AffBotics

Esp32 will connect to the wifi when booted
It will read the line sensor and Ultrasonic sensor calculate the values and sends commands to the motor via Modbus

Am a Geek:

WiFi ssid and password can be changed by editing const char ssid[] and const char pass[]
MQTT broker can be changed by editing the line client.connect("esp32", "public", "public" )) and client.begin("public.cloud.shiftr.io", net);
PID values can be tweaked by changing values of variabled kp, ki, kd

Line Sensor

Working Environment

Tools:

Enveronment: PlatformIO
Framework: Arduino
Code editor: Visual Studio Code

Hardware:

Mcu: STM32G030C8T6
Magnetic Sensor: QMC5883

Line Sensor

How to build and Flash

Setup Visual studio Code

The VS code setup Instructions are available in Getting Started.

Setup Visual studio code according to the Host operating system.
Install PlatformIo extension inside VS code
Install STM32 Platform in PlatformIo
Install Board support packages for STM32G0C038T6
Select the board and Framework as Arduino

Building and Flashing Application:

To build the application, clone the affbotics_software repo and go to the folder Line_sensor

Pull the repository locally
Navigate to the directory affbotics_software/firmware/avg/Line_sensor/
Select the COM port
Click Upload

Line Sensor

Program Flow

Basic Workflow:

Firmware is present in affbotics_software/firmware/avg/Line_sensor/src/main.cpp

Line sensor communicates using Modbus over RS485
The Modbus I registers from address 0X1000 to 0X1003 can be read to obtain number of tracks, markers, Left track error and Right track error

Am a Geek:

Modbus Register address and SLAVE_ID can be changed by changing #define values
Uncomment the line #define DEBUGMODE 1 to continuously print raw sensor readings in CSV format through serial.
Track and marker threshold values can be tweaked by changing #define trackThreshold and #define markerThreshold

Line Sensor

Experiments

Nov-25-2022

NFC tests

We have tested the possibility of having some instructions flashed into the NFC tags so that the AGV can read and process the data on the fly, but it turns out that its only possible while the AGV is moving slowly otherwise it can't read the data reliably. image

BLDC driver

Working Environment

Tools:

Enveronment: PlatformIO
Framework: Arduino
Code editor: Visual Studio Code
FOC: Arduino Simple FOC

Hardware:

Mcu: STM32G030C8T6

BLDC driver

How to build and Flash

Setup Visual studio Code

The VS code setup Instructions are available in Getting Started.

Setup Visual studio code according to the Host operating system.
Install PlatformIo extension inside VS code
Install STM32 Platform in PlatformIo
Install Board support packages for STM32G0C038T6
Select the board and Framework as Arduino

Building and Flashing Application:

To build the application, clone the affbotics_software repo and go to the folder BLDC_driver

Pull the repository locally
Navigate to the directory affbotics_software/firmware/avg/BLDC_driver/
Select the COM port
Click Upload

BLDC driver

Program Flow

Basic Workflow:

Firmware is present in affbotics_software/firmware/avg/BLDC_driver/src/main.cpp

BLDC driver board communicates using Modbus over RS485
The Modbus I registers 0x2000 can be Writen with a value from -200 to 200 for setting the velocity of the motor.
Where -ve values spin the motor in the opposite direction
comment the line #define IAM_LEFT for Right motor or leave it uncommented for Left motor

Am a Geek:

Modbus Register address and SLAVE_ID can be changed by changing #define values
Motor PID values can be tweaked if needed using motor.PID_velocity.P, motor.PID_velocity.I, motor.PID_velocity.D
change the phase angle motor.P_angle.P and direction motor.initFOC(0, Direction::CW); if required.

BaseAGV

Setup Base AGV

Assembly

Once the robot is taken out of Packaging , place it on a flat surface floor.Depending on your robot type you will have to install the battery type.

For robot supporting SLA battries , please install 3 12V 7 AH battries using the connectos provided and . Once the battries are connected please Switch on the Robot. with the on button behind the robot ( MCB Connector ).

Setup

For the first time the robot needs instructions on how to move around and how the RFiD tags are to be interpretted.

Please lay down the track to connect the locations which need to be connected together. Avoid sharp turns and have enough space around the track so that robot can pass.

Place the first RFiD tag on the locationion the robot needs to take any actions

Programming

Press the start button on the robot for it to move towards the Tag , make sure the robot line sensor is on the track.The robot will start moving waiting for a new tag.

The Robot will stop once it reaches a unknown Tag , Using the touchpanel select instruction for the tag. Then press the Start button again and the robot will contine to move to next tag.

If your track is not a round track then please place RFid Tags on the end of the tracks to tell the robot to turn around.

Charging Setup

To setup Charging place the charging port somewhere along the track preferably next to a stop, This is not activated till the robot does not come over it ( It waits for a rfid to activate ) .

Call to a station

All RFiDS can be used as a station and a robot can be called to one using Either the phone app or the the Wifi calling hardware provided.