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Assembling and programming processes (our pain)



 

       We’re glad to present you our invention: super-innovative cat’s laser toy (pic. 11).

 

Pic. 11. The composition of the invention

 

It consists of four parts: main one (including laser on the drivers and main processing board), “cat” part and two sensors parts.

 

   Main part

 

       This parts consists of the following details (pic. 12):

1) Arduino Uno - 1 pt. [1]

2) radio-frequency transceiver nRF24L01+ - 1 pt. [2]

3) laser module KY-008 - 1 pt.

4) servo gear SG90 - 2 pts. [3]

5) construction part - 1 pt.

6) cables - uncountable

 

      

Pic. 12. The composition of the main part

 

The sequence of operations for main part:

1) sending of synchronizing signal to the all the others boards through radio-frequency transceiver.

 

Originally we planned to use bluetooth-transceivers for this aim, but faced big troubles: bluetooth-protocol is “point-point” type, can keep connection with the only one other transceiver and is not able to perform the tasks we needed. In addition, we found another bug of chinese bluetooth modules: it was impossible to change mode of it. It can work only in “slave” mode. Imagine 4 bluetooth modules and you can send signals only. Awesome, right? Who will receive signals? Cat? We spent four hours in order to understand it and you know what happened after that? We tried to SOLDER cables in order to close connection between Arduino and bluetooth WITHOUT SOLDERING IRON. We did it. Yes, it’s impossible but you guess it could stop us? But anyway after long attempts we decided to use radio-frequency transceivers.

 

2) waiting...

3) receiving distances between cat and sensors through radio-frequency transceiver.

4) evaluating:

a) defining the cat’s coordinates in the room. We used the two-point-triangulation in order to do it.

b) defining direction of the cat’s vector. We found it like the difference between the cat’s coordinates in this moment and in the previous moment.

c) defining the coordinates of the laser point by adding the pet’s coordinates and the cat’s vector.

d) defining the required angles of servo gears rotation.

5) sending the required angles to the servo gears.

 

       Steps 1-5 repeat until the system will be reloaded.

 

 

   Cat’s part

 

       This parts consists of the following details (pic. 13):

1) Arduino Uno - 1 pt. [1]

2) radio-frequency transceiver nRF24L01+ - 1 pt. [2]

3) ultrasonic transceiver - 1 pt. [3]

4) cables - uncountable

 

           

Pic. 13. The composition of the cat part

 

       Looks like ultrasonic transceiver is ill, but actually we just isolated its part which had to receive ultrasonic waves. This part should only transmit waves to the sensor parts.

 

The sequence of operations for cat’s part:

1) waiting…

2) receiving the synchronizing signal from the main part through the radio-frequency transceiver.

3) sending the ultrasonic signal to the sensor parts.

4) waiting...

 

 

Sensors

 

       Our system includes two these parts. It consists of the following details (pic. 14):

1) Arduino Uno - 1 pt. [1]

2) radio-frequency transceiver nRF24L01+ - 1 pt. [2]

3) ultrasonic transceiver - 1 pt. [3]

4) breadboard - 1 pt.

5) cables - uncountable

 

       Pic. 14. The composition of the sensor part

 

       You can ask what is the difference between constructions of the cat part and sensor part. In sensor part ultrasonic sensor is blind on the other eye - we isolated transmitter part, so now it can only receive ultrasonic waves from the cat part.

 

The sequence of operations for cat’s part:

1) waiting…

2) receiving the synchronizing signal from the main part through the radio-frequency transceiver.

3) waiting…

4) receiving the ultrasonic signal from the cat part.

5) determining the distance to the cat part.

6) sending this distance to the main part through the radio-frequency transceiver.

7) waiting...

           

 

 


 


Full final algorithm

 

       You can see the full final algorithm of functioning on the pics. 15-16.

 

Pic. 15. Algorithm (1/2)

 

Pic. 16. Algorithm (2/2)

Final result (our gain)

Expectation Reality

Sensor for cat’s collar

Bracket for laser

Cat

       You can see our full system below (pic. 17).

Pic. 17. Details of cat’s laser toy



User manual

 

  1. Place the main part of the system on the wall on the height meter
  2. Place two sensors parts on the floor along the wall in the distance 0.5 meter from the projection of the main part (pic. 18).

 

Pic. 18. Positioning main and sensor parts relatively the wall

 

  1. Hang an arduino-kitten on the cat’s collar.
  2. Connect the 9-volt battery to the Arduino-kitten and the arduino-sensors.
  3. Connect the Master-Arduino to your computer or laptop via USB.
  4. Go to do your business and enjoy at night.

 

       DON’T USE IT FOR THE SMALL CHILDREN!


Preliminary and actual plan

           

The project "Cat’s laser toy" consists of 5 main phases which you can see in the figure on the right.

● Phase 1. Initiation.

We were looking for a problem that must be solved with PID-regulation.

The initial problem that we found was the following - all of us suffer from the fact that the phone's charge level is very low sometimes. However, the first idea (a solar tracker for charging the battery) was rejected because this issue can be solved easier without PID-regulation, so we arranged brainstorming again.

After the second brainstorming we found another challenge - pet owners suffer from the lack of sleeping time, because, for example, the cat was not tired yet in the evening and its behavior is very noisy. Thereby we decided to make a toy for the cat with laser to help the pet’s owners.

 

● Phase 2. "Planning"

We assigned the participants roles during the project, defined implementation stages, timelines, made an initial list of components. Also at the planning stage, alternative methods for searching for a cat were identified:

1. Using bluetooth modules

2. Using ultrasonic sensors

3. Using wifi-transmitters.

       Later we have refused option 2 because of the fact that the functional requirements of the system could not be realized, the duration of transmission and processing of the signal was too long.

 

● Phase 3. "Assembling".

We have purchased the necessary parts for our system, and by the way several components (1 board of Arduino Uno and 1 breadboard) were taken from the teacher. During this stage, was figured out that it was necessary to buy another 3 Arduino boards for triangulation of the cat: 2 boards for receiving the signal and 1 board (kitten) for signal transmission. As it was written before, it was clarified that the use of Bluetooth sensors is useless for determining the location of the cat, the position of the laser point will change very rarely.

Then we changed the data transfer technology, we chose the option of using ultrasonic sensors to search for a cat.

       Also, during the assembly of the system, we were forced to buy additional ultrasonic sensors, because some sensors burned due to high voltage.

       The "Assembling" process was divided into 2 subprocesses, for which the inputs and outputs were described below (table 1).

Table 1. Description of assembling processes

Name of process Input Output
1. Purchasing of details List of purchasing Receipts (appendix 1), details
2. Assembling Details, algorithm of assembling Final product, checked algorithm of assembling

       This process has been described in more detail in the part of final report "Assembling and Programming".

 

● Phase 4. Programming.

       At this stage, the code of programs was written for 4 Arduino Uno in the C+ language in Arduino IDE:

  1. Code for Arduino-master. This device receives signals from the Arduino-sensors, controls servos and laser, processes mathematical formulas, finds the target coordinates of the point for the laser, performs tracking of the cat’s position. Code for this controller you can find in appendix 2.
  2. Code for Arduino-sensors (2 Arduino Uno with ultrasonic signal receivers). The codes of these programs differ only in the output data ("d1 =" and "d2 ="). Code for these controllers you can find in appendix 3,4.
  3. Code for kitten Arduino (Arduino Uno with ultrasonic emitter, cat). This device only emits ultrasonic waves. Code for this controller you can find in appendix 5.

 

● Phase 5. Completion.

       At this stage, we wrote the final report, the user's guide, made a video, prepared a presentation.

 

           


 

Below you can see our preliminary project plan (pic. 19) and compare it with real project plan (pic. 20). Tasks of real plan with dates (pic. 21) and stages (table 2) you can find below too.

Pic. 19. Preliminary project plan

 

           

Pic.20. Real project plan

       Pic. 21. List of tasks and dates

 

Table 2. Stages and processes

 

Stage Process Duration, day Start Finish

Initiation

Brainstorming 22 22.09 12.10
Selection of idea 2 13.10 14.10
Revision of the chosen idea 4 14.10 17.10
Searching of links 3 17.10 19.10
Description of results 9 19.10 27.10

Planning

Math modeling 7 26.10 02.11
Simulink modelling 4 02.11 05.11
Planning of components' composition 4 02.11 05.11
SolidWorks modelling 3 06.11 08.11
Financial planning 3 06.11 08.11
Timeline planning 3 06.11 08.11
Presentation of BP 1 10.11 10.11

Assembling

Purchasing of components 2 11.11 12.11
Assembling of system 1 10.12 10.12
After-purchasing/refunding 23 17.11 9.12

Programming

1st controller programming 10 17.11 26.11
2nd controller programming 3 01.12 03.12
3rd controller programming 2 08.12 09.12
4th controller programming 2 08.12 09.12
Testing 1 10.12 10.12

Closing


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