Budget

The Budgetis here.

Classe	Item	Quantidade	Preço	Entrega
Garra	Impressão 3D
Garra	Servo Tower Pro SG-5010 + Acessórios	2	10	20

Robot	2wd circular chassis	1	100	100
	encoder	2	8	16
	Ponte H L298	1	25	25
	Linha de LED RGB x8 WS2812 5050	1	20	20
	Sensor de cores TCS230	1	40	40
	Arduino Uno	1	15	15
	Módulo ESP32 - CAM Wifi Bluetooth + Câmera OV2640 + Módulo ESP32 CAM - MB	1	55,58	55,58

alimentação e carregamento	Li-ion 18650	6	17	102
	Modulo com TP4056	2	8	16
	INA219	1	46	46
	Receptor De Carregamento Sem Fio Padrão Qi Universal Tipo A	1	38,9	38,9
	Carregamento Rápido Sem Fio - Novo Original	1	126	126
	Modulo XL4015	2	18	36

Arena	C920	1	300	300
	SPc 530nc	1	20	20
	Arduino Uno	1	15	15
	Botoes + superficie de contato	4	2	8
	Piso
	Paredes da arena	2	20	40
	Paredes do labirinto (isopor)	2	10	20
	suporte para câmera (cano pvc)	3	20	60
	Sensor de Obstáculo Infravermelho IR	4	8	32
	Linha de LED RGB x8 WS2812 5050	1	20	20
				1171,48

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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

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 projec...

Robinho

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