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Pranjal Agrawal Robotics
Приєднався 5 кві 2016
Channel for my robotics projects.
Infrequent Uploads.
Infrequent Uploads.
Tetris in MIPS assembly
Demonstration of Tetris in MIPS Assembly. CSC258 Course Project. Emulated in Saturn Emulator.
I can't share the code publicly due to academic integrity purposes.
I can't share the code publicly due to academic integrity purposes.
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Відео
Floodfill algorithm micromouse test in simulator
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Floodfill algorithm micromouse test in simulator Micromouse Code - github.com/Pranjal-R-Agrawal/Technoxian_2023_Arduino_Micromouse
First attempt at floodfill based Micromouse (Arduino nano) (Link to code in Description)
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First attempt at Micromouse (Arduino nano) github.com/Pranjal-R-Agrawal/Technoxian_2023_Arduino_Micromouse The wall alignment is pretty bad because I was playing around a bit with how aggressive the wall following is and how long it takes to align itself with a front wall and set the values a bit too low.
Technoxian 7.0 (2023) Fastest Line Follower Final Round (Robojunkies)
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Technoxian 7.0 (2023) Fastest Line Follower Final Round (Robojunkies)
Technoxian 7.0 (2023) Fastest Line Follower Qualification Round (Robojunkies)
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Technoxian 7.0 (2023) Fastest Line Follower Qualification Round (Robojunkies)
IIT Techfest Meshmerize (2021) Maze Solving Bot Test Run
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Arduino nano based maze solving bot Dry run - 29 seconds Final run - 18 seconds Code - github.com/Pranjal-R-Agrawal/Techfest_Meshmerize_2021_Arduino_Maze_Solver
Robotex National 2019 Practice
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Testing the bot for Robotex National (Ahmedabad) 2019
Techfest Meshmerize(2017) bot Test Run
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This is the test run of the bot we used in Meshmerize Techfest 2017. We came 2nd. This is the original version. Final version is faster and less messy. Code - github.com/Pranjal-R-Agrawal/Techfest_Meshmerize_2017_Arduino_Maze_Solver
Hlo pranjal can you pls explain what is sensor on point in your code
do you use compass ?? like mpu6050 ?
@pranjalagrawalrobotics Hi Pranjal, You have done amazing work, But I have few question. can you please let us know which IR sensors you have used. also you used sensor value with array of 7 elements, reason for selecting 7. is any specific logic/reason? Morver in you code you used "sensor_on_pin" and its connected to pin no. 17, which sensors is this exactly. you connected a one diagonal left sensor to pin no. 4 and on same pin you connected one of the motor pin. Is this by mistake in code, or what is reason behind this dual pin usage? Your help will be appreciated..
Hii bro Please reply
Hello brother can you please provide the circuit diagram, because there are some doubts in circuit.
Amazing
Genial!!!!!!!!!
You wrote this in assembly?
Yeah, project for a computer organisation course.
what is the main ino file need to upload , and what is the motor you used can you tell the model (encoder) , thank you great work brother
A question, did you design the PCB board you used for the project yourself? And if so, could you provide it to me?
Nice work. I saw your code and could see that you are adjusting the bot alignment with left and right ir sensors only with a threshold and not any pid . Any specific reason for this?
The bot does use PID for wall following (pid is used on both the ir sensor reading and the encoder reading) Threshold is only used for detecting walls after the bot has reached the centre of a block and wants to scan its surrounding walls.
@@pranjalagrawalrobotics in your code i could see that you are calculating error based on encoder count difference and computing the pid value from that. And then computing wall error as difference between left and right ir sensors. Wall error +/- pid error+/- constant speed is the final output. Wall error is not from pid , it's computed directly. I was curious to know why no pid for ir sensor and only for encoder count
@@suricool99 just checked, and yeah, you’re right, I misremembered. Basically, what happened was that we started working on the bot around a week before the competition. In fact, we were still working on it on the day of the competition. We simply ran out of time and weren’t able to tune the PID for the sensors and so we computed it directly.
@@pranjalagrawalrobotics we are also in a similar situation. We have got the constant speed part and wall follower part to work independently. We are stuck at a place where we are struggling to combine both speed/position based control along with wall follower pid control . Do you have any suggestions? How can we do this. ?
@@suricool99 I can’t be sure, since I never got around to implementing pid for the ir sensors and combining it with the encoders, but maybe you could try computing the pid value from the ir sensors and encoders independently and then combine them in a ratio you tune. Like, instead of directly adding/subtracting either the encoder pid value or the ir sensor pid value, you could compute smth like (0.7*ir_pid + 0.3*encoder_pid) and add/subtract that from the speed. I would assume that giving a higher weightage to ir sensors would work slightly better since they can actually sense and avoid the walls whereas if you start off slightly off angle, the encoders would be fighting to drive you closer to the walls.
proporcionas el código pero no el diagrama, como podría servir sin eso
hi, by any chance, can I look at your run and build command in the simulator? big help
I don't have any build command since the Arduino IDE handles building and uploading the code. For running, this is the code on my mac - /Library/Frameworks/Python.framework/Versions/3.11/bin/python3 <Path to Main.py> --port /dev/cu.usbserial-1110 --baud 19200 This would be the more general version - <Path to Python> <Path to Main.py> --port <COM Port> --baud 19200 Also have a look at the github page of the arduino template for the simulator
This is the link to the template - github.com/mackorone/mms-arduino
Hey! I am also trying to go to meshmerize this year so can you maybe send a link to the IR sensor array?
Very nice
What component do i need?
How did you make the maze? I want to try making the maze at home to test a micromouse
Amazing work! Is it possible to get the schematic diagram?
Hey, we need more tutorials form you
How did you set the goal (how does bot know the goal position in the maze)?
In coding he just follows the right wall
@@cowboygamer6980 I know it's wall follow algorithm, but I want to know how does it determine the goal position?
@@cowboygamer6980nah, this uses the floodfill algorithm, not the wall following algorithm. That’s why it takes two completely different paths in the two runs.
@@rexcode9366it knows it’s starting position and that the goal is as the centre. It doesn’t know the wall layout.
@@pranjalagrawalrobotics yeah, I saw your GitHub repo. Can you make a tutorial on it, explaing in detail
Source code mil skta
love your work 👍👍
Thanks!
so its arduino nano , can it work on arduino uno or how do i change it to work on arduino uno
The code should work as is, though you should check how much ram the uno has. If it is less than the nano then you may have to modify the code a bit.
@@pranjalagrawalrobotics and how to make it learn the make and fix the finish point to find the smallest path
@@pranjalagrawalrobotics hey bro i checked your coed and tried to verify it but its showing an error that the encoder is missing. how do i solve it.
hi i have a problem on mms simulation.. its cannoot run via arduino; I'm not sure im putting the right command or not ,thank you
This is how I used the mms api in my code - drive.google.com/drive/folders/1xG0jK4TJxe-gcxNtGWqhTgi0iRqMKp3k
Do you use a distance sensor or an obstacle avoidance sensor?
IR Sensor to measure distance
Nice video
which motor you using ? in your github code the file .h meaning for ?
I am using 600 rpm micro metal gear motors. .h files are called header files
@@pranjalagrawalrobotics thanks
are you using encoder motor ?
@@kinhkong69z62 Yes
can you please provide the link to buy this motor, also what batteries are you using @@pranjalagrawalrobotics
what kind of simulator is this and how to use it
The simulator is mms simulator You can check out the github page for instructions - github.com/mackorone/mms
Can i get ur number or mail id so that i can connect with u
Mượt mà như sunsilk, good job
Nice, but my only criticism is that we can barely see the walls lol
Yeah, I really should have increased the brightness when recording the video. I also have a video of the actual bot, if you want to watch - ua-cam.com/video/6baHDssunZ4/v-deo.html
Impressive 🤩
Thank you!
its necessary use 5 IR sensors, or can i use 4 or less?
I think atleast 3 are needed. One for each of the side walls and one for sesing the front wall. Wall following will be pretty tough though woth so few sensors. With 4, you could place two directly perpendicular to the side walls and two slightly angled. Although, this setup may have difficulty identifying the front wall in time. 5 really is convenient.
how did u can simulator in mms
I used this simulator - github.com/mackorone/mms They have provided code to connect the simulator to an arduino. In the arduino code, you can simply make calls to the provided simulator API instead of the motor driver and similarly make calls to the API instead of reading data from the sensors,
@@pranjalagrawalrobotics can i have your eg code in mms , thanks for replied
Code
@@m4s0314 drive.google.com/drive/folders/1xG0jK4TJxe-gcxNtGWqhTgi0iRqMKp3k?usp=share_link The code modified to work with the simulator is older though
@@komilelmurodov3401 drive.google.com/drive/folders/1xG0jK4TJxe-gcxNtGWqhTgi0iRqMKp3k?usp=share_link
Is 1 line on the sensor or are there 3 lines on the sensor? Thank you!
There are 3 line sensors on the line. One in the centre and two near the border of the line. There are two more sensors on each side, so 7 in total.
Which electronics component you have used in bot
Arduino nano, TB6612FNG, IR sensors, Micro metal gear motors.
Code plzz
As stated in the title, the link to the code is in the description.
Tokyo drift
Superb work!
Hey great work! I know little about micromouse's but that's pretty amazing to watch. Few questions, why did the mouse stop once it reached the centre and why did you had to restart from the beginning at 0:52 ? Is is how the flood fill algorithm works?
The bot stopped at the centre because I have set it as the target. I haven’t programmed the bot to return to the start point so it stopped once it reached the target. The bot constantly updates its map of the maze as it explores. Hence, each subsequent run is better than the previous until the maze is completely mapped out. Hence, I restart it from the start point so that it can explore more and find better oaths (as it did!) You can learn more about floodfill and other maze solving algorithms here - www.123seminarsonly.com/Seminar-Reports/038/59360985-Maze-Solving-Algorithms.pdf, marsuniversity.github.io/ece387/FloodFill.pdf
@@pranjalagrawalrobotics that's helps thanks
can you please provide the tutorial ??? or code
Us bro us
Link to github repository is in the description