Tests

Testing different parts of the project using two 18650 batteries, one of 8000mAh and one of 3800mAh, with the charger module and two voltage regulator to validate the energy expenditure.

First test:

Using the arduino with the LED bar and a servo motor.

When the servo motor moviment the motors regulator flashes the current LED, showing that current usage at this time is high, it could be a problem when adding more loads.

Second test:

Using arduino with servo motor and two DC motors with H-bridge and ESP32-cam disabled.

Again, the motors regulator flashes the current LED, showing that the current usage is high, but it is enough to power the project motors without loads.

Third test:

Using arduino with servo motor and two DC motors with H-bridge and ESP32-cam taking pictures and flashing the flash LED.

The second regulator seems to be working fine with both devices. This test showed that the WiFi coverage of ESP32-cam is not great, but it is enough for the project

Fourth test:

In the end we left the third test running until the batteries ran out, reinforcing that they were not fully charged.

The test lasted 45min and the servo motor was the first to fail, the 3800ma/h battery was at 3.5V and took 10min to charge using a cell phone charger and the 8000ma/h was at 3.8V took 15min to charge.

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Arduino diagrams

Software-focused block diagram Flowchart for the Arduino Simplified statechart for the Arduino Draft UART Arduino-ESP32 communication Rotation cascade controller diagram Advance cascade controller diagram

Diagramas firmware

Mechanical diagrams and preview

Robinho's mechanical systems are surprisingly complex, forcing the team to manufacture multiple parts from scratch. Thus we decided on designing all the parts in CAD for 3D printing in PLA, which is lightweight, cheap and resistant enough for all the applications. The mechanical parts are separated first into: The robot chassis The robot's claw The arena The robot's chassis The base of the chassis was bought from the internet, we chose a reliable and readily-available model which is commonly called "2WD Circular robot chassis". It has a standard diameter of about 14cm (excluding the wheels), fitting our specifications for the project. Above the prebuilt base we assemble two other plates made of acrylic plastic, separated by 6cm inbetween. The distance was measured as the minimum distance to allow fitting of the entire payload of the first baseplate, which was composed of: The claw mechanism The batteries The wireless charging module The color sensor The...

Robinho

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