina
will be programmed. So that is the process, right? After the ardino is programmed, now we can connect the circuits. Maybe the sensas and
actuators, batteries, and other electronic stuffs can be connected to the Arduino, and then it will work
according to our program. So now I'm going to explain
about Arduino, right? So basically, if you
obtain an Arduino, right? So in the dino, you will have some
different kinds of ports or the pins, right? So basically, this
particular pin, This particular pin is a
primary power pin, a battery, maybe a nine voltage
battery or five voltage, the battery can be connected
to this particular barrel. This barrel can be connected
by this particular battery. We can connect it. That's the first way of
powering up the Arduino. The second way of
powering up the dino is you can obtain a
laptop or your computer, and then you can connect
it via the USB cable. So you can use the USB cable
to connect to this ordino. But you have to
keep in mind that the dino should be only powered up by only
one source at a time. So we can't power up the battery and we can't connect this particular
wire together. Because if you do that, so then the voltage high voltage will be damaged
the ordino, right? So you have to
keep in mind that. If you are connecting
the battery, you have to remove this cable. And if you are
connecting this cable, you have to remove the battery. So that is the process, right? And on the dino, we have another additional one
port to power up the dino, that is called a pin, right? So the battery positive terminal should be connected to
this particular in pin, and the negative
terminal should be connected to this
particular ground pin. Then after the dino
will be powered up. As well, right? So in this particular do, we have three powering up ways. In Odinomega you will
have these three as well, but in the dino nano, you will have two ways. On the first way is USB cable and the
second way is this one. You're not going
to have this one. On the dino nano. Okay. So that is how you
power up the arduino, right? So the rdino can withstand at 23.3 voltage two,
12 voltage, right? So the optimum voltage
will be five voltage or nine voltage can be supplied
to the arduino, right? And The important thing is
why we use battery, right? I told you earlier, we have to power up this device. If you wanted to get the
job done from this device, you have to power it up, right? So if you wanted to power up, you have to supply the
current to this deal. That is why we are connecting
this with the battery and you have to be aware
about the connections, right? If you are going to program
the rdino you have to use this particular
terminal to connect it to your laptop
via the USB cable, and then you have to
remove this battery, and that is how it works, right? So after maybe if the dino
is attached with a robot, what you have to do you have to move your laptop as well when
the robot is moving, right? So that is not a best practice. For that, we have to
remove this USB cable. After the programming is done, we will remove this USB cable. And then after you will connect a battery with this barrel or you will supply the
power via this one, and then it will work, right? So this particular terminal is for programming
purpose, right? Not for primary
power supply, right? And Okay, so these are the
power terminals that we have. So in this power
terminal, this is in. That means voltage
input to the ordinal. And then we have
two and other pins, like five voltage pin
and three voltage pin. That means 3.3
voltage pin, right? So these pins are
different. Right? So let's say if you are using this particular
motion sensor, and then you'll have
these three pins. VCC, GND and signal. These three pins are there on the motion sensor
or whatever, right? So what we have to do is we have to power up this sensor also. So this sensor should
also be powered up. So for that, we can connect this sensor
from this battery. Oh, what we can do
is we can obtain the power from this
particular dino and connect it to this VCC. That means we are obtaining
the power from this dino. So then we can connect this
five voltage from this VCC, and then we can obtain
the ground from this Rd and connect
it to this ground. And then the signal pin, right? So this is the
important pin, right? So this signal pin can
be connected to one of the analog pins or one of these digital pins according to the sensor capability, right? So if the sensor is analog, you should connect it to
this analog terminals. If the sensor is digital, you can connect it to this one. Right? So here, you
have digital pins, like zero, one, two, three, four, up to 13. And then you will have another
ground terminal as well. I'm not going to
explain these things AF and these things because
these are advanced things. I'm not going to cover them in the basic robotics
course, right? And then you'll have
some electronics, ICs, transistors,
et cetera, right? So those are not
necessary in this course. But here, these two
terminals are important, Tx and Rx pins. These are called as
communication pins. Why we use these pins. Right? So basically, the pins are for bluetooth
communication, right? So if you are using
a Bluetooth module, if you are going to control anything from your smartphone, you should use this pins. That is all about the
pins here in here. You can have the analog pins and power pins and
digital pins, right? So this is the flow
that comes, right? So basically, you have
to obtain a battery, and then you will have a laptop. You have the Arduino, and you have the Senza This is Sensa This is your laptop.
This is a battery. Basically, you have to connect the battery
to this arduino. Then from the battery, the ardino will be
powered up, right? So from the arduino, you can obtain this five voltage and connect it to the sensor, and then you have to obtain the ground and connect
it to this one. Then the sensor
will be powered up. And then you have to
connect this pin like this. The signal pin can be connected
somewhere else. Right? So that is how the
workflow, right? So you have to connect
the battery and the ardino and the
dino will supply the voltage necessary for this particular sensor to power. But the problem is
we can't obtain much voltage from the ardino as an output voltage because
these are small voltage, five voltage, of course, but the current is
very small, right? So if you are using
several sensors, maybe five sensors or
six sensors or mot, you can't obtain the
power from the ardino. So what you have to
do is you have to supply the power from
an external source, or maybe you can obtain
from the battery and connect it to this one, right? So that is how you do this one. So hope you understand
about this one. So if you are going
to program this dino, you have to disconnect this one and connect it to your laptop, and then you can
upload the program after the program is
successfully uploaded, and then you can remove this cable and then you can
connect the Battery again. So this is the process
of using the ordeno.
5. Exercises: And let's do an exercise to get an understanding about what we have
learned so far. So draw the schematic diagram
for the following figure. So this is the figure that maybe we can obtain this
particular actual circuit. What you have to do
is you have to draw the schematic diagram for this
one. It's very important. Whatever the project we do, we have to convert it
as a schematic diagram. Why? Because if you
wanted to transfer the project or you wanted to explain the project
to the others, you should convert this to
as a schematic diagram. But what I draw in schematic diagram
is slightly different. It may be a standard one. I prefer to use the color coding and standard symbols, et cetera. Right? So can you
do this example. So basically, if you
understand this one, it is connected to the battery, and then you can notice
that the positive terminal, they used a red color
cable to this breadboard. And then they obtained another
cable to connect it here. And then they have
connected the LE, and then the LED bulbs
negative terminal is connected with the resistor, and then the resistor
is grounded. So maybe it's a
basic thing, right? The resistor is connected
after the LED bulb. Right? So it's not a
problem, whatever, right? If you put the
resistor in front of the AD valve or
after the LD valve. It's not a problem.
It works as C. Why? Because the current on
the circuit will be drawn at which the current
is required for, right? So it's not a problem. So as an example, if I draw this diagram,
you can notice that. This is the battery, and then this is connected
to the resistor. And then it is connected
to the LED al. So this is the standard
symbol for the LD al. And then the LED alb
is grounded, right? It's not a problem if you place the LED alb over here
and the resistor there. It's not a problem, right? Okay. But this is wrong. Why? Because the color coding is not defined in this
particular diagram. What I wanted to do is I wanted to make the
diagram like this. Why? Because here in
this simple diagram, you can notice that, right? So the red color is for the positive and the blue
color is for the negative. And you can notice that, right? So the ground is connected by this blue color line and the
red color line is positive. Right? So that is how we
brow aschematic diagram. Okay. Exercise number two, how will you connect this circuit diagram by
using a bread board. So What we have done
so far is simple. We designed the circuit
actual circuit, and then we gathered
the schematic diagram. But now we are reversing
the process, right? So here we have a
schematic diagram, and we have to make
an actual circuit. You can notice that how the system has been
arranged together, right? So the nine voltage
battery is connected. And then With the battery,
there is a switch, W one, and then we
have a resistor, and then the resistor
is connected to the LED alve then finally, the LED bulb is grounded, right? So here, so these are the required components
that we may need. LED al a breadboard, resistor, battery, and a switch. Basically, this is push button. You can use this
push button because this push button is readily available in the
electronic shop, and why I use this
particular push button is because we can attach this
push button on our bread bowl. All right. So here, we are going to do this particular exercise on
our Tinkerct software, right? So we are going to
practice this one. So after we practice these
things and then we can get to know about software and how
we can do the system works. Right? So I wanted
to head over to the Softahre then I
wanted to go this one, TinkercT then I
wanted to head over to the circuit and then
click Create New circuit. So this is the circuit
in Tinkerctsft. What I'm going to do is I'm
going to rename this project. As exercise number two, and then it will be
renamed as it is. And then I'm going
to drag and rob some components in order
to get the job done. So basically, in this
particular diagram, you can notice that we have
to have nine voltage battery, a push button, resistor, and an LED b. So I'm going to
quickly insert them. So if I type battery, it's the nine voltage battery. I'm going to drag
and rob that one. So it's very simple. You can click and
dragon drop like this. And after the dragon drop, you can press R on your computer to
rotate this component. Or maybe you can click
this one to rotate. And after that one, I'm going to insert
a push button. So this is the push button, and I wanted to
insert an LED bob. So this is the LED
Bob and the resistor. We. If you don't want to
search the components, what you can do is you can go to this one and click
all components, and then you can find out the components
from this as well. Okay. Okay. Now, additionally, so if you are going to connect this particular
circuit in real life, you may have to connect
or join wires together. So how can you join the wires? So you will obtain two wires manually and then
join them together. That's wrong. That's
not the best practice. So instead of that, what we have to do is we
have to insert a breadboard. I'm just going to insert this particular
breadboard minbreadboad. Okay. This breadboard
has been inserted here. And now I wanted to align them all in this particular
breadboard, right? I'm going to talk about some best practices by connecting
the breadboard, right? So you can't connect
this push button here and the resistor there
and the LD bulb. It's totally wrong. Why? You have utilized the entire space on this
breadboard. That is wrong. What we have to do
is we have to use a small portion of the
breadboard, right? We have to use the minimum
space that we can use, right? So you have to
utilize to minimize the space when we are using
this particular bread board. And then the second thing
you have to consider is you have to connect all
the components, right? So the push button, resistor, LDs, maybe sensors, actuators, all the components together. After the connection is done, then after you have to connect this particular battery to
the breadboard to power. So the powering up
will be done finally. After all the
components have been connected to the
bread bowl, right? So that is the second tip. And then the third tip is you have to use the color
codings, right? So you have to use
different kinds of wires to connect them, right? So then only maybe
another student or the client or the person who is in need of this
particular design, they may understand
your design what you have done so far on
your design, right? So you have to use the color codings.
That is the third tip. And then the final
thing you have to consider is you have
to name them, right? So maybe if you are using
different kinds of components, you can name them, right? So this is push button. You can name it as push
button one or resistor. You can change the values of
this particular resistor. In our case, we may
need 330 resistor. I'm going to change this
unit to and type 330, and then I can name
it as resistor one. And then I can rename the LED, maybe LED one, and then you can change
the color if you want, maybe orange or yellow. I'm going to go with
this red color. Right. Okay, let's connect
them together, right? So this is how you
connect, right? So you have to obtain this particular push pattern and then connect it
like this, right? In the center, you can
connect like this. So then for the
push pattern here, we have four terminals. You can notice that if you move your mo cursor near to this terminal, you
can notice that. This is terminal one
B, this is one A, This is two B, and this is two A, right? So we have four terminals. And then you can notice
that the four terminals are connected to each of the line on the breadboard
like this, right? So if you connect like this, this is wrong, right? Because this line and this line are
intersecting together. That means this
is a single wire, so we cannot connect
them properly. So make sure that
you connect like this and For the resistors, if you connect the
resistor in this manner, that is also wrong. Why? Because you have short circuited this particular
resistor. That's wrong. What we have to do
is we have to rotate this particular resistor and
connect it like this, right? So if you connect like
this, what happened? So this line, this
particular wire is connected with this
particular resistor, and then on the other
terminal of the resistor, we can connect another cable. Right? So as I told you earlier, we have to reduce the number of parts in using this
particular circuit design. So how can you tackle
that particular problem? So what you can do is instead of placing the
resistor here, right? If you place this
particular resistor, what you have to do
is you have to obtain a cable and connect
it like this, right? And then you can change the
colors and all the things. But here, you are
using another part. Right? So this wire is
an additional part. In this particular circuit, we don't necessarily need
this particular wire. So I'm going to delete this
particular wire by clicking this one or click the
delete key on my keyboard, so then it will be
get rid of that one. Right. Now, what I'm going
to do is I'm going to drag this particular resistor and connect it on this
particular edge. So what will happen? Now
you can notice that, right? So this wire is connected with this resistor already, right? So we have removed
that additional wire. So that is how we reduce the number of parts in
using the circuit design. I'm going to do the work, right? Let's start working
this particular one. So nine voltage battery is connected to this
particular switch here, and then I'm going to
drag and drop the switch, and then on this
positive terminal, the switch is connected
like this, right? And then what I'm going
to do is I'm going to connect a resistor
like this, right? And then the resistor will
come over here, right? So you have to connect
like this x mark, right? One B and two A
should be connected together if you wanted to press this button
and work, right? So for that, I'm
going to connect this particular resistor
in here, right? So then the line is
going through here, and then it will pass
through this one. Right? And then finally, I wanted to connect this
resistor with the LED al. So I'm going to have this
particular LD valve. In this LED valve,
you can notice that. This is the positive y, right? So like curved one is the positive and this is
the negative, right? So I'm going to
connect the positive. So maybe I can rotate
this one like this, and then connect it like this. Then the resistor is connected with the positive terminal, and then I'm going to connect the negative terminal on
the battery here, right? Now, I wanted to change the
wire to hook up because I will use jumper cables
to connect them all. So I need to use these hook up cables you can notice that the block mark
appears like this. And then this line is positive. Right? So I'm going to
color it as red color. And this line is blue color
because it's a grown, right? So, that's it. We have wired up the system, and now we have to connect
it with the power. Right? So maybe I can
obtain the ground here and connect it to this particular
ground here, right? And then on the
positive terminal, I can obtain it from here and connect it to this
particular terminal. So then these are positive,
these are negative. Finally step is we have
to change the color. Okay. So now we have done
connecting the circuit. Now you can notice
that I have used only this small amount of
portion to connect the circuit. If you have any other circuits, maybe different kinds of
switches and resistors, you can utilize the rest
of the space here, right? Okay. Maybe you can
reduce the size. Maybe you can rotate this
resistor and connect it. If you want, you can
do that one, right? Okay. So now, what
I'm going to do is I'm going to check
whether it works or not. So how can you do that? It's very simple, go here
and start simulation. So if you do that,
so then the system will work according
to our desire, right? Maybe if I click this button, you can notice that the
bulb is turning on. But I think there is
a problem, right? Here. So here I have
used the push button. So if I wanted to give the
power to this particular bulk. I need to press it, right? So I cannot see what happens
to the circuit, right? So I just wanted to notice what has what
is the issue, right? So I'm going to stop this particular simulation
and get rid of this button, and then I wanted to connect it with this particular resistor. And I wanted to see what
is the problem here. Right? If you move
your cursor near to this particular
LED, on there, you can notice that
current through the LED is 20.9 milliampere while recommended maximum
is 20 milliampere. The usable lifetime of
the LED may be reduced. So then the current
that flows through the LED is slightly more
than the required amount. So that is what the
problem has been arised. So now, what I'm going
to do is I'm going to stop this simulation and
click this register, and then I'm going to increase
the resistance to 350. And then see what happens. Now the problem has gone, right? So now I'm going to stop the simulation and
then get rid of this cable and then connect this particular push button
like this and click Okay. So now if I press
this button and then the entire circuit
will work accordingly. So that is the second exercise that we can do this one, right? So hope I have covered the introduction session for the circuit design
in Tinker cat Softa. Maybe we will cover
more in future. I'm going to leave this
particular exercise for you to practice, right? So Example three
is for you, right? So you have to connect
this particular battery with a switch and an LED bal and another
switch for this LD b. So if I press this switch and then this LED
will be turned on, if I turn on the switch and this particular LD
will be turned on. So that is the object,
you have to achieve. Okay. Right? It's very simple. We can do it in the
thinker cat Softaa. You can expand this one, right? It's very simple. You can obtain another cable copy and paste this one somewhere else here, and then you can copy and paste
this somewhere else here, and then you can copy and paste
this somewhere else here, and then you can obtain
the positive from here. No need to obtain the power
from here, better, right? So because these entire lines
are connected together. So then you have to
connect this positive to this one and the
negative to this cable. Make sure it's on
the quickly finish the excise three as well. So if you want, you can practice more and more by adding
some more circuits. Maybe you can reduce this one. You can replace this battery and see what happens and you
can replace this LED belt and see what happens and you can connect this particular resistor on different kinds of positions and see
what happens, right? So like this, you can
practice what will happen. If I connect like this, if I don't press this switch,
it will be turned on. So it's up to you,
you can practice
6. Flowcharts: I told you earlier that the
Arduinos are controllers. They control the
inputs and outputs, but we have to
program them, right? So programming may
be hard, right? So it may be hard
for you to program. So I wanted to simplify
the programming, how you can exactly create
an easy visual programming. But the visual programming that the scratch programming
may also be difficult for the students to understand how we are to start, how to end them, how we can loop them. Those kinds of
problems will arise when you are actually using
the scratch programming. For that, I wanted to solve that particular
problem as well. Right? For that, we have to understand about
the flow charts. If you understand
about the flow charts, and then we can easily make that particular visual
programmings as well. So it's very simple. We have some symbols in
the flow chat, right? So flow chart is an step by step process flow that describes
a system or a project. As an example, if
you wanted to take the fruits from the
fridge, what will you do? Basically, you have to approach near to
the fridge, right? And then you have
to open the door. If there is any object, if there is any apple or the fruit exist on that
particular fridge, and then you can take
the fridge and then after you have to
close the fridge, and then you have to come back. So that is the process. What happened if if the fridge doesn't have
the particular fruit, you have to go to the fridge. You have to approach
near to the fridge, and then you have
to open the door. If there is nothing exists
on that particular fridge, and then you have to close
the door of the fridge, and then you have to come back. So this is the flow. Right? So this
particular step by step process can be
drawn as a chart. It's very simple. We can
use some kinds of symbols to actually achieve this
particular chart, right? So basically, I'm going to explain about the
symbols, right? So this symbol, particularly describes start or
end of the process. It's an elliptical shape one, and used to indicate
the start and the end. At this start and the end, you should put this
particular symbol. These are the rules, right? Okay. Next one, this
particular parallelogram is used to indicate the
input or the output, right? So you have to define
the particular input. Right? As an example, if you are approaching
near to the fridge, there may be some
distances, right? You have to walk through, maybe 2 meters or 3 meters.
You have to walk through. That particular walking
distance can be named as x, and that particular
distance x will be equal to maybe two
or three, right? So whatever we input two
meter or three meter, or the robot will travel to that particular distance, right? So that is what we
call them as inputs. That particular input will be indicated as
this parallelogram. And inside this parallelogram, we have to type them the
inputs or the outputs, right? Okay. So I hope you
understand about that one. And this one, this rectangular box is used to show an action or a process. Basically, what that happened
is this is the main thing, the main task the process that comes along
with the flow chart. If you input the
distance of the meters, that will come as an input, that will become
as paralllogram. But for the walking, right? You are walking.
That means that's a statement, or in action. That will come in
this category, right? So you have to put a box here, rectangular box, and
that will come here. Adding opening the fridge, closing the door, and et cetera. So those kinds of
things will come in this particular
rectangular shape. And then you have to use some kinds of arrows
to indicate, right? So basically, we have to
consider the direction of that particular
errors, right? It should Adhere to the sequence, right? It should happen one by one. So then you have to indicate where the direction is
pointing to, right? And then finally, we have this particular
diamond shaped one. So this particular
one can be used to decide the decision, right? As I told you earlier, if you are opening the fridge, and then you are checking that. If there is any object or if there is any fruit
inside the fridge, you are checking it, right? So if you are checking it, you will have two
answers, right? Yes or no answers, right? So if you will go
for one decision, if there is no and you will go for another decision, right? So if there is any
decision making point in the process flow, you should use this
particular symbol. Right. So as an example, if the fridge has fruits, Yes, if it is, yes,
you have to take it. If there is no, and then you
have to close it, right? So there is no foods
in the fridge. So you have to close
the door and come back. So the decision for the process will come
in this particular one. As an example, is
the first number is greater than second
number? Yes or no. If it is yes, you can
continue this flow, and then if it is
no, and then you can continue with this no, right? But You have to clearly mention the yes and no functions.
In this arrows. It is not mandatory for
mentioning each and every arrow. But in this particular
decision making process, you should mention yes and no functions on this
particular arrows like this. So that is how it works. We can see some
kind of examples. So this is to finding out
the area of a rectangle. This example shows that the calculation of the area of the particular
rectangle, right? For that, we have to start it from the beginning.
So this is the star. And then we have to
get the length of the rectangle or we have to measure the length
of the rectangle. And then after the
length is measured, and then we can get the width of the rectangle or maybe we can measure the width
of the rectangle. Those are the two
necessary inputs we have to have in order
to find out the area. But now, we have those
particular two data, two inputs, but we cannot do with those datas if
we don't process them. For that, we have
to process them, or maybe we have to do some action to that
particular data. So that action is
multiplication, right? Multiply length and width
to obtain the area, right? So we have to multiply
them together, and then if we multiply
them together, and then it will become
as the final area. So that is the output, right? So the find the area
is the output, right? So after the area is calculated, and then we can end the process. So that is how the process flow flows through the
particular sequence, and then this is
how we drove it. Right? So now we have understood about the
flow charts, right? So what is the usage of learning this
particular flow chart? It's very simple.
We have to grab this knowledge and apply
it to our robotics, right? So if we are going to do
some kind of projects, and then we are going to apply this particular flow
chart for them. As an example, if I talk about the flow chart
for Sensa deduction, we can draw like this. First of all, we have
to start it, right? And I read from Sensa
that is operation. You have to do an action, read from the sensa then
after the reading is done, let the reading
value be x, right? So that means the
reading, whatever, the voltage may be five
voltage or zero voltage. If it is an analog sensa, the voltage may vary in
0-5 voltages, right? So that particular
variable is assigned as x. So that is why I have
inserted that as an insert, that means the paralllogram. Right. And then we have
to go for a decision. If x is greater
than zero or not. If x is greater than
zero, if it is yes, and then the LED bulb
should be turned on, right? That means if the sensor detects something and then the
LD should be turned on. If it is no, it is not
greater than zero. That means it is equal to zero, or maybe less than zero, but in this case, we can't obtain less than
zero voltages, right? So it will be zero. If this condition
is not satisfied. For that, what will
result is if it is no, that means x will
be equal to zero. That means the sense
not recognize anything, and then the LED bulb
should be turned off. After that, we are come
up with another decision. That is, is there any
other readings exist? If there is any other readings, yes, and then we have
to read it again. And then the process
will be looped. If there is no any other
readings available, and then it will end. Right? So that is the
process of sensor deduction. So this is a simple flow chart. You can think about whatever the project
you wanted to make, and then you can create this
particular simple flow chat. If you create this flow
chart, it is very, very, very easy for us to
create the visual programming. Right? I will
explain it to you in our next project session about how we can exactly
make those kinds of visual programmings drawn
from this flow charts, right? Those are very easy for
us to learn, right? So keep triggered.
7. Project No 01 Home Security System: Now, we are going to
discuss about the projects. So for the first project, we are going to learn about home security system
using a motion sensor. It's a very simple
and straightforward. We can do this project by using the Tinker softia and then we will do the
programming works, and then we can make
this project physically. Let's get started.
So this is the aim when the motion sins detects
something or the motion, and then the LED bulb
should be turned on. If the motion s inside
doesn't detect anything, and then the LD bulb
will be turned off. So this is the process that
we are going to achieve it. But here I'm using an LED bulb instead of using a buzzer for
you to demonstrate. But if you want, you can replace
this particular LED bulb with the buzzer in order to hear the alarm if
you wanted to hear. Right. So here, the
motion sensor is there, and then the motion sensor, we have to power
it up So we have to obtain the positive
terminal from the dino, maybe the five voltage, and then we have to
connect it to the VCC pin, and then we have to obtain
the ground terminal from the dino and connect
it to the sensors ground. And then after we
can connect the out of sensor and then
connect it to the arduino. So that is how we
connect that one. And then the LED bulb is
connected on the 13th pin, and then the LED bulbs ground
is grounded with the dino. So that is the basic connection. So don't worry. I'm going to connect
each of them step by step on the Tinker
Cat soft, right? After that, we will make
the program, right? So let's open up
the TinkerCT soft. And then I have
created a new circuit, and I'm going to name this
project as project one, right? So here, I wanted to drag
and rub some components. So here you can select all. If you want, you can
find it from here. And then I wanted to
insert a breadboard. The bread board will be
inserted here, here it is. Then the motion sensor. We can drag and drop that one. Maybe I wanted to
insert like this. Here we can have the three
connections here and the du here is the dino. All right. So now
you can notice that this particular Arduino is connected through this
USB cable, right? So if I click this
start simulation, you can notice that the
connection is done via this one. So the arduino is primarily powered up by
using this cable, right? No worry for the
demonstration purpose, whether the circuit
will work or not, we have to identify it. For that, we can
use the Softare. So actually, what we will do is, we will connect this cable in order to upload the
code for the Arduino. And then we will remove
this cable and connect the battery with this port
or maybe this in port. And then the arduin will
be powered up like that. But in the Softa no problem. Right. So this is
the connection, and then I'm going to insert
some more components, maybe LD valve here. I'm going to drag and
drop this LAD here. And maybe if you want, you can insert a
resistor as well. But in this case,
in the soft tire, you don't necessarily need a
battery to perform the task. But if you are doing
this actually, you should insert a
battery like this, and then you have to
connect it to the rbinom. Right? Okay, I'm going to leave
the battery blank, right? So those are the
things that we have to insert to our workspace, and then I'm going to
connect them, right? You know that powering up this breadboard is the
final task we have to do. So before that we have to
wire these things, right? So here, if you move your cursor near to this particular pin, and then you can
notice that what are the meanings of them, right? This one is a signal pin, this one is power,
this one is ground. What I'm going to do
is I'm going to obtain the power pin and connect it to this particular
positive terminal, and I'm going to obtain this negative terminal and connect it to this
negative terminal. And I'm going to change
the color red and blue. So here I have the signal pin, and then that
particular signal pin is connected to maybe
the second pin. Change the color to orange. And now I have connected
the input wiring. The sensor has been wired up. Now I have to wire
this particular LD. It's very simple
straightforward. I'm going to take this
positive terminal and connect it to this 13th pin. Right? So change
the color to red. I can obtain the
ground from here. Why? Because the entire
line is a ground. If I connect one line
from the order and connected to this point and
the entire line is ground. Ground is not a problem. We can connect common
ground for all the things. It's not a problem, right? So here, I'm going to
change this to blue. Right. Now I have connected
the output wiring as well. So now after we have
ensured that one, we can obtain the power. So this is the power line, so that I'm going to
obtain this five voltage. This is an output voltage. If I obtain this five
voltage and connect it to the positive terminal
of this one, and this is the
output from the do we can get five voltage
from the arduino, right? So keep in mind that. That will be red color one. And the ground, no
problem if you take a ground from here or
here, it's not a problem. I'm going to take the
ground from here. And connect it like this and
make the color like this. Now I have connected the
wiring as I desire, right? So that's it, right? You may think that if I start
simulation, this will work. You may think that, no. It is not going to work. Why? Because you can notice that the LED
is blinking, right? It's not what we
have desired, right? And if you click this button, and then this one will
appear like this, maybe like some out a bit. So here, if I move this one, that means there is
a motion in front of the senza but nothing
happens to this LED. The LD is still blinking on
and off. It's a problem. Why we have that
problem is I'm going to stop the simulation
and go to the code. By default, the Tinker softa will write a code for
you like this, right? So if you notice that
this particular code is for turning on the LAD for 1 second and turning off
the LAD for 1 second. That is the code that has been
written by default, right? What I'm going to do is I'm going to delete that
particular code. So drag and drop that
one to the dust pin. So then that code
will be deleted. And then if I click this
start Simulationatn, and then you can notice that
nothing has happened, right? So here, if you move
this cursor like this, and the LD is not
turning on. Why? Because we didn't
program the Ardino yet. I'm going to do the
programming, right? So I'm going to do
the program very easily if I know how to
do the flow chart, right? So I'm going to create
the flow chart. I'm going to explain
you the flow chart. So if you create the flow
chart and then you can easily create this
particular program, right? So let me explain that one. Okay right? So this is the flow
chart for our project. If there is any motion
under the motion sensor, and then the LED bulb
should be turned on. So that is the condition. That is the aim that we
have to fulfill, right? So we have to start here and read from motion
sensor, right? So the motion sensor value, that means it is connected to the second pin of
the you know, right? So that pin should be read. Right? So that
particular reading should be assigned as x, x is a variable. Let that particular
reading value be x. And after that, we have
to analyze what is x. What is happening to
that particular x. If x is greater than
zero, that means That is detecting something. Here, we have here we are
using the digital sensor, either we can obtain
a zero or one. If it is more than zero, that means it should be one. If x is greater than zero, that means if x is equal
to one, This will happen. Yes. If it is yes, turn on the LED bulb. That means the LED bulb should be turned on
in this condition. That means if the sensor deicts the LED
should be turned on. No, that means this
condition is not satisfied. That means x is not
greater than zero. So the only one position that the x can have is x
is equal to zero. If x is equal to zero, that means the condition, turn off the LED, then the LED bulb
should be turned off. Right? So again,
whatever it happens, maybe turning on or turning off, we have to look for
another readings. Any other readings exist? If yes, and then it
will be looped again, read from the motion sensor, and as the value as x, and it will continue. If there is no any other
readings available, if it is no, and that is
the end of our program. Now, I have explained you
the simple flow chart for the process of detecting a
home security system, right? It's a very simple
and straightforward. You can think that this is as a template for your
future project. You have to read from
the motion sensor and let the reading be x, right? And then you have
to continue, right? So this is the template. You can use this
as a template and continue to create these
kinds of flow charts. If you create a flow
chart like this and then it will be very
easy for us to program. Let's do the programming, right? So start, right? Start. We don't have anything
to write on the program. Read from motion sense. That is what I'm going
to start, right? So reading is an input. So I'm going to
go to this input, maybe slightly increase a bit. So it's a digital pin, right? So I have connected to
this digital pin, right? So it's a digital pin. Rate from digital pin. That is number two, two is the connected pin of this particular
sensor here, right? And then if you go back
to the flow chart and let the reading value be x. Right? So that particular
value will be x, right? So I'm going to go to this variable and
create a new variable. If you don't have any variable, you have to create it, right? And then that particular
variable should be named x. Since I have created x already, I'm not going to do
that one, right? So this is the variable, right? So you can't drag and rob this variable wherever the
place you want, right? Because these are not
fitting together, right? In this scratch programming, they should connect
each other, right? If you drag and rub like this, they are not going to work. They should be connected
together, right? So that is why we have this particular shape and
this particular shape. Here you can notice that this is a diamond shape
like that, right? So each and every block
should be connected together. It's like a building block. So for that, we have to
go to the variables, first of all, you have
to assign that one. I'm just doing this
particular task. Let the reading be x.
I'm just doing this. Set that particular x is
reading that particular value. That means reading the second
pin will be assigned as X. Now I have completed
this and this tasks. It's very simple, right? And then after I have
to go to this one. So here, it's a condition. If x is greater than
zero, and for that, I have to go to this one
and go to the controls, and then I have to
drag and rob this one. Okay. But actually, I'm not going to drag
and rob this one. Instead of that, I'm going
to drag and rob this one. Why? Because this has if
and L's function, right? I'm going to delete this one, and I'm going to drag
and rob this one. So if condition, right? I x is greater than zero, I have to have that particular
one, this particular one. If x is greater than zero, so that I can go to this method option and greater
than will be stored here, I have to drag and drop
this particular one. If one less than one,
it's not what I want. I want x is greater than zero. This is what I want. If x is greater than zero,
this will happen. Okay. So now we have
understood about that one, and this condition is four, yes. If this particular condition is satisfied, this will happen. If the condition is not
satisfied and else will happen. Again, you have to go to the flow chart and
see what happens. If it is yes, turn on the
LED bob. It's very simple. If you want to turn
on the LED bab, you have to go to
the output terminal, and then you have to go to the set pin option and
drag and drop two here. Right? So if you do so, set pin, which pin you wanted to activate if the
condition is true? I wanted to activate
the 13th pin. Why? Because 13th pin is responsible for that particular
L b to be turned on. Right? So I have to
set this 13th pin. To high, high means
give five voltages. Low means give zero
voltages, right? So I'm going to
set this as high. And now, if this
is not happening, if this is not, yes. That means the sensor doesn't detect anything,
this will happen. Turn off the LD. Right? For that, I
have to turn off the le if it is Ls and I can simply right click this one and duplicate this block
and drop it to here. Then you can notice that
set pin 13 two high. No, that is not happen, right? What should happen
is it should be low. That means set pin 13 two low. Now again, if you read this particular program
again, set x value. That means read digital pin, read the second pin on the do you know what is happening to that
particular pin. Okay, let's analyze that one. And that analyze,
that means that particular log is assigned as x. If x is greater than zero, that means there is something. That means the voltage or
something has happening there. And that means the sensor
is detecting something. For that, the LED
should be turned on. And if it is else, that means it's not happening. That means the sense
doesn't detect anything. The set pin 13, that means this
particular LE bulb should be turned off, right? That is what the program
says about that one. Okay. It's very simple. After this ends with here and it will automatically
look to this one, so that we don't have
to consider this one. Is there any readings available? Yes. No, we don't have
to consider this one? Why? The scratch program in the Tinkercsfta automatically
do this one for us, we don't have to
consider this one. So if you wanted to limit
that particular one, so you can go to
the controls and repeat this task for how
many times you want? Maybe this one, right? Okay. So now it's time for test, right here, I can
click this one, then it will go but the
code is still there. If I click this start
simulation button, and then here,
nothing has happened. But actually, there is. If I click this button, the sens this is the
point, maybe a person. This is a person.
If the person is moving somewhere else
in front of the Sensa, you can notice that
the LED is turned on. That means the
program works fine. That is the first project, and then we have achieved
that in the software. Maybe you can solve
the problem by closing adding a resistor in between this one and just
going to do that one. Here it is. Okay.
Rotate this like this and connect it
to this 13th pin. If you connect this particular
resistor on other pins, maybe eighth pin or ninth pin, the program doesn't
recognize the change. If you change that
one in the program, also, you have to change
it. Then only it will work. Maybe I can reduce this one to two 50 and start simulation
and change this one. Now it works fine. That is how we achieve this
particular circuit. Right? So if you
wanted to really make the circuit that I
have defined already, you have to delete this
particular LED bub. And instead of LED Balb, you have to put a buzzer here so you can drag and drop
this particular buzzer. So in the buzzer,
this is positive, this is negative, right? So you have to be
aware about that one. So this is the positive. So the resistor goes here and this positive
connected here, and this is the negative, right? So I'm going to delete this one, obtain a blue color able, and this is the negative, and it should be grounded. Right. So now you
can notice that the 13th pin is going through this resistor and
comes to here, right? And make sure that
your headphones are reduced its sound because it's going to pop up
the sound, right? So here, start simulation and if there is any
person is there, and then it will be
alarmed like this. So that is how the system works. If you want, you can
replace many things, right? You can replace the motors
or something else, right? So that's it. Now we have
achieved the first project, but not finished yet, right? Because we have just generated the software and
the codings, right? We didn't do this particular
project actually. So if you wanted to make this particular
project in real time, what you have to do is, you have to click
this code option. And on the code option, you have to go for this one and click this block
plus text option. If you click that and whatever the code inside here in
this particular blocks, it will be automatically turned on as C plus plus code, right? So now, what I'm going to do is I'm going to copy
all of these codes. So this is the code that I require for the
ordin to read it. Right? So Ordina will only recognize this particular code, C plus plus coding, right? So this particular
C plus plus code, you have to upload
it to the ordin. So if you are going
to upload the code, what you have to do
is you have to have this particular Softaa
called as dino IDE. But if you want to upload
the code to the dino, it should be in C
plus plus language. You can't upload
the code that is written on scratch
program, right? For that, I'm going to delete the existing code.
It's very important. I need to delete that
particular existing code and paste that particular code that has been obtained
from this one. I need to copy this
particular code, and I need to come over here
and paste it down here. So this is the code. This is the C plus
plus code, right? And this code should
be verified firstly. I have to click this option
in order to verify here. And you can notice that
this is the message. It's currently
compiling the sketch, and if it has no errors
in this particular code, and it will show you
that done compiling. And if you have any errors, and it will be mentioned
here in this monitor, after it is verified, and what you have to do is you have to click this
particular upload button. That is the button is there
for the code to upload. It's very, very, very simple. You have to run this code
after it has been completed, you have to click
this upload code. And then if it is
done uploading, there will be a message
indicating that done uploading. If you see that, that's it, and then the code is uploaded
to your ordina board. After that, what you have to do is you have to remove
the USB cable. You have to remove
that particular USB cable from your computer, and then you have to wire
according to wiring diagram. You have to physically
obtain these components. The sensor, this
particular buzzer or ble resistors are
batteries, et cetera. You have to physically
obtain them all and connect them according to this
particular wiring diagram. That is very important. If you change the connection, the program will
not going to work. You have to connect them
according to your program, and then if you connect them
like that, it will work. So you have to go to these tools and choose what board
you are using, right? You have to come over here, or do you know AVR boards, and you have to select
which board you are using. If you are using Odinoobard, you have to select this one. If you are using Ordino nano, you have to select
this one, right? So for that, you have
to I'm just using rdinomega so that I can use this particular
rdinomegaboard. Then if you go here and you
have to select the processor. So this is the processor. It is mentioned
on the dino boat. If you obtain the
dino boat physically, and there will be this
indication of the processor. This is the processor that is mentioned on the dino board. So I'm going to select this one. And here, I have to again go to these tools and see
the port option. Here, I don't see
any port option. Why? Because I didn't connect
the dino with my computer. That is the problem.
And now I'm just connecting my rdinobo
with my computer. I'm just connecting my dino
boat with my computer. Like this. Okay. So now, if I go to this tools option, and let it open. If I go to the tools option, and now you can see here, the port is available
here, right? So fifth port Arduino mega. This is the port, right? That shows that okay, Ardino is connected
to the computer. This is the port the
dino it has, right? So I have to select
this one, right? That means I have to
configure these three things, board, processor and port. Right? After we have
configured that one, the dino is ready
to upload the code, and then I can click
this upload button, and then now you can notice that it's currently
compiling the sketch, and it's uploading the
sketch, done uploading. You should see this
particular message, right? So done uploading
means the program has been successfully
uploaded to my dino. If I obtain the components
physically or really and connect them according to this particular wiring diagram,
and then it will work. But I have a practical
problem. What is the problem? The problem is I have
this particular arduino, but the dino is not
powered up yet. Why? Because I have used this particular USB cable to connect the dino and
uploaded the code. After I have uploaded the code, I have removed the cable, right? I have just removed the cable. So then you will be only
left with these components. Okay. And what I'm going to
do is I'm going to select this particular battery
and I need to connect this batters positive terminal
to this particular V in. Maybe I can change the color. This particular thing on
the physical components. I'm doing this work, right? No need to do this one in
this particular software. But this process,
I'm doing it on the actual physical
components, right? So I have connected the battery. That means the ardino
will be powered up. Now, if I do this one
physically, right? And then the bulb, this particular turned on
LED bulb will be turned on, and then the entire
system will work. If I move physically, if I move anything in
front of the Senza, the m will be turned on, right? So that is how we exactly
achieve that one. Right? So hope you
understand about this one. If you have any problems or
doubts regarding this one. I'm always available for my students to answer
the questions. So if you have any problems or difficulties
regarding this one or difficulties regarding
finding the installation paths. And if you don't see the port
option is still available, even after you have connected the Adinobt, you can ask me. I will tell you how you can
tackle those problems, right? So hope you understand
about this project, we will meet on
the next project.
8. Project No 2 - Object Detection System: Now, we are going to discuss
about our second project, which is object deduction
system using ultrasonic sensor. So basically in this project, we are going to learn about
the ultrasonic sensor, and how they are
working and how we can configure them and obtain
the job for our projects. Basically, if you don't know what is object deduction system, it's pretty simple
and straightforward, and this is the object
deduction system. There is the system, and if you move your hand or any object nearby the sensor, and it will detect. That means it will turn on
the LD or it will alarm it. So that is the object
deduction system. It's basically the
similar idea for the working principle of motion sensor, but
it's different. Motion sensor will
detect the motion. If there is any object present
in front of motion sensor, it doesn't dett right? That particular object should move or there
should be a motion. If so, that motion
sensor will capture it. But on the other hand, in the ultrasonic sensor, this will dedt if there is any object present in
front of the sensor. So those are the two differences between those kinds of sensors. And now we are going to use
this ultrasonic sensor. So if you obtain an
ultrasonic sensor, there will be four pins
instead of three, right? So the three pin sensors
may work similar. As an example, three pin
sensors may have VCC, GND and signal pin. Those are the three pins. But in this particular
ultrasonic sensor, you may have four terminals. VCC, GND, copin and trick pin. So those are the four pins you have in this particular
ultrasonic sensor. Right? So, unfortunately,
if you obtain a sensor that has three pins that will work similar to
the motion sensor. How did you wire on
the motion sensor? The same wiring
will be applied to this particular three
pin ultrasonic sensor. But most of the sensors
are having four pins. So I'm going to talk about
how we can connect them, how we can wire them, right? In this particular project. So before we go to that one, I'm going to explain
about the project. So this is the aim of
the project, right? If ultrasonic sensor detects any object within 50 centimeter, the LED should be turned on. Otherwise, the LED
should be turned off. So this is the condition that we have to achieve it, right? So if there is any
object in front of the sensor within 50
centimeter, it should detect. Right? So for that, we have to make the circuit, and then we have to make the flow chart in order to
design the visual programming. And then after we
have to convert that particular visual program
into a clus plus code. And then after we can obtain copy that particular C plus plus code and upload it to the ordinal then after it will
work physically as well. But No problem if you practice this particular
project in the software, right? But I strongly suggest you to obtain the physical
components like the Arduino, sensors, batteries,
cables, and connectm. So if you are working on that particular physical
properties, physical components, and then you will get
an idea and you'll get some experience in this
particular course. Okay. So this is the flow chart. I'm going to
explain. So first of all, we have to start it. The start doesn't
impact on the program, the scratch visual
program, right? So read from ultrasonic Sensa. This is what we
have to do, right? So the Sens should read whether it has any object or
not in front of it, right? And then let the reading
value be x, right? That particular
value is monitored. Right? And it is named as X. That's a variable, right? After the reading has
been set to a variable. What we have to do is we have to find out what is the value
for that particular x. As an example, if x is
less than 50 centimeter, we have to ask a question. And that particular question
will result as okay, there is an object, right? So we have to find out Is there any object present in
front of the Senza, right? If it is yes, within 50
centimeter, there is an object. And if it is yes, and then the LED
should be turned on. So that is the
condition we have to fulfill in this
particular decision. If it is not true, the LED should be turned off, that means there is no object in front of
that particular sensor. So that particular
condition will be fulfilled by turn
off the LED bulb. So is there any other
readings exist? We have to ask another
question, right? If it is no, and that is
the end of the program. So if it is yes, and then it will be
looked together, right? So then it will go to the
initial position of reading the ultrasonic sensor and
let the variable be x, and then it will
continue, right? So that is the flow
chart we can make for this particular
project. It's very simple. We can make this
particular flow chart. I told you that earlier, read from the sensor, let the reading value be x is maybe a template
that you can use, and then you can continue to work according to your projects. So I'm going to make this particular circuit on
Tinkercad software, right? I'm going to connect
all the components together by using the
Tinkercad software, right? Let's move on to that one. So Okay, this is the interface. You have to go to
the circuits option, create new circuit. So this is the interface
as you know that. I'm going to double
click this one and name this as project number two, and I'm going to click these components and make all components available for me. And then I'm going to insert some components
or do you know and breadboard, and
ultrasonic sensor. So here, this is what
I told you earlier. We have two sensors. This is a three pin sensor, and this is a four pin sensor. If it is a three pin sensor, you can achieve
very easily, right? It works similar and
the connections and the programs are similar on what we have learned
on the first project. If it is a four pin sensor
and it's different, right? So here we have additional
two pins, right? So VCC and ground,
those are Okay. You know how to connect them. And here we have
trick pin and copin. That is the problem, right? I will use this
particular sensor, four pin sensor to complete this project so that you can understand this sensor as well. So I'm going to click this
sensor and delete it. Now, what I'm going to do
is I'm going to insert the LED bub You can insert
a buzzer if you want, you can do that one as well. And I'm going to
insert a resistor. Right. Now we can
finish up the wiring. It's very simple, you have to connect a sensor
like this on the breadboard. You can connect it. After that, you have to connect
this particular VCC to this positive terminal, and ground should be
grounded on this negative. And then after we will be
left with these two pins, trick pin and copin, right? So what I'm going to
do is I'm going to connect this trick
pin and copins. So the trick pin can be
connected to one of these spins. I'm going to connect
this on the 12th pin, and the eco pin, I'm going to connect
this with the 13th pin. Let's align a bit and I'm
going to change the colors. So you know this color
will become as red, and this color will
become as blue or black. And this color, particularly, I just wanted to change
this color as yellow color. And this as orange. Right. So now I have
connected the input wiring. That means the sensor has
been connected completely. And then after what
I'm going to do is I'm going to connect
this particular output. I told you earlier,
we have to use a small portion of the
breadboard, right? So make sure that you adhere to that particular
tips and tricks. And I'm going to
connect like this and obtain this particular
bulk and I'm going to rotate it and
connect it like this. Right? And then this
connection, right? So it will go to the
position where I want to connect this with the
eighth pin of this ordine. And make it as red colored wire. And then I wanted to
ground this, right? So here, I have
grounded this one, change the color. Okay. Now I have finished the
output wiring as well. So what that means is I have completed the
wiring, but not yet. So here I have to connect the power with this
particular pin. Then only the system
will work, right? For that, I'm going to obtain
a five voltage from here and connect it to
this particular pin and change the color to red. And then I have to obtain
the ground and connect it to this particular pin and
change the color to blue. So now I have finished
up the wiring, and then it will work
if I code it, right? So I'm going to make the coding. It's very simple in the
scratch programming. It's very simple for us to
make the program, right? So let me delete this one. Okay. So if you click
this code option and you can expand this
one to see this one. And then you can delete
this existing code, and we have to head over
to our flow chart, right? So this is the flow chart. And according to the flow chart, we can make that
particular program for our project, right? So I'm going to do that, right? Here, read from
ultrasonic sensor, read from ultrasonic sensor
will become here, right? So in the input, read
digital pin, right? So this is what we have insert
in our project number one. But here, I'm not
going to do that one. Why? Because for the
ultrasonic sensor, we have a predefined function in this particular Tinker
cat software is this one. Right? For that, I'm going
to drag and rub this one. This one is an special case for sensor reading for the
ultrasonic sensor. Here you can configure that read ultrasonic descent
sensor on trigger pin. Which pin you have connected
the trigger, right? So I have connected this
particular trig pin. This is the yellow color cable, and if I track this
yellow color cable, it's on the 12th pin, right? So I'm going to
select the 12th pin. And here, echo pin. Here, the echo pin is connected with the orange color cable, and if I go here, right? So this is the
orange color cable, and it's on 13th pin, right? I'm going to select the
13th pin here, right? So if you use that
particular three pin censor, you should select this option, same as trigger option. If you use the three pin sensor, you should use that one. But I'm using four pin sensor, so that I'm going to
configure tri pin and copin Right? So then after you can
change the units, right? I'm going to go with
the centimeters. And then if you go back
to our flow chart, let the reading be x. Okay, this is the
sensor reading, right? So the 12th spin and 13th
pin are monitored together. Right? But we didn't set any
kind of variable, right? That will be monitored, but that particular
monitored log should be assigned as
a variable, right? So that's what I'm
going to do now. Let here you can notice that. Let the reading be x. Right? So for that, I'm going to go to these
variables and create a new variable and name
it as X and click Okay. So then you will have these two options available
for you to configure, right? So for that, initially, I'm going to drag
and drop this one. Set, set X two, this one. Right? For that,
I'm going to drag and drop this one into this one. So now if you read
this one, set x two, read that particular 12th
spin and 13th spin, right? So the 12th spin and the 13th spin are
monitored together, and that particular one, that means the distance
will be named as x. Right? So that is what we
have done so far here. And then after we have
to make a decision. X is less than 50 centimeter, if it is true or false. So for that, what I'm going
to do is I'm going to go to this controls option and drag and drop this particular
F and function. If only happens if function, you can drag and drop this one, but I have function and L
function as well, right? If it is true, this will happen. If it is full, this will happen. So I have two conditions. So that I have to drag and drop this particular one, right? So I'm going to delete this
one and go with this one. Right? So here, you
have to go back to this flow chart and
see what has happened. Right, x is less than
50 centimeter, right? For that, you have to check
that particular x value. How much is the x value, right? So for that, I'm going to
go to this metoption and drag and drop this one
into this one, right? So here, what I'm going to
do is I'm going to go to these variables and drag
and drop this particular X. So that, what will happen is. So Okay. What will happen
is if x is less than one, this particular
program will happen. If x is not less than one, this particular program
will happen, right? So this is not what
I want, right? I wanted to have 50
centimeters, right? For that, I'm going to type 50. Why? Because the x is already
in the centimeters, right? So no need to configure
the centimeters here. So if I set this x
already in centimeters, I can type the value here, so it will automatically adhere
to this particular unit. Right? So if x is less
than 50 centimeters, this will happen.
What will happen? You have to go back
to this flow chart, and this will happen. Turn on the LED bad. You know how to turn
on the LED bad. You have to go to
this output tab and drag and drop this particular
one into this one. So then they can be
fitted together. And that particular
able is connected. The positive line
is connected with this particular eighth
spin on the din. So for that, I need to select eighth spin to means it
will be turned on, right? So this is what will happen
if this condition is true. So again, go to the flow chart. What happened if it is false? If it is no, it should
turn off the LED, right? So then the Ls condition
will happen here and I'm going to duplicate
this one and drop it here, and the eighth spin, that is the pin I have
connected the LED bulb with, and I'm going to change
this high to low. That means if this is not
true, this will happen. Okay, that is the program. And then this program
will continuously run forever until you disconnect
the power, right? So let's check it whether
it works or not, right? So if I click this
start simulation, and it will be started
the simulation. If I click this
ultrasonic sensor, this is the object, right? So you can notice that how
much is the distance between the object and the
sensor, right? So if I move this particular
object near to the sensor. Okay, it's nearly 70, and I'm just getting
closer and now you can notice that this LED bulb
has been turned on, right? So What else do we have to do. If I move this one far away, and then the LD bulb
will be turned off. So here, I purposefully
did two mistakes, right? Can you identify and say it? Right? I have done two mistakes purposefully
for you to understand. Can you just guess
that one, right? One mistake on this
particular flow chart, and one mistake on
this design, right? We'll see who will answer
that particular one. Okay. The first
mistake is this one. Let the reading B x. This is an input. I'm just inputting that
particular variable, right? So this will be a
parallelogram, right? I cannot drag and b. This one, I need to
insert a parallelogram. So I should have indicated that particular
parallelogram, like this. This is what will come here. And the second mistake I made on this particular design
is the resistance. The resistance value, I
didn't change that one. The resistance value may be 250 for the LED bulb
to be brighter, right? So if you stop simulation
and start it again, and if you move, now
you can notice that the LED is turned on
as a brighter one. Those are the two
mistakes I have made, and that is all about
this particular project. Now we have achieved that particular project in
the Tinker CAD software. Now, what we have to do? What we have to do
is we have to upload this particular code to our
physical arduino, right? So then after we have to connect all these
things together, and then it will work fine. For that, I'm going to go to this code option and
go to the blocks and select block
plus text option and select all of the codings. I need to select all of this
coding and copy this one, Control plus C.
And then I have to minimize this tab and open up the installed Arduino Softa on that particular
Arduino softia, the C plus plus code
has been obtained from Tinkercad Softa
and that code should be pasted on this
particular Arduino softia then after you can
upload this code. But keep in mind that when
you are uploading the code, you should connect the ordino
with your laptop or PC or even you can connect the
dino with your smartphone, but you have to have
an OTG cable or OTG pin to connect the
dino and your smart phone. So those are the necessary
things you should have if you wanted to connect and
upload your codings. Right now it has come. Now I'm going to selch all the codings, and I just wanted
to save the sketch, right, save it as
on the desktop. I can save this project as project number two and
click the save option. And I'm going to paste
my code that has been copied from the
Tinkercad soft dare. And now, what I'm
going to do is I have to click this
upload, but no. Before I click that plod button, I should go to the tools option and select
which board I'm using. Every time even you
are doing the project, you should select this one. You should configure
them one by one, right? These three things should
be configured by you, each and every time when you are uploading the code, right? So you have to make sure that it is set to
perfect, right? So then you can
select the board, what board you are using and which processor
you are using, and then the port, right? So if you wanted to have
the port available for you, you should connect the
ordino with your computer, and then the port option will be available
for you, right? After the port is also selected, now you can click
the upload button, and then after the code will
be uploaded to the dino. If I click this upload button, now you can have the error. Why? Because the dino board is not connected
with my computer. Right? So that is the problem. And after the code is
successfully uploaded, you will have the message
of done uploading. And after you have received that particular done
uploading message, and then you can connect the circuit that has
been designed on this particular Tinker
cat softia have to obtain the Arduino and a
sensor resistor and the L and breadboard, and then you can connect them like what you have
done so far in the Tinker cat softia and then the project will be made
on physically as well. Right? So hope you
can do that one. So the physical things
will be up to you. You can practice, and you can creatively make some
kinds of things, right? You can arrange it in a box. You can design an enclosure, and you can add some
features, right? You can make a haul for
the ultrasonic sensor, and you can cover the
internal parts and you can creatively make
this project, right? It's up to you. All right. So I'm going to end this session of the
project number two, and we will meet on the
project number three.
9. Project No 03 - Smart Dustbin System: Now, we are going to discuss
about our third project, which is smart dustbin system using ultrasonic sensor
and servo motor. In this particular project, we're going to learn about the usage of servo motors,
especially, right? So before we get to know
about the technical things, we want to show you that how
the system works, right? So what is actually the smart
dustbin system is, right? I'm going to show you
this particular video, this was obtained from
my previous students. So they did this automatic
smart dustin system. And here you can
notice that, right? If I move my hand
close to the sensor, and then the lid will be
automatically opened up, right? And then we have to put
the dust into the bin. And then after we put
that particular dust and then it will
automatically close the lid. So this is how it works. I want to show it to you again. Right. So in this
particular process, how the system works, right? So I have attached a
ultrasonic sensor and a sero motor and some kinds of albino bras in the
electronics, right? So this was my student's work, and he did like this. So if you want, you can
change the design and change everything And
for the first time, we have to learn about this one, how the system works, how we can rotate
the servo motor, how we can control them. What are the theories
behind this? So we have to get to
know about those things, and then we can change
the design if you want. So here, in this
particular example, if I open up another one, this was my second
project from my student. Another student did this one. So this one is also similar
to that one, right? So if we move our hand near to the sensor and the lid will
be automatically opened up, and after 4 seconds or maybe 3 seconds and the lid
will automatically close, and the lid will be
automatically closed, right? So that is how this
particular system works. So it's called a smart
Daspin system, right? So this is what we are
going to exactly make it. But for the physical
things, it's up to you. You can create different kinds of physical things according
to your creativity. What I'm going to do is
I'm going to explain you how you can create
this and design this, how you can program this and
upload the to the ordinu. That's what we are going to see in this particular project. Let's get started. Here, aim of this project is we have to design a smart
test bin system. In order to achieve
this particular aim, we should follow
these objectives. First of all, if the
ultrasonic sensor detects any object within
30 centimeters range, and then the Svomtor
should rotate 180 degrees. So if your system, if your design is
for 90 degrees, you can change this to 90
degrees. It's not a problem. So the next one, the servomotor should stay at 180 degrees to insert the
dust into the dustbin. Okay, this is the servomotors
initial position, right? And then the lid is connected with this particular
ser motor like this. And then if there is any object present in front of
this ultrasonic sensor, and then the lid
should be opened up. Right? So then this
particular servo motor will rotate 180 degrees, right? And then the lid
will be opened up. So then we can insert the dust into this particular dustbin. And then after it should
stay in this position. That means the opened position. It should stay in the open
position for 4 seconds. Why? Because we assume that four second is
sufficient for the dusts to be inserted into the dustbin then after it should return to
its initial position. That means it should return
to zero degree, right? So that is what
it should happen. So in order to
achieve this project, we have to follow
these kinds of steps. First of all, we have
to create a flow chart. If you do so, it will be very, very easy for us to
create the program. And then we have to design the circuit in
Tinker Cat software. Then after we have to develop the scratch program
using our flow chart. We can easily generate
the C plus plus code from the scratch program by using the Tinker
Cat software. And then after we can connect
the actual circuit with the Arduino and other
electronic components to make the circuit. So then we can upload the code into the ordinal, and that's it. The project will work, right? So let's analyze
about the flow chart. So here, we have to
start it, right? And then after the
particular ultrasonic sensor should read. The pins, right? So read from ultrasonic sensor
is the first objective. And then the reading that
has been obtained from the ultrasonic sensor
is named as x. That is why let the
reading be x is there. We assign a variable called as X to that particular
sensor reading. And then we have
to analyze what's happening to that
particular x variable. And if the x is less than 30 centimeters,
what should happen? That means if the x is less
than 30 centimeters and we have neared our
hand from the sensor. That means the x is less
than 30 centimeters, right? So we are near to the sensor. That means the servomotor
should rotate. Therefore, if it is yes, that means if the
condition is true, and then the servomotor
should rotate 180 degrees. If it is no, what should happen? If it is no, nothing
should happen, right, or the servomotor should stay
at its initial position. Let's talk about yes, right? So if we near the sensor and the motor should be
turned into 180 degrees, and then after it should stay at 180 degrees in order to
put the dust into the bin. But there should be
a duration, right? So there should be
a time duration of 4 seconds to
insert the dusts. And then after The server motor should return to its
initial position. That means it should
turn to zero degrees. And then after the process
we'll try to continue it. And if it is no, that means if it is not true. That means there is no any other object or hand
near to the sensor right? So then it should stay its
initial position, right? So that is why I have connected the no condition to here, right? And now we are going to
design the circuit, right? It's very simple and
ECD do that one, right? So let's talk about that particular circuit in
the Tinkerct software, right? I'm going to go to the
Tinkercad soft tire and click this
create new circuit. Right. So before I
insert the components, I just wanted to explain you how the servo
motors are working. If I type motor, and then you can
notice that there are several kinds of motors
are available here. And now I wanted to drag and rob this particular gear
motor and a servo motor. Okay. So these are two different
kinds of motors, right? So this is called as
a DC motor, right? So what will happen to this particular DC motor is if I supply the
positive terminal, I have to obtain a battery. Maybe a nine voltage battery. If I connect this positive
to this particular positive and the negative to this particular
negative, what will happen? What will happen is and then this particular motor will try to rotate in
clockwise direction. Right? And if I change
this particular terminals, like if I delete this cable and if I disconnect this cable and connect
it to this negative. That means if I change
the connection, if I alternate the connection, and then you can
notice that it's rotating in
counterclockwise direction. That means the -280 6:00 P.M. Right? So that is
what will happen to this particular DC motor. But the servo motors
are different, right? If you move closer, and then you can notice
that it has a grown pin and a power pin and
a signal pin, right? So this will work
as a sensor module. It will work as a sensor module, but this is an output
device, right? So first of all, in
order to get the job done from this
particular servo motor, you should power this up. So to do that, we have to supply the positive terminal to
this particular power. And then we have to supply
the negative voltage, that means the ground to be ground to this
particular ground. So if we do so and then the
motor will be powered up, but it's not going to work. Why? Because the
position, right? So the rotational position is controlled by this
particular signal pin. So if I supply, maybe let's say that we have a zero to five voltage, right? And if I supply five voltage for a
particular amount of time, and then the motor will rotate
for that particular time. If I increase that time and the rotation will
be also increased. That is what will happen, that
is called as PWM control. We will talk about them later. And if I connect them
with the analog pin, As an example, if I
supply three voltages. The three is in 0-5 voltages. If I connect that to particular analog pin and
supply three voltages, and then it will try to rotate
some amount of degrees. That means the portion of
three voltages. Right? So that is how it is controlled by this
particular signal pin. If I supply 2.5 voltage, and it will try to
rotate 90 degrees. So this will not
continuously rotate. It will position the
thing in 0-180 degrees, more than 180 degrees, it should not rotate, right? So that is how the
servomotors are working. And now, I'm going to name
this as project number three. Three. And I'm going to drag
and rub the components like how do we know bread board. Servo motor, ultrasonic sensor. I'm going to go with this
particular four pin sensor. I'm going to attach it
with this particular pins. I wanted to insert a battery, but in the Softaa we don't
necessarily need a battery. Why? Because we currently use only one servo motor, right? So the dino has the
capability to supply the voltage to this
particular servo motor. It's sufficient. But if you use two or
three servo motors, and the power that
has been obtained from the dino is not
going to be sufficient. So for that, you have to use an external power supply to power up this
particular servomotor. As an example, you
may use a battery, six voltage battery or
five voltage battery to supply the power to this particular
servomotors, right? If it is one, it's
not a problem. Right? So, since we are
using only one servo motors, it's not a problem
for us, right? So I'm going to
connect them all. So it's very simple, obtain a red color
cable and connect the VCC to this one and
obtain a blue color cable. And connect the grow to
this particular grow. Now I'm going to wire up this particular trick pin
to whatever the pin I like. I'm going to connect
this particular pin to the tenth pin. And the eco I'm going to
connect this with 11th pin. Maybe change this
color to yellow. Okay. I hope you see this
one. Okay. Okay. Now I have finished up the
wiring for the input device, and now I'm going to
connect the output device. Here, I told you that the servo motor should
be powered up, right? So that I'm going to obtain the power from this
particular positive terminal. I'm going to obtain
the power from here because I told you that we
have to use the minimum space. So that it should
be connected to this particular
positive terminal here. And then I have to obtain the ground from here and connect it to
this particular grow. So this is the grow, right? And then I have only one pin left with this
particular motor, right? So here, you can obtain this particular signal
pin and connect it to. One of these pins, right? So if you do so and then you
will only be able to control this particular servo motor either zero degrees
or 180 degrees. So if you wanted to control this particular servo
motors in between the degrees and
it's not possible. Why? Because these
are digital pins. So what I'm going to do
is I'm going to connect this particular serve motors pin to the analog pin, right? So in the analog pin, I can connect from these pins. I'm going to go
with this node pin and change the color to orange. And that's it. Now I have
connected the entire system. And then after I have to connect the power to this
particular bed board, and then the power will be
distributed from there, right? So I'm going to do
that one quickly. Now the system will work. So if you wanted to obtain this particular
system working, what we have to do is we have
to do the programming work. Programming is a
very easy thing. No need to worry about the
programming because we have already drawn
the flow chart. So I'm going to click this
code option and delete the existing code here and I'm going to expand
this a little bit. And So now, what I'm going to do is I'm going to open up the flow chart. In this flow chart, read
from ultrasonic sensor. That is the first thing I
have to program, right? So I should read what's happening to
that particular sensor. Right? So that will be
obtained from this input, and I have to insert this one. Why? Because this is the responsible block for that
particular sensor, right? So I need to go here and
check where I have connected. The trick pin is connected
to the tenth pin, and the copin is connected
to the 11th pin, right? So I'm going to
configure it here. So the trick pin is
connected to the tenth pin, and the copin is connected
to the 11th pin. And I'm going to keep
this in centimeters. Now, I need to open up this particular flow chart
again and see what happens. And then offer,
let the reading be X. I need to assign a variable
for that particular log. This is the value,
collection of data, and then I need to
assign a variable for that particular data at
each and every instance, so that is what we call
them as variables. For that, I need to go to the particular variables
and click Create variable. I'm going to name this
as X and click Okay. So now you have these two
options available for you? I have to select
this one if you are initially setting up
the variable, right? And then after I have to deck and drop this
one to this one. Then if you read it
here, set x two, read ultrasonic
distance sensor on trigger pin ten co Pin 11. That means it will notice what's happening to that
particular sensor, right? Is there any object
percent right? So if there is any
object present and that particular
distance will be calculated and that distance is equal to x in centimeters. That is what that particular
meaning of that one. Right? Again, if you open up
this particular flow chart, and then you can
notice that I have to have a condition, right? That is a control. And
then after I need to analyze what's happening to
that particular x, right? So if the x is less than 30 centimeters and the servomotor should
rotate, right? So I'm going to write that
particular condition. So that is from here, and I'm going to drag
and drop this one. Since I have function and
function, right here, I need to insert the
meth condition to here. That particular
condition is here, x is less than 30 centimeters. I need to check that one. For that, I'm going to go to this meth option
and drag and drub this particular one
because this is the block that has this
particular symbol, that is less than or equal that particular
condition. Okay. And then it's not what I expect. One is less than one. This is not what I want. What I want is I have to go to these variables and drag
and drop this particular x, and that is what I want. So if x is less than one, no. That is also not I want. What I want is I want this
to be 30 centimeters. If I type 30, that will be enough. No need to type the units. Why? Because the x is already
defined in centimeters. So we don't have to define
this particular 30 also. It will adhere to this
particular units. So if you want, you
can change this to 50. That means it will open up the lit if it detects
within 50 centimeters. I'm going to go with this 30. Right? And then if this
condition is true, right? So I have to go back. If this particular
condition is true, if it is yes, and then the servomotor should
rotate 180 degrees, right? For that, I have to go to this
particular output option. On there, you can find out
the servomotor option. Right? So here, I have
the servomotor option, rotate servo on pin
number, which, right? So you have to
configure which pin you have attached that particular
servomotor, right? And I'm going to go back
to this one, and here, the signal pin is connected to the node pin in this doing. That I need to configurate. I'm going to click this one
and select the Note pin. If I move it here,
you can see that one. Note pin is the pin that has been connected
with the motor. Then it will ask you to select how many degrees you wanted
to rotate your server motor. If you set your design
for 90 degrees, you should select that one. If you set your motor
to 180 degrees, you should select that one. But more than that
one, you can't obtain. Why? The cell motor
is only limited to 180 degrees of rotation, right? So I'm going to
go with this one, and I need to drag and drop this particular
block into this one, because if it is true,
this should happen. Right? And again,
if I go back to this flow chart and see what happens after
that one, right? So after the motors rotation, it should stay at 180
degrees for 4 seconds. That means in this
particular rbino, it will supply this voltage for this particular motor at a
very minimum amount of time, maybe 0.0 1 second. Right? So what I'm going to
do is I'm going to state that particular voltage for a particular amount
of seconds, right? For that, I'm going to go to
this code option and go to this controls option
and drag and drop this particular one and
make it as 4 seconds. So here, this should
come after this one. If you put this one before this one and it will not
going to work, right? That particular voltage,
whichever the voltage you supply to keep that
motor in 180 degrees, that should be stayed. Right? So it should
stay for 4 seconds. So what should happen
after four second ends? I need to tell to the
computer, Okay, computer, you should do this
after 4 seconds, right? So I need to find it out
from my flow chart, right? After four second ends, it should come to its
initial position. That is what it
should happen, right? So for that, I
need to go back to this particular output option and drag and rob
this particular one. Or maybe I can
duplicate this one, and drop it here, and I just wanted
to delete this one. So here I need to drag
and drop this one, but I need to configure
it to zero degrees. Rotate servo on pin
ode to zero degrees. And then whatever the motor
is connected in this de pin, that particular motor
rotate to zero degrees. That means it should come to
its initial position, right? So I'm going to drag and drop this particular one below here. And then after, I need to configure what should
happen if it is not happening. That means if x is
not 30 centimeters. It's not detecting anything. That means I need to configure
that as well, right? So if it is not happening, and then the server motor should return to its initial position. That means rotate
servo on the de pin, and it should stay
at zero degrees, no changes in the motor. That is what should happen
in this particular motor. Right? So that is how
we can code the system, and see whether the
code is working or not. So now if I start this simulation and you can notice that what
will happen, right? So I'm going to click this one. Now you can see that 185.5
centimeter is there. And now if I move
this one particularly closer than this one
and take it away. And now you can notice that
the motor has been rotated to 180 degrees and after 4 seconds, it's returning to its
initial position. But now you can notice
that the returning is very, very slower, right? So in order to solve
that particular issue, what I have to do
is I have to go to this particular code option and go to this
control option and I need to drag and drop this
particular one below here. And I need to say that motor, and for the time it should take maybe 0.5 or 1 second, right? So you can type 1 second, right? And then you should copy this
one and paste it down here. You should put this one as well, because for the motor to rotate, it will take 1 second, so then it will be
configured like that. And if I start the simulation, now it will work fine. If I click this mark, and if I move this closer, and then if I take it away, now it will rotate after 4
seconds and it will come back. That is how we exactly make
that particular project. That is the code, right? So then after what we have
to do is I have to go to this particular block
plus text option and select all the codes, right, and control plus copy. And then I need to open up this particular arduino software to upload the C plus
plus code, right? And you know how to
upload the code, right? So we have to configure which port the dino
has been connected to, and then you have to select
the particular Arduino board. And then after you
can upload the code. Right? So before you
upload the code, make sure that the
code the dino is connected with your
smartphone or your computer, and then you can upload
the code, right? And also, you should make sure that the other external
power sources, right? That means if you are connecting your dino from the USB cable, and you should disconnect the other external
power supplies. If you supply the power to
the ordino from a battery, and then you should disconnect that particular battery, right? Then after you can connect your dino and your laptop
by using the USB cable, and then You can upload the code after the code
is successfully uploaded, and then you can remove
the USB cable, and again, you can connect the dino
with your battery, right? So I'm going to go
with this new option, and I'm going to delete
the existing code, and I'm going to paste
that particular code that has been obtained from
TinkerCAD software, and I'm going to
name this project. I'm going to save this one. As project three, and I'm going to go to this particular
desktop and save it. Now you can click
verify and upload. Before you upload, you should
configure these things, the board processor
and the port, right? And then you can upload the code after you have successfully
uploaded the code, and then you can wire the system according
to your wiring here, and then it will work. Right? So I will
upload the codes and the study materials and the nodes here in
the course, right? So you can find them out, and then you can work on
this particular examples. And now you can change
the values, right? So you can change it to 90 degrees and
change the duration, and you can connect
obtain another motor, and you can expand it. I just simplified everything
and taught you, right? Now, what you have to do is you have to practice
the same thing, what I have done so far, right? You have to practice
the same thing. Follow my steps, And then after you have successfully achieved our project
of this one, what I have achieved. Now you can expand
your creativity. Now you can explore your ideas. You can connect
maybe two SensRs, you can replace
the Sensar and you can connect two motors and
now you can expand it. First of all, you should
understand how they are working by following
my step by step guide. And then after you can practice whatever the thing
you want, right? So that is how my students
were practiced before. So let's mate on
the fourth project.
10. Project No 04 - Obstacle Avoiding Robot using L298N Motor Controller: And now we are going to discuss
about our fourth project, which is obstacle avoiding Robot using L 298 motor controller. And this is an easy
motor controller. That is why I have
used that one. It's very easy to learn. And before we get started about the project for
the technical things, I wanted to show you how the
robot is working, right? And before projects, we have
learned about the systems, and now we are going to
learn about mobile robots. That means it's a
movable robots, right? So here, I'm going to show you my previous students
homeworks, right? So this is a obstacle
avoiding robot, and you can notice that
how it is working. So it's the robot. If we turn on the switch, and then it will move. If there is any object
present in front of the robot and it will
rotate in right direction. Right? And if there is
another object present in front of its light and it will
rotate in right direction. So that is the condition
that the robot has. This is also a obstacle
avoiding robot. I'm going to explain you the simplified
version of the robot, and then you can combine what we have learned in our
previous projects, maybe the Smart Despin system and the home security system. You can combine them all, and then you can make
a robot like this, y? Because this robot,
particularly, contains an obstacle
avoiding robot, and as well as what we have learned in our
project number three. It has a servo motor as well and a ultrasonic
sensor as well. So you can combine them, right? So before, We have learned
three projects, right? And altogether, we will
learn five projects, but it is not limited to, right? You can make tons and tons of
projects if you understand the working principle of the sensors and the motors
and the devices, right? So that is what we
have to do, right? In each and every project, we have to understand about
their working principles, and then we have to apply
it on another projects. So that is how the obstacle
avoiding robot works, right? So it should move in
forward direction if there is any object present in front
of that particular robot, and it should turn
in right direction. So that is the condition
it should follow. And then the components
that we need in order to make that
Arduino jumper cables, breadboard, l298 motor
controller, gear motors. You can obtain two
motors or four motors. It's up to you and a
car chassis free wheel, battery, nine voltage
or 12 voltage, you can obtain, but it should be a rechargeable
one, right? Because the charge will
be quickly discharged. So then you should use
a rechargeable battery. And you have to use
ultrasonic sensor to accomplish the task of obstacle
avoiding robot, right? Okay, now we are going
to understand about L 20098 motor controller, right? It's pretty simple
and straightforward. So why I use motor control? I can directly connect that
particular motor into dino. So why I have a
motor controller. Right? So basically, the
problem is the DC motors, these motors are
requiring more amount of current to be flown through
them in order to work, right? So that particular
required amount of current will not be
drawn from or dono. So for that, we have to use
an external power source or battery to power the motors. But if you directly connect that particular battery with your motor, what will happen? It will continuously
try to rotate. If it's rotating, we cannot
control them, right? So according to our
desired position, we need to control the rotation
of that particular motor. All right. And the
second option why we use this particular motor
controller is here, we are not using a single motor. We are using two motors
combined together, right? So that particular two motors should be controlled to obtain
the motion in A direction, backward direction, left
and right directions. Right? So to control
everything up nicely. That is why we use this particular motor
controller, right? So now I'm going to explain
about the terminals. If you obtain this
particular motor controller, and here you have the
12 voltage pin, right? So in this particular
12 voltage pin, you should connect this with the batteries positive
terminal, right? You should obtain a
12 voltage battery or nine voltage battery. And then the positive terminal
should be connected to this particular motor
controllers, 12 voltage pin. And then after you
have to obtain the batteries ground and connect it to this particular ground
on this terminal, right? So you can use the shot
driver to connect this app. And then after you have another terminal called
as five voltage terminal. Why we have that particular
five voltage terminal, right? So that particular
five voltage terminal is to give the power
to the terminal. It's not an input. We cannot input any voltage
to this particular one? It's an output voltage, like in the rdinos five voltage. It's an output voltage. Why? Because we are connecting
this particular battery. Let's say we have
only one battery, and then that
particular battery is connected to this particular
motor controller. And then I wanted to connect the Arduino to be
powered up as well. So how can I power up That is why I have this particular
five voltage terminal, and then it should be
connected to the dinos pin. It's dino, right? Okay. It's dino Ordino pin should be connected from this particular
five voltage pin. Is that enough to
power up the dino? No, I should connect the ground
terminal as well, right? So that I have to
obtain another cable. I have to attach another cable
into this particular hole, and then I have to connect that particular one to here and connected to this ordinoGND
pin on the power pin, right? If I do so and then the
dino will be powered up. Right? So each and every
device should be powered up before we get the job done
from that device, right? So first of all, I have
powered up this device, this particular
motor controller. And then from the
motor controller, I have obtained the power to supply the voltage to
this particular dino. Now the dino is also powered up. Right now we have
the pins out one, two, out three and
out four pins. Why we have those pins? Those pins are responsible for the motors to be
connected, right? So this one should
be connected to this one and this one should
be connected to this one. Likewise, for the left motor, you can connect for right
motor as well, right? So this one should be
connected to this one, this one should be connected
to this one, right? So now I have connected the
right motor as well, right? And then after what you have
to do is you have to check whether the motors are rotating
in the desired direction. Why? Because in this
particular robot, right? You have connected
the motors with this particular motor
controller, right? So when we supply
the power, right? So this motor should
rotate in this direction, this motor should rotate
in this direction. That means the clockwise. So then only the robot will
move in forward direction. If you wanted to turn this particular robot in right direction,
what you should do. What we have to do is this particular motor
should rotate in forward direction while
this motor should stop. Right? That means this motor should rotate in
this direction for what direction while this particular motor
should be stopped. If it is the condition,
what will happen? It will try to rotate
in this direction about this particular
point, right? And if you alternate
that one and this motor is not rotating and this motor is rotating.
What will happen? And then the entire robo will turn in this
particular direction. That is how we achieve
forward motion, right motion, and left motion. So what happened
if you wanted to achieve the backward motion? For that, you should supply the voltage in
reverse direction. That means this motor should rotate in counterclockwise
direction, and this motor should also rotate in counterclockwise
direction. So then early it will work. So here, if you come
back to this one, you can alternate out one
to this one, this one. Likewise, you can
alternate the connection. But how can you
alternate that one? You have to ensure that one, whether it is correct or not. So if you wanted to ensure that the connection
is right or wrong, what you have to do is we have to understand about these pins. This is called as the first pin is enable this particular pin. But if you move closer, that means this particular
black color terminal. It is called as jumper pins. So this pin and this pin
are connected together. And this pin and this pin
are connected together. That means enable A and
enable B are short circuit. Because for the enable A, this one, the five voltage, this is a five voltage line. This five voltage line is
connected to this one. And here also, the
five voltage line is supplied to this
particular enable B pin. That means What will happen is these motors will rotate
in its maximum speed. So if you wanted to control the speed of that
particular motors, what you have to
do is you have to remove the enable enable BPN. You have to remove those
jumper pins and connect it to a lesser voltage than
five voltage, right? So how can I do that one? For that, I have to connect with the Arduino and supply
the desired voltage, maybe two voltage or three
voltage or four voltage, according to the speed
that ti require. Right? So those things
will be discussed later. Now I'm going to talk
about the in one in two in three and four pins. Those pins are here, right? So those four pins
are responsible for the motor to control
the direction, right? So if you supply five voltage to this
particular in one pin, and you supply zero
voltage to this particular in two pin,
what will happen. This left motor will
rotate in for direction. Right? And you supply five voltage to this
in three pin and you supply zero voltage
to this in four pin. What will happen is the
right motor will rotate in clockwise
direction. All right. So if you alternate
that one, right? So in this chart, you can understand them very
clearly, right? So if you wanted to obtain those two motors to run
in forward direction, what you have to do is, right? So this is the robot, let's say, you have a tire here and the motor two motors here, right? So if you wanted to obtain
the forward motion, this motor should
rotate in clockwise, and this motor should
also rotate in clockwise. For that, in one should be high, I one should be
given five voltages, and in three should be
given five voltages, right? While these two pins in two and in four pins should be low. That means it should be
given zero voltages. So then this motor will
rotate in this direction. Right? So if you want
this robot to be running in backward
direction, right? So the connection should
be reversed, right? So it should rotate
in counterclockwise. It should also rotate
in counterclockwise. So then in one should be
lower while in two is high. And in four should be high
while in three is low, right? So that is how we achieve
the backward motion. And if you wanted to turn this
robot in right direction, what you have to
do is you should not rotate this motor, right? And you should rotate this particular motor
in forward direction. Right? So the left
motor should rotate in forward direction while
the right motor is stopped. That is the condition. So how
can you achieve that one? So that one should be
high while in two is low. Here, don't changes. No changes, low and low. That means this
motor is stopped. Right motor is stopped. So this is for right motor. And this is for
left motor, right? So you should
understand that one. And the left turn, if you want this robot to be
turned in left direction, what you have to do is this
particular motor should be stopped while this motor
should be running, right? So right motor should rotate
in forward direction, this motor, while the left
motor is stopped, right? So then this motor is stopped. This is the left motor, and this motor should rotate in clockwise direction,
move forward, right? Okay. So then it should be
high in three should be high, and in four should be low. Right? So that is how it works. And if you wanted to stop that one and both the motors
should be stopped. So that is the condition, right? Okay. Now we can talk
about our aim, right? We have to design an obstacle
avoiding robot, right? For that, we have to achieve
these objects, right? So if ultrasonic sensor detects any object within 30
centimeter range, the robot should turn
right direction, right? So this is the arrangement
of that robot, right? So Here you can have the
ultrasonic sensor here, and the motors are there and the gina and all
the stuff there, and it should rotate
if there is any object present in front of the Sensa within 30
centimeters of range. If the sensa doesn't detect any object within 30
centimeters range, and then it's free, then the robot can move
in for what direction. Why? Because there is
no obstacles out there. And then the steps. These steps are similar, what we have learned in
our previous project. We have to make a flow chart
and design the circuit, develop the program, generate
the C plus plus code, and make the actual robot
and upload the code. Now I'm going to talk about how the robot
is working, right? I wanted to show you a video
that how they are working. So then you can get an idea and understanding about
that one further. Now, we are going to
draw the flow chart for this particular system.
It's very simple. We can start and read
from ultrasonic sensor. That particular
ultrasonic sensor in the front of the robot. Should read the reading, right? And whatever the reading, that particular reading
should be assigned as a variable called as x. And then after we should check
how much is the x, right? So if x is less than
30 centimeters, and that means the sensor is detecting something
within 30 centimeter. All right. So then the
robot should turn right. If it is yes, right, the robot has to turn. Why? Because there is an object in front of that
particular sensor. So what happens if that
particular condition is false. So that means x is
greater than 30. If it is x is greater than 30, that means there's no object to block the path of that
particular robot, right? So then the robot
can move forward. So that is why in
the no condition, the robot should go forward. After that, is there any
other reading available? We have to check
that one, right? If the reading is available, and then it will be lot again, is there any other
readings available, and that is the end
of the program. So that is the basic idea of drawing this
particular flow chart, but I'm going to talk about a little bit about
the turn option. So how can you turn the robot
in words? It's very simple. We should go to this
particular one, and we know if we wanted to turn our robo in
the right direction, we know that input
one should be high, and in two in three in
four all should be low. So now you can think about like how we did
for the LED bulb. Right? Let's assume that
in one has an LED valve. I two has an LED valve. I three and in four, they are all having LED valves. Now you wanted to only turn
on the first LED valve. What will you do? Right? So you will try to power up that
particular in one only. That means whichever the first
LED bulb is connected to, you should power it up. That means you will provide five voltage to that
particular bulb. So the same thing will
be applied to this particular in one pin,
right? It's very simple. No need to confuse
about this one. When I'm wiring this one, you will understand this more. Right? So if you come back here, so how can you move the robot
in go forward direction. That means if the
condition is not true. So it should go in
forward direction. So how can you achieve that
particular forward motion? It's very simple.
You should power up. That means you should provide five voltage to the in
one pin and in three pin, and all the rest of the
pins should be low. So that is the case that
we are going to discuss. But if I wrote the diagram, and if I code it, and then you will understand these things very easily, right? So let's get started to create
this particular circuit. Don't worry. Don't
confuse. It's very simple. I will tell you how
you can step by step, throw this particular
wiring diagram. It's very easy, right? So let's get started. And I'm going to name this as four it's project number four, and I wanted to make all the
components available for me, I wanted to insert an
gino here and bred board and an ultrasonic sensor. I'm going to install this
particular four pin sensor and the motors, the DC motors. So here it is. I have
to insert two of them, and then after I need
to insert a controller. So the controller is a
problem here, right? So what I have explained to
you in the slides, right? In this particular
motor controller, it's called l298
motor controller. But here, we have l293d
motor controller. Those are different
motor controllers. But the function is same, right? So I will tell you what is the difference in
this particular one. You can practice by using this
particular motor control, but the coding is same, right? So no need to change the coding, but wiring may be
slightly different. I will tell you what is
the difference, right? So I'm going to
type motor control. So here you have another
motor controller, right? It's a Polo motor controller. This is not what we
are going to use, and I think I need to
type L 293 D. Yeah. So H bridge motor driver. So this is the one I need
to insert in here, right? It's like an IC. So
what I'm going to do is I'm going to align
them all like this, So I'm going to insert this particular one in
the middle like this. And it's very simple, no need to confuse anything. So here, if you wanted to wire this particular
sensor, it's very simple. You should connect
this particular VCC to this positive terminal and the grow to this
particular grow. I'm going to change the color. To blue and this one to be red. Now I'm going to connect this trick pin on the
eighth pin of the Arduino. Change the color, and the eco pin to this ninth pin on the Arduino
and change the color. Now I have finished
up the input ir. Now what I have to
do I have to connect the output ir It's very simple. What we have to do is we have to power up this
particular C. Right? So if you move closer, and here you can
notice that it's enable one and enable two pin. It's in one. It's
output one, it's grown. It's also grown. It's out two. It's in two, and
this is power two. That means in this side, I have some kind of pins, right? So these all pins are
responsible for one motor. And this particular side on the abo is responsible for
this particular motor. So that is how I'm going
to connect it, right? So here, I told you that I need to power up this particular
motor controller. So that I need to connect this particular power pin
with this positive terminal. I need to connect with this one and should be connected to this pin. So that means I have
given the power to this enable one and two,
and power pin. That means that
this particular one has been connected with
this positive terminal. What I'm going to
do is I'm going to connect this
particular ground. Here we have two grows, and those two gros should
be grounded like this. I'm going to change the color
blue and blue like this. Now, here we have in one pin and out one pin out two
pin and in two pin. Here, you can notice
that out one pin and out two pin are
responsible for the motor. If you open up this
particular motor controller, out one pin and out two pin are responsible for the connection
of this particular motor. I'm going to connect the
motor with those pins. This particular
positive terminal, I'm going to connect it with
this particular out one pin. Change the color to red, and this particular pin, I'm going to connect it with
the I think this is two. It's out two, so I need
to connect it like this, change the color to blue. Now I have connected the motor with this
motor controller. Now I have only two pins. Those are responsible for the control of this
particular motor. Right? I one and in pin. If you supply in one five
voltage and into zero voltage. This particular motor will
rotate in forward direction. That means clockwise direction. If you supply five voltage
to this particular in two pin and zero voltage to
this particular in one pin, and then the motor will rotate in counter clockwise direction. So that is the theory behind it. So that I'm going to
connect this particular in one pin with the dino right? I'm going to connect
this particular pin to this particular second pin
of the albino, like this. I'm going to change the color to maybe a green color because
these are signal pins. So I'm going to connect
this particular into pin. To the third pin. Change the color slightly
a bit, maybe a purple one. Okay, now I have
connected this in one pin to the second pin in two pin to the third
pin of the window. So now I have finished up the wiring for the left
side of the motor, and now I'm going to deal with this particular right
side motor, right? It's also similar. Now how I'm going to
connect is like this. I'm going to obtain
the power from here. And connect it to this one. I'm going to change this to red. I'm just obtaining
the power from here and connect it to
this particular line. So I can connect straight forward how I have
connected like this. So then you can understand
the wiring diagram easily. That is why I'm connecting. If you understand
the wiring diagram, you can connect however
you like it, right? So I'm going to connect this
particular line to here, change the color to blue. Right. So now I can connect
it straight here, right? So here, this is
the power one pin, and I have the enabled three
and enable four pins, right? So these pins should
be connected to the positive terminal like this and this one. So that's up. Now I have to ground and this, this ground should be grounded
like this and like this, change the color blue, and this should also
be in blue color. Okay. Now I have four pins available for me to configure. It's very simple. I need to obtain
this out three pin. This is the pin, and I
need to connect this out three pin with this particular
positive terminal and change the color to red and obtain this negative
terminal and connect it to this particular four termino. So here, I have only two pins remaining for
configuring that one. I need to connect this
particular entre pin and info pin to this particular
arduino, and here, this particular tri pin
should be connected to this dinos fourth pin, right? And I'm going to obtain
this particular info that should be connected to this particular
binous fifth pin. Change the color to
slightly orange. Okay. So that's it. That is how we exactly connect them to the dino and
this one, right? So here, now I have to give the power to
this particular item. So I I can obtain this particular five
voltage from here from the dino and connect it to
this pin on the breadboard, change the color to red, obtain the ground from here, and connect it to the
dinos ground as well. Change the color to blue, right? So now I have wired up
everything else, right? And let's check whether
it works or not. How can we check it? We
can't check directly. Why? Because we
need to program it, whether it works or not. We should program this, so then only it will work. Okay, let's do the
programming work, right? I'm going to go to this
particular code option and delete the existing code. Expand this a bit, right? So if you wanted to code, you should go back to this
particular flow chart. Here, I'm going to quickly
go through with this one because this is the fourth time I'm saying this
particular same thing. I'm going to quickly
control them, read from ultrasonic
sensor is here. I need to read from this
particular ultrasonic sensor, and they are connected to this
eighth spin and ninth pin. I'm going to select eighth
spin and ninth pin. I'm going to go with this
particular centimeters. Now I need to assign that
as a variable called as x And then I have to set that particular
reading as x, right? This thing, you know
how to do this one. Now, I wanted to check x is
less than 30 centimeter. Is it true? I need to check it. For that, I need to go to this control option
and drag and rob this particular function in
this particular function, I need to insert
a math function, and this is the function. It has this particular icon, that means less than or
greater than symbol. I need to drag and rob this
particular one into this one. Then I have to go to the variables and drag
and rob this x here. I'm going to change this to 30. That means if x is less than 30 centimeters
and this will happen. You know what should happen. So here, if it is
yes, turn right. It should turn in
right direction. So how can you make that particular one to
turn in right direction? You should come to this
particular chart and understand. This is what should happen. It should turn right direction. I one, only high and all this in two in three in
four pins should be low. So that I'm going
to do that one. So it's in the output section. It's like I told you that. It's like turning
on the LD b, right? So I'm going to set this pin and copy this one
for four times. Why? Because I have one, two, three, and
four pins, right? And then I need to
configure the pins. This is one pin. This is two, three, and four. If you notice that, it's
d two, d3d4, and D, it's two, three, four and five. If it is like that,
this is in one, this is in two,
this is in three, and this is in four. Right here in the chart,
you can come here, and you can notice that
what should happen if it should move
in right direction. In one only to be high and all the other things
to be low, right? So that I'm going to
make this only for high, and the rest of the
things should be in low. So all these to be low. So if there is any object
present in front of the sensor, that means there is an obstacle
in front of the robot, and then the robot will
turn in right direction. And then if there is no object
in front of the sensor, that means this
condition is false, and then this will happen. That means the robot should
go in forward direction. For that, I need to duplicate this particular four blocks
and paste it down here. Then for the forward movement, I need to set this
particular line. In one should be high and
in three should be high, and in two and in
four should be low. That in two should
be high in three. The fourth pin is responsible for the connection of in three. So this one to be high
and two should be low. Then if it is not true, that means there is no object
in front of the sensor and then the robot will move for this
particular condition. So let's try whether
this code works or not. This is the coding. Let's try. So now you can notice that
it's rotating 140 3:00 P.M. And 140 3:00 P.M. Right? So if I move this one to closer closer and closer,
less than this one, now you can notice that in
this particular instance, this particular motor is stopped and this particular left
motor is still rotating. What's the meaning of that one? Yeah, you guessed it, right? So this is not moving,
and this is moving. So then it will have a rightward
turning movement, right? So if I take it away and then there is no object
to block this one, and then the robo will
move in forward direction. And if there is any
object present, and then it will turn
right direction, and then it will go forward. So that is how we can make a simplified version of
obstacle avoiding robo. Right? Okay, so this is a simple task and
you can achieve this. It's very simple to make it
in the Tinkercad software. You can make this and
practice this one. I told you earlier that
you should achieve the simplified version
of whatever I teach you. And then after you have to expand and complex the project. So if you obtain
this particular one, actually, it will not
going to work accurately. Why Because the turning
movement will not be efficient. That means the right turn
will not be efficient. If you practice that
one physically, so then you will feel that one. Why? Because you
can come over here. Right? So here, in here, this motor is not rotating, and this motor is rotating
in forward direction. So then what will happen is the robo will
slightly move here, and then it will turn like this. So this is what will happen
to this particular robo. That means it will
go in for direction, and then it will turn. It's not the actual 90
degree turn, right? You can think about
that one, right? So if you wanted to make an
accurate 90 degree turn, what you have to do
is, it's very simple. You can think about it, right? So if you want to make
an accurate right turn, what you should do is, you have to make this particular motor to be rotating in
backward direction, and this motor should be
rotating in forward direction. So can you think
about it, right? So if this is the condition and now you can think about it, this particular robo will suddenly turn in
right direction. Why? Because this particular
tire or the motor is rotating in backward
direction while this particular motor is
rotating in forward direction. And then this particular
robo will turn accurately. Right? So that is how
we can exactly achieve that particular accuracy
in this robot system. And let's try that one too. What I'm going to do is I'm
going to explain you how we can exactly turn in
right direction, right? So here you can notice that. If it is the right turn
operation of the robot and the left motor should
rotate in forward direction, while the right motor is
rotating in backward direction. You know how to rotate that particular right motor
in backward direction. You should power up this
particular in four pin. It should be high while
the three pin is low, so that you can achieve a backward motion of
that particular motor. Then for the left motor to
rotate in forward direction, you should make
this one as high, in one should be high, and two should be low. Right? So same can be
applied for this left turn if you want to code the
robo for the left turn. And I'm going to stick with
this particular right turn. So I'm going to change
the code slightly a bit. It's very simple. You
can come over here. And for the right turn, in one should be high and
info should be high. Here, for the right turning, in one should be high, and info, this is the pin. Fifth pin is connected
to this info pin, so that I need to
change this to high. In one and info should be high. If it is the condition, now you can test what
happens to this one. If I click this here. Now, if there is any object present in
front of the sensor. Now you can notice that this motor is rotating
in backward direction. That is why we have a
negative sign here, and this one is rotating
in forward direction. So that means the robot
will turn accurately. That is a one tip for
achieving the accuracy. Now, what I'm going to do
is I'm going to slightly change this one to
increase more accuracy. So if you wanted to
increase the accuracy, what you have to do is, you have to control the speed
of this particular robo. It may be a difficult
thing for you, but it's not that much
amount of difficult. If you put an effort to
understand this one, it will be very easy, right? So now, what I'm going
to do is I'm going to control the speed
of the two motors. And then when it's turning or when it's moving and the
speed will be reduced, and then it will feel
accurate turning movement. Right? It's very simple. What you can do is
you have connected this particular enable
this pin to five voltages, and this particular
enabled three. This is enabled pin, it's enabled a pin. So this pin is connected to this particular five
voltage, right? So what I'm going to
do is I'm going to delete this wire and this one. Now, what I'm going to do
is I'm going to connect this particular enable to be connected to the sixth pin and change the color maybe pink. And obtain the
enabled three pin and connect it to the
ordinose seventh pin. So if I connect like that, I have additionally two
pins to configure it. Here, you have a sixth
pin and seventh pin. Those two pins should
be configured. But here we cannot be
able to configure it. Why? Because it's a digital pin. If you wanted to control the speed of that
particular motor, you cannot control by
using the digital pins. Why? Because the
digital pins are responsible for providing
only zero or one. For that, what I'm going
to do is I'm going to use the PW pins to
configure them. Right? So that I'm going to disconnect this particular wire, connect it to this 11th pin, and I'm going to disconnect this particular wire and connect it to this
tenth pin, right? So if I do that, what will happen is I
have connected with this PWM pins and now I can change the code
like this, right? So here, I have to additionally add this particular
program over here. I need to insert two times
because I have two motors. This particular left side motor is connected with
this tenth pin, that the tenth pin, I have to configure this one, and the 11th pin, I need to configure this one. Here, what you have is it has an option to set
that particular pin. Here you can change
the values in 0-255. If you set that to 255, that means it will rotate
its maximum speed. That means it will operate
in its maximum speed, it will be given five voltage
for all the time, right? So if you set that particular
PW and pin maybe to 100 and then it will rotate
in the medium speed, right? So I'm going to go with
this particular hundred. And now I'm going to
copy this one and paste it down here and
stay that one asp, because the speed is
not going to change if it is moving
rightwards or forward. Now I'm going to test this one, whether it works or not. Now you can notice that what has happened to these motors. Previously, the motors were running at a speed of 140 8:00 P.M. And now they are rotating
at a speed of 60 RPM. Right? So here, even if I move this particular
object near to the sensor, and now you can notice
that it's rotating in backward direction while it's rotating in forward direction. So if you are not satisfied
with the speed of the motors, what you can do is you can go back to the coding
and change the speed, maybe 75 and 75. Because if I wanted to change
the speed of this motor, I need to type each and every
time all the values, right? For that, I'm going to assign a variable for
that particular speed so that I can change the speed whenever I have to change
that particular speed, right? So that is the best practice. I need to consider that one. For that, I'm going to go with these variables and
create a new variable called as speed or maybe you can change whatever the name
you like it and click. Now I need to drag and drop this particular set
condition here, and this particular speed
variable is initially set 2705. Or maybe 100,
whatever you like it. Then initially, the variable
speed is set to 100. Now, what I'm going to do
is instead of 75 here, I need to drag and drop
the variable here. If I do that one,
you can notice that the tenth pin will rotate
at this particular amount. That particular amount is
already configured as 100. That is the best practice in
the coding exercise, right? So if I wanted to change
the speed, what can I do? I can change this one, maybe 60, and then all the
things will be changed as 60. That is why we assign
variables, right? So if I start simulation, you can notice that the speed
will be further reduced. You can notice that it's
rotating about 30 5:00 P.M. Likewise, you can play around
with these things, right? You can add an L valve, you can configure a server
motor additionally, and you can even you can insert two additional motors to
obtain a four wheel robot, and then you can play around
with these things, right? So I hope you understand
about this one, and that is all about this
particular project, right? So if you wanted to achieve this particular
project in real time, you have to change your wiring. So the code will not
going to change, right? So you have to obtain the code by obtaining block plus text, and then you can copy this
particular code here, right? And then this code
should be
11. Project 05 - Line Following Robot: Okay. Now we are going to discuss about
our fifth project, which is line following robot. Line following robo
is simply like this. On the floor, we
will draw a line, which will be a
black colored line, and then our robot will
follow along the line. Why do we have this kind
of particular robot? What is the usage of this one? Basically, in factories, We transport material from
one place to another. And in those materials can be transferred by these
robots, right? So in this project, we are going to make a
small prototype which uses two IR sensors to make this particular
line following robot. It's very simple and
straightforward, I will explain you how we
can design the circuit, how we can make the program, and how we can upload
it It's very simple. We are going to use L
20098 motor controller and two IR sensors with addition to Avino batteries and
the Cortes kit. So it's very simple. I will tell you how
you can make this one. So here, as an example, you can see this is an example
for line following robot. And it moves along the path that we pre
define it on the floor. Here, you can notice
that the floor is on white color and the
line is in black color. It's important to have
the black colored line because the IR sensors will detect that
particular black color. Why? Because in those
particular R sensor, we have two bulbs. They are not bulbs. The one is a transmitter and
one is a receiver, right? So the white color one is a transmitter and the black
color one is a receiver. And the white color
LD valve will emit a R signal, IR light, and that particular light
will be sent to the floor, and then it will reflect it back to the black
colored LD valve. So what happens is when it
is on the white surface, the reflection will be maximum. So then all the IR rays will be reflected back to the
black colored receiver on the R sensor and then the R
sensor will provide a signal. That is why the LD valve
on the sensor is there. Right? So here in the IR sensor, we have two power LED bubs. So the first one is
for the sensors power, and then the second LD bulb is for the signals power, right? If there is any signal, that means if there
is any reflection coming back to the sensor, and then the second LD bulb
will also be turned on. And if it is on
the black surface, what will happen is the
black color surface will absorb all
the infrared rays. All right. So then there
will be no reflections. And then for the receiver, it doesn't receive anything. And then after in the censor, the LED bulb will
not be turned on. So that is how it works, and then we have two of them, and the two censors, if they are both
detecting something, that means our robo is
on the white surface. That means it should move
in forward direction. Right? So if one sense are sending the signal and
another one didn't, and then we have to go
for the turning motions. I will explain it to you later. Let's watch this video
completely. This is how it works. If you wanted to end the robot, you should have a T
junction like this, then it will be stopped. And this is another
example for that one. Okay. And here it
will also follow the line that we set
on the floor. Okay. Okay, this is the robo that we are going to make. So this is how it works, right? So here, this is a
black colored line, and our robo has to follow
that particular line. So if you wanted to move the
robo in forward direction, what we have to do is the
condition should be satisfied. What is the condition? The condition is two sensors detect that particular
white surface. All right. So if the left censar
doesn't detect anything, that means the left censur
is on the black surface, and white sensor is
detecting something, and that means the right censor
is on the white surface, and then our robot has to
turn in left direction. Likewise, you can think about what should happen
for the right turn. The right censor doesn't
detect anything. That means the
right censor is on the black surface and the left censor is on
the white surface. Then there should
be a right turn has to be done for
that particular robo. These are the three motions
that we have to consider. And we know where to stop. Right? So this is the
condition whether the robo has to stop or
it has to move, right? So here, if there
is a t junction, and then the both two sensors are not detecting something. That means those two sensors
are on the black surface. That means that is the
end point of the robo. On there, a robo has to stop. Right. So coming
back here and we know that if we wanted to
achieve the forward motion, we know what to do with
our motors, right? So the one should be high and in three should
be high, right? So then our left motor will rotate in
clockwise direction, and right motor will also
rotate in clockwise direction, and then our robot will
move in forward direction. Okay. So likewise, you can
consider the left turn. So in one should be low, in two should be low. That means there is no rotation
on the left side motor, and we set in three to
high and in four to low. That means our right motor will rotate in
clockwise direction, and that means our robo will
turn in left direction. Likewise, you can think
about on the right turn, and in one should be high, in two should be low. That means our left motor will rotate in
clockwise direction. And three low and
info is also low. That means our right
motor is not rotating. That means our robo will
turn in right direction. So that is the condition
we have to adhere to. But if you wanted to move the robo accurately,
you know what to do. In our previous project, I have explained to
you how you can turn our robos in right direction or left direction accurately. Right? Okay. So now, we are going to
create our flow chart for the project of
line following robot. It's very simple, right? It may be confusing
for you to see, but it's very simple, right? So here, we have to start it, of course, and read
from left sensor. Here we have two
sensors present, right? So the left sensor should
read something and that particular reading log is monitored and it
is assigned as x. Therefore, let the reading be x. And then after we
have to read from the right sensor as well, right? So we have to Simultaneously, we have to check both
of the sensors, right? So for the right sensor, the reading is y. Let the reading be y. So we have two
variables x and y. So we have to check
both of the variables, whether they are on the black surface or
on the white surface. It's very simple. So if x is equal to one and
y is equal to one, what is the meaning of that one? Right? X is equal to one
means x is providing signal. That means the left
sensor is providing signal and the right sensor
is also providing signal. That means all those two
sensors are on white surface. So what is the condition
that the robot is facing? So basically, that
particular condition, our robot has to
move forward right? So that is the alignment, right? So it has to move in
forward direction. If the condition is
false, what will happen? And then there is
another chance. So here we have four chances. So if x is equal to zero and y is equal to one,
what will happen? Right? So that means
the left sensor is on the black surface and the white sensor is
on the white surface. So that our robot has to
turn in left direction. So then it will be aligned. So if that is also false,
so what will happen? And then we have to check the condition of x
is equal to one, and y is equal to zero. So in that particular condition, our left sensor is
providing signal. And our right censor doesn't. So in that particular se, right, our left sensor is
on white surface, right sensor is
on black surface. So then our robo has to
turn in right direction, so then only, it
will be aligned. Even if that is also false, and we have to check
the fourth condition, which is the last
condition, right? So if x is equal to zero, and y is equal to zero. So what will happen in
this particular condition? Both the sensors are not
detecting something. That means both the sensors
are on black surface, and then we know that that is the stopping point of our robot. Right? So in here, either one of these conditions should be satisfied, right? And then our robot will
adhere to that one. So we have four
conditions, right? So these are the
only four conditions that the robot can have, right? More than that, it cannot. And if you are using
two sensors, right? So if you are using
three sensors, the condition you will have eight different kinds
of options for you. And then you have to
compare X, Y, and Z. If you are using three sensors, you have to compare
three sensors together. So then you will have
eight different chances. I'm not going to
explain it to you. If you want, you can
do that project as well by using three
sensors, right? So here we are going to achieve this particular
simplified version of this line following robot. Okay. Now I'm going to
make the circuit for you. Before I explain the circuit, I just wanted to show
you an important thing. Sensor calibration. This is very important. This is the IR sensor, and this is the power. This is the signal it, and here we have a potential
meter for calibration. So if the sensor is powered up, that means the VCC and ground pin are connected
to the power source, maybe a battery or Arduino, and this particular power
LD will be turned on. That means the sensor is
ready to detect something. If this particular signal
LD is also turned on, that means this particular
surface something. There is something in
front of this one to reflect the IR signals
back to this receiver. So if we place this particular sensor in front of the black
color surface, and then the signal it
will be turned off. If it is facing on
the white surface, it will be turned on. And also, we have to consider the distance between
the sensor and the floor. There should be a very, very minimum amount of distance, maybe within 3 centimeters, maybe 2 centimeters
or 1 centimeter. So that will be the range that the sensor can work
perfectly, right? Now, you have to obtain
a screw driver to adjust this particular
potentiometer. How can you calibrate
the sensor? It's very simple, if the sensor is facing
the white surface, and there should be
signal LD turned on. For that, if the LD
is not turned on, you have to manually adjust that particular potentiometer
by using a screw driver. You have to rotate it until the signal comes on that
particular signal LED. That is not the end
of the calibration. Again, what you have
to do is you have to place your sensor in front of
the black colored surface, and then you have to adjust the knob until the
signal turns off. And then after you have to recheck that particular
two conditions. You have to place it
on the white surface, and you should see the
signal is turned on. And you have to place the
sensor on the black surface. You don't change anything
on the potential meter, and the signal LAD should
be turned off, right? So if it is satisfied
the condition, that means you don't
have to calibrate more. That means you don't have
to turn the knob anymore. Why? Because the sensor is
calibrated perfectly, right? So hope you understand
about this one, right? So after you have calibrated the censor, it's very simple. What we have to do is we can do the wiring and we
can make the robot. Okay. Now I'm going
to do the wiring. So here, I'm going to go to the circuits and click
Create New circuit. And here, I'm going to name
it as project number five, make all the components
available for me. Drag and Rob Urbino, breadboard. Here in this
particular software, if I wanted to
demonstrate it to you, It's a bit harder for me. Why? Because here we
have an R sensor, right? So that particular IR sensor
is not this IR sensor. I have explained to you. This is the IR sensor we
have to use for our project. That means the line
following robot. And here that particular
sensor is not in the tinker cat you have this
one, this particular sensor. This is not the desired sensor
that we are going to use. Why? Because this is for
this particular remote. Okay. So I'm not going to
insert this one, right? For the demonstration purpose, I wanted to use this
particular PIR sensor. I know this is not the sensor that we are
going to actually use, but I wanted to demonstrate
to you how it is working. Then I can start
simulation and make adjust the knob and I can show it to you how
the robot will work. So that is for the
demonstration purpose. I'm using this sensor, right? So I'm going to have two of
them. You can imagine that. This is the left sensor, and this is the right R sensor. Why I choose this one? Because this sensor
has three pins, and this sensor is also
having three pins, right? So the similar wiring
can be done for them. Okay. Now, I wanted to
insert DC motor, right? So here, I have to drag and
drop it two times like this. So what are the rest of the
components that we have? We have to have a motor driver. H bridge motor driver. I'm going to drag
and drop this on the middle, and that's it. What I'm going to do
is I'm going to wire up this particular two sensors. You know how to wire them up. This is a signal pin, is a power pin, this
is a grown pin. The power pin should
be connected to this positive, change it to red, and the grown pin
should be connected to negative and should be blue. And the signal pin here, I wanted to use
this sensor, right? So this is actually
an IR sensor. This particular IR
sensor can also be used as a digital sensor
and analog sensor, right? So here, I'm going to use it
as a digital sensor, right? That means if it is white,
there'll be a signal. If it is on the black surface, there will be no signal. For those two conditions are there for this
particular sensor. Therefore, I wanted to
use it as a digital one. I'm going to obtain this
particular signal pin and connect it to one
of these digital pins. I'm going to go with
this eighth pin and change the color to yellow. Similarly, I wanted to wire
up the right sensor as well. This is the power pin, should be connected
to this positive. This is the negative
grounded, right? And here, I wanted to obtain this cable and connect it
to the ninth pin, right? Now I have finished
up the input wiring. Now, what I wanted to do is I wanted to wire up
the output wiring. That means the motors and
the motor controllers, et cetera. It's very simple. I wanted to connect this motor
controller with the power. That I have to connect
this enable a pin. This is enable A, and
this is enable B. Enable A should be
connected to this one, the power and the
power pin is here. So this is also should be
connected to this power. And here we have the pin
O one and O two pin. Those are for this
left side motor, and I'm going to obtain
this one and connect it to the this one, obtain this cable and
connect it to the out two. This one. It should be
black or maybe blue. Similarly, I have to do it
for this motor as well, but I didn't finish it one. Here I'm going to
finish this one. I have to ground
these two things. It's very simple,
ground it, ground it. Right? So now, what
we have to do is we have two pins in
one and two, right? I'm going to connect this
particular in one pin, right? So this in one pin
should be connected to the second pin
of the Arduino, and in two, this pin should be connected
to the third pin. Change the color slightly. Okay. Now, I have to connect
this with this motor. To do that, what I'm going
to do is I'm going to obtain a power from here and connect it to this particular line as well. Here, I wanted to
obtain the power from here and connect it to
this particular line. I wanted to obtain this line
connected to this line. This should be blue. That means this line and this line are
connected together, so then I can wire up this
motor controller quickly. I need to connect the power.
This is the power pin. It should be in a red color one, I need to connect this
enable B pin with the power. Then I have to ground it, and these are grounds. I need to ground it like this. And this. So we have four pins. Out three is this one. This is for the connection of the motor positive,
right motor positive, O four This one is for the connection of
the right motors negative. Then I need to
change it to blue. Now we have two pins left
in three and in four. I'm going to obtain
this particular in three pin and connect
it to the fourth pin. Change the color to pink, and this one, info, this is info pin and
info pin should be connected to fifth pin. Change the color.
Maybe a green color. Okay. Now I have wired up
everything. It's very simple. Now I need to provide the
power to this particular pin. I need to obtain it from here in the softire but actually
it's different. I need to obtain the
power from the battery directly and connected
to this particular line. If it is the soft tare, you can obtain the
power from here on the bino and
connect it like this. No worries it will work. But if you are using
the actual system, you have to obtain
the power and connect it from the battery. Okay. Now I have
finished up the wiring. It's very simple and
straightforward. No need to worry
about those things, and I have the flow
chart with me, so then it will be very easy
for me to program, right? So I'm going to
start with this one, and read from left y sensor. I'm going to go to
this code option and delete the existing code. I'm going to expand this a bit. In here, I have to go to this input and it's
a digital pin. Then read from digital pin. Which pin I have connected
the left R sensor? This left this is
a motion sensor, but this left R sensor is
connected with the eighth pin. Then I have to
select eighth pin, and I need to assign a
variable and that is x. You can notice that
in this flow chart. Let the reading be x, right? I need to create a
variable called the as x and that one has to be set. This x should be the reading
of this left R sensor. Similarly, I have to do the same thing for the
right sensor as well. These two things should come
to this sensor as well. Right? So what I'm going to
do is I'm going to create a new variable called as y for the right
sensor and click, and I'm going to duplicate this one and paste it below here. I wanted to change
the variable to y and y is responsible for the connection of
this right sensor, and you know that
the right sensor is connected on the
ninth pin of the dw. I'm going to go here and
change the pin to nine. Okay. Now we have
defined two variables, and if I opened the flow
chart, and you know that. This is an and
function condition. This is an I and function. On that I and function, I have another IL function. If it is no, that means
in this function. If it is false, I have
another If function. If it is false, I
have another one. If it is false, I
have another one. That is how it flows. So here, I have to insert
a if and function here. It's very simple, drag
and drop it here, right? In this particular
if and condition, I have to insert this one. X is equal to one and
y is equal to one. I have two variables
to configure them. For that, I have to go to this math option and
drag and drop this one. So this one, I can have only one variable and
one configuration, right? For that, I don't want
this one directly. I wanted to have two of them, right for x and y, right? I need to set here as x. So for the variables, I need to drag and rob this one, and I need to set
this like this. If x is equal to one, right? So I have to select this
equal function, and one. And for the right sensor, I need to drag and rob this one and select
the equal condition, and I have to check whether
it is equal to one or not. But these two conditions, that means the left
side reading of the sensor and the right
side reading of the sensor. They should be done At the same time. They should be done
simultaneously. For that, I have to insert a condition called as
this one, condition. That means this condition
should come over here and this condition
should come over here. Now you can read it, x equal to one y
is equal to one. That means all those
two conditions should be happening
at the same time. If you want, you can change it to but not in this project, if you're doing another project, if it is an condition, that I need to drag and drop the whole thing into this
particular function. Now if you read it here, you can understand x is equal to one and y
is equal to one. If this is the condition, right? If this condition is true
and this will happen. If this particular
condition is false, the LS will happen. I'm going to write this one. What will happen if it is true. I need to go back to this one. If it is true, you know
what should happen. The robot should go
in forward direction. If your robot should go
in forward direction, in one should be high, in three should be high, and in two and in
four should be low. For that, I need to drag and
rob this one four times. Why? Because we are having four terminals
in one in two in three, and in four pins. So that we have to
have four outwards, and we have to configure
them all, right? So here, if you move
closer, two, three, four, five, two is for in one, three is for in two, four is four in three, five is four in four p. I
need to set them like this. In one should be high, and in three should be high. In one should be high, in three should be high, but this particular
in two and in four, they should be low. All right. So now if you read the program, you can understand left
sensor is detecting. That means it's on
the white surface, right sensor is detecting. That means that is also
on the white surface, and then the robo will
move in forward direction. If that is not happening, I have to check it again. For that, what I have to
do is I have to go back to this flow chart and see
if x is equal to zero, and y is equal to one. I have to check this
particular condition, whether it's true or not. If it is true, the robot should turn left. If it is four, I need to check the other
condition, this one. All right. So I'm going
to check this one. It's very simple, right? What I'm going to
do is I'm going to simply right click this one and duplicate this one, right? So this is the one I have here, and that one should
be pasted down here. And now you can edit it. How can you edit that one, x is equal to which one
x is equal to zero, and y is equal to one. X is equal to zero, and y is equal to one. If this is the condition, that means if this condition
is satisfied or true, and then the robot should
turn in left direction. For that, you have to go here and for the left
turn, you know what to do. I three should be high and all the other terminals
should be low. Right? So here, in three is with this particular one and
all the other terminals, I one, two, in four
should be low. This is the condition.
What happened? If this is false. You can read the program
very well, right? So what happened? If this is false, right? If that condition
is not satisfied, it's not true, and
then we have to check this condition, right? So, what I'm going to
do is I'm going to duplicate that particular one again and paste it down here. So here, what you
can do is you have to set this
particular condition, x is equal to one,
y is equal to zero, x is equal to one, and
y is equal to zero. Then what will happen?
That means x is on the white surface and y
is on the black surface. Then our robo has to
turn in right direction. If you wanted to turn our robo in right direction, in one only Should be high and all the
other things should be low. For that, what I'm going to do is I'm going to make
this in one should be high and all the
other things should be low and all the other
things should be low. That is the third condition
that we have to consider. And the fourth condition. Here, we don't have to
write the fourth condition. Why? Because if these
three conditions are not satisfied in a line, and then this is the
exact condition that will come because that is the rest of the
condition we have. For that, I don't need
to write anything here. I can just simply duplicate this one and
paste it down here, and then I can
configure what should happen if this is the condition. And then the robot should stop If this is that means
you can notice that here. First of all, I'm checking whether both sensors are
on white surface or not. Here, I'm checking whether
the right sensor is on the white surface or the left sensor is on
the black surface, then it should turn left. Right? Here, the
left sensor is on white surface and the right
sensor is on black surface, then it should turn right. And if those three conditions are not satisfied one
after the another, and then our robot can
have only one condition. That particular
condition is the stop. The robot should not. Why? Because the robot
is feeling a t junction. That means the end If it
is, you know what to do. If it is the end,
all the things, all the one in two in
three and in four, all those pins should be low. That is the program
we can write. It's very simple. So let's
check whether it works or not. I'm going to click the
start simulation Okay. And for the
demonstration purpose, I have inserted two
sensors, right? So here, the sensor and
the sensors all together, those two sensors together
are not detecting. That means If this is the case and then
actually practically, the robot will be on
the block surface. That means these two sensors
are on the block surface. That means it's a T junction and then our robot
will be stopped. That is why there is no
rotations in the motor. If you move this
particular sensor and now you can notice that, this one is rotating. Why? Because the sensor
is detecting something. That means the sensor is
on the white surface, but this is still on
the blood surface. Then our robot should
turn in left direction. Again, you can
click this sensor, and if you move this
particular sensor, now you can notice that this particular
motor is rotating. Why? Because this sensor
is on the white surface, and this is on the
black surface, and then our robot
has to turn in right direction to align with the particular pre defined
line on the floor. Now, I think it's
difficult for me. I need to adjust these
two sensors together. Right? So if I adjust these
two sensors together, right? So then you can notice that both motors should be rotating
in forward direction. That means this is also
on the white surface. This is also on
the white surface. So then our robo will move
in forward direction. Hope you understand about this particular line
following robot, and this is the simplest way of creating the line
following robot, right? It's the simplest way and
the simplest program. If you want to achieve the accuracy of the turnings
and all the things, you have to work additionally. Right? So what you have to do is you have to set up the
speed of the motor, and then you have to configure the turning
motions of the motor, right? That means you have to consider the accurate
turning moment. That means if you are
turning in right direction, the left motor should
rotate in forward direction while the right motor is rotating in backward
direction, right? So that is the accurate
condition turning. You can go over here. Right? So accurate turn right. The left motor should rotate
in forward direction while the right motor is rotating
in backward direction, right? So then our robo will turn in
right direction perfectly. And for the accurate left turn, the right motor should
rotate in forward direction while the left motor is rotating in backward
direction, right? So that is the condition
if you wanted to achieve the accurate
turning movement, right? For the turning moments, you can have the chart here. And then you can insert
it on the program. What I'm going to do is I'm
going to copy this project. This is the simplest way
of obtaining that one. I'm going to duplicate
this project. In next project, I
want to name it as project number five
with accuracy. I'm going to make it complex. For that, what I wanted to do is I wanted to delete
this enable a pin. I'm going to control the
speed of the motors. Delete this enable A
and enable B pins, and I'm going to connect
this particular enable a pin with the tenth
pin of the Arduino. Change the color
slightly a bit to brown, the enable B pin for
the enable B pin, I wanted to connect
it with the 11th pin. Change the color to
maybe purple, like this. So now I have configured the
enable a pin and enable BP. Now, what I'm going
to do is I'm going to change the program
for those speeds. Now, what I'm going
to do is I'm going to set a variable called speed. Right? And I'm going to
set that particular speed. Two. Initially, you know
the range is in 0-255. I wanted to set that
particular one, 200, so then it will
be an optimum speed. It depends on the
battery, right? So the speed is depend
on the battery, which battery you are using, how many voltages you are supplying for the motors, right? The motor is for six voltages, 12 voltages in between, you can supply the battery. If you supply more
than 12 and then the motors will not going
to rotate perfectly. So if you are using
12 voltage batteries, and then you may have to
configure the speed, right? So because that
particular voltage, the speed will be high. Then you have to
reduce the speed. And if you are using a
six voltage battery, I think you don't
have to configure the speed of the motors. Because for the six voltage and the speed will be sufficient
and it will be the optimum. Now, I wanted to change
the speed to 100 and I have to go to this
output terminal, and I have to drag
rob this one set pin over here again because we have two motors and to be
configured Here I have the tenth pin and the 11th pin connected to N A and enable B. Those pins and the value
should be the speed. For that, I need to insert this particular
one here and here. So if it is moving in
forward direction, and this is the speed. What I'm going to
do is I'm going to copy this code and
paste it down here. If it is turning in left
direction, this is the speed, and I need to duplicate
this one again, if it is turning in
right direction, and this is the speed. And if it is stopped, no need to configure the
speed because it's useless. So here I have
configured the speed. I have reduced the speed. If you want, you can check it. Right? So previously it was 148. Now it's around 60. This one is also around 60. Now, what I'm going
to do is I'm going to configure this particular
accurate turn. If it is an accurate left turn in low in high, in three, high, this is the turn in
one, low in two, this is in two, it
should be high in three, it should be high in
four, should be low. Again, this is for
the right turn. If it is an accurate right turn, in one should be high
int and in three should be low and
infour should be high in one should be high and infour should be high and
all these two things should be low, right? So that is the condition
for the accurate. Now if I start simulation, now you can check So here, if you notice that if
I'm turning this one, that means this sensor
is on the white surface, and this is on the
block surface. Those are happening
simultaneously. And then you can notice that this motor is rotating
in forward direction, clockwise, and this one is rotating in
backward direction. You can notice
that here. So that our robo will turn in left
direction accurately. Likewise, for the left side
sensor also it will happen. Okay. I'm going to stop the simulation
and go to the code. Now, I have to go to this
block plus text option, and I need to select all
the codes here and copy it. And I'm going to open up this particular arduino
SoftaR here I have. I need to create a new sketch. In the new sketch, I have
to delete the existing code here and paste the new code
for the line following robot. I'm going to save it as project number five on
the desktop, save it. So this is the code. Now you have to go to the tools
option, select the board, select the processor,
and select the port, and then you can
upload the code. After you have
uploaded the code, you have to wire up everything according
to the wiring diagram. Okay, students. And
we have finally come to an end of this course, and we have learned
a lot of things by discussing the dinos
and the programs, how we can create the
circuit diagrams, what are the
engineering practices and all those things, right? So thank you for attending
the course and watching up to the end and thank you very
much for enrolling the course. And please provide me five
star ratings to grow and let your friends also know about this course and share this
course to your friends. Okay, we will meet on our
next course. Thank you.
Bazeer Ahamed Mohamed Nishad, Design Engineer and Founder - Robototec
