ZoomTown Experiment, rpi PICO Controlled Autonomous robotics Page 1
About Autonomous robots and the zoomtown experiment
About
The ZoomTown experiment is all about an experiment being conducted to test concepts of autonomous robots in an autonomous transportation system. Utilizing primarily rpi PICO micro controllers for the robots, the goal is to have 15~20 robots autonomously moving around ZoomTown. A Raspberry PI 4 will be incorporated to control the experiments.
From design, through construction, to testing the concepts and practicality, everything is covered from beginning to end.
EPISODE #24 Incorporating Mqtt into the PICO W to Give the Zoomie a Way to Communicate
The Zoomie (Autonomous Robot) needs to communication with the Zcheduler of ZoomTown. Wifi and MQTT will be used to for bi-directional communications. In this video, the focus will be on getting WiFi and MQTT setup and configured to operate. A "profile" library will be used so that each Zoomie can have it's own identity without requiring a different, custom tailored program for each individual Zoomie.
#MQTT, #Robotics
EPISODE #23 Take a Look at the Zoomie Program Framework with it's Deterministic Loop
The program to run the Zoomie (Autonomous robot) will be rather extensive in size and complexity. This is the first part in a series of videos detailing the MicroPython program that runs the Zoomie. Primary focus is on creating a Deterministic Main loop and a Watch Dog feature. #MicroPython #PICOW #Robotics
EPISODE #22 How to Plan & Structure a Large MicroPython Program
As we transition from construction to programming in Phase II of the Zoomtown experiment, it is time to carefully plan out the concept of the program. In this video we will cover a lot about what the program needs to do, how I want it to operate, and highlight a few of the unknowns. If you have not worked on moderately complex projects, this is a great opportunity to see one way of outlining it before you dig into the code. #MicroPython #PICOW #Robotics
EPISODE #21 Final Assembly of the Zoomie. the PICO controlled Autonomous Robot
Completing the final mechanical and electrical assembly of the Zoomie (Raspberry Pi PICO controlled Autonomous Robot). This is in preparation for Phase two of the ZoomTown experiment where we begin software development and testing.
#RaspberryPiPICO #PICOW #autonomousrobot
EPISODE #20 Completing the Power System with 18650 Cells and MP1584 DC-to-DC converters for the Zoomie.
Covered in this video is how the 18650 cells and three MP1584 DC to DC converter modules come together to power the Zoomie. Not all sensors and devices operate at the same voltage, this is one solution to the problem. #18650 #18650battery #DIYPCB
EPISODE #19 Making a Dual Voltage Power Supply for the Autonomous Robot
The Zoomie (Autonomous robot) needs multiple voltages to operate. To facilitate that, I created a PCB to hold the components in a space efficient manor. The whole process of making the PCB, from design to soldering is presented.
#18650battery #18650
EPISODE #18 DIY Battery Case for two 18650 Cells
How I made a dual cell holder for 18650 cells to be used in the Zoomie. Being that the Zoomie is an autonomous robot, it will need to carry around its power source, in our case it will be two18650 cells. Integrating the cell holder into the design of the zoomie is critical so that it is compact and allows for easy access to the cells for charging. #18650battery #18650
EPISODE #17 Autonomous Robot Power System - 18650 and MP1584 DC to DC Converters
Autonomous robots need power and we are using 18650 LiOn cells and MP1584 DC to DC Converters. Also included in the power system will be: * Custom cell holder
* Custom PCBs
* Purchased battery cell contacts
* Toggle switch
* LED and current limiting resistor
All of this will be combined into a dense package.
#18650 #MP1584
EPISODE #16 Recap and Update of the ZoomTown Experiment and What Has Changed
It is time to review what sensors: A3141, TCRT5000, GP2Y0E03, AS5600 and other devices: N20 gear motor, and TB6612FNG motor drive have made the cut for the Zoomie (Autonomous Robot). This video defines the baseline for the Zoomie to be used in the ZoomTown Experiment. #Zoomie, #ZoomTown
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #15 Sensor Bracket Assembly For the Zoomie (Autonomous Robot)
With all the sensors selected for the Zoomie (Autonomous Robot) it is time to figure out how to mount them all to the chassis. Keeping the size small, and mounting process simple is no trivial tasks. Using Fusion 360 and the 3D printer made it possible. These are the sensors to be mounted on one bracket: TCRT5000, A3141, AS5600, & GP2Y0E03. #Zoomie, #ZoomTown
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #14 How to use GP2Y0E03 Sensor for Object Detection
The GP2Y0E03 TOF sensor may be a good choice for our autonomous robot's collision avoidance system. It has a range that suits our needs good and it has two interfaces: i2c and analog output. The Raspberry pi PICO has both interfaces making for an easy connection. The critical aspects for us are linear readings, relative accuracy, fast readings, and relatively consistent readings in various light conditions. Let's see how well in performs in this practical test.
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #13 Can the TCRT5000 photo-reflective sensor Act as Proximity Sensor?
For collision avoidance, the Zoomie needs a proximity sensor on the front to detect objects in the direction of travel. A laser based TOF sensor failed to perform to our needs. The TCRT5000 is investigated in this video as an alternative sensing device.
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #12 How the AS5600 Encoder Can Provide Odometry Information
The AS5600 digital potentiometer is a great device to help with Odometry in Autonomous robotic applications such as our Zoomie. This device uses a small magnet that is affixed to the wheel or axel you are measuring the rotation of. It is then read with an i2c interface that is very quick and efficient.
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
#AS5600, #Encoder, #DigitalPotentiometer
EPISODE #11 VL53L0X TOF Sensor for Collision Avoidance System in the Zoomie?
The autonomous robotic car (Zoomie) will need to stop if something is in its path. In this video, we scrutinize the VL53L0X Time of Flight sensor to see if it can meet the requirements of the ZoomTown Experiment. Is it accurate enough? Can it be read quickly enough so that it doesn't bog down the performance of the PICO? Let's find out...
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
#VL53L0X #TOF #TimeOfFlight
EPISODE #10 Can a Hall Effect sensor by used for localisation in ZoomTown
Localisation is critical for autonomous robot navigation, often requiring multiple sensors. While exploring a hall effect sensor for localisation, it was discovered it might also be useful for reading the road signs in ZoomTown.
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
#APDS9960 #PICO #ColorSensor
EPISODE #9 TCRT5000 Photo Reflective Sensor, Line Following Sensor
The Zoomies (Robotic Cars) will need to read roads signs of some sort. The APDS-9600 sensor can read colors and we are going to explore this sensor to find out if it can read road signs here in ZoomTown. In order to be suitable for our needs, it must be very reliable, repeatable, and it must read the sensor very quickly. Follow along as we explore what this sensor can do, and how it is used.
Raspberry Pi PICO / Micropython specific discussions include:
- Measuring read time of the sensor
- Accuracy of color detection and repeatability
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
#APDS9960 #PICO #ColorSensor
EPISODE #8 TCRT5000 Photo Reflective Sensor, Line Following Sensor
In this video we are looking at how to use the TCRT5000 photo reflective sensor for line following. Line following will be utilized by the Zoomie for guidance during all straight line driving. We will cover the many aspects of the sensor including how I tested the sensors analog output over a variety of different line types.
PICO / Micropython specific discussions include:
- Measuring read time of the sensor
- Writing testing reading to a file inside the PICO
- Graphing the analog readings to "see" the line transition
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #7 Constructing Powertrain Deck for the PICO Controlled Autonomous Robotic Car
The Powertrain Deck is a critical element for the Zoomie, the autonomous robot used in the ZoomTown experiment. Chris explains the 'what' and 'why' of this subassembly and how it is the foundation for the rest of the Zoomie. This is what is covered in this video:
- Brief explanation of powertrain sub-assembly
- Lower deck - function and features
- Motor Mounting
- Wheel construction
- Ball caster for omni directional support
- Review the sub-assembly
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #6 Motor Drive Selection for the Autonomous Robot used in the ZoomTown Experiment
Selecting a motor drive for the N20 motors didn't require a lot of research. In this video Chris explains why the TB6612FNG was a good choice based on the defined criteria for the autonomous robot. This is what is covered in this video:
- Brief explanation of why a motor drive is needed
- Primary factors for motor drive choice
- Practical testing
- Schematic
- Code
- Analysis
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #5 Motor selection for the Autonomous Robot used in the ZoomTown Experiment
Selecting a motor for the Zoomie is harder than ever with so many choices! As already covered a few episodes back, the design criteria for the Zoomie is pretty well defined. In this video Chris talks through the choices and the reason why some are good and some are bad. This is what is covered this video:
- Brief overview of possible motor choices
- Primary factors for motor choice
- Reasons why N20 is good choice
- Simple & practical testing
- Analysis
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #4 Failed Zoomie Design - But why?
This experimental robotic car failed in the prototype stage. The design was certainly unique so it was worth the time to explore and experiment. However, some designs are best left in the prototype stage, this video explains why it failed and more importantly, what was learned along the way.
Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #3 Defining the Zoomie's Requirements for the Experiment
The autonomous robotic cars called Zoomies will need a host of sensors, motors, and other electromechanically devices to perform their functions. In this video we will cover many of those requirements which will establish a foundation for design and construction of the Zoomie. Some of the technologies explored in this experiment include, but is certainly not limited to:
[*] Autonomous Robotics
[*] Photo reflective sensors
[*] Time of flight sensors
[*] Hall effect sensors
[*] Rotary encoders
[*] Odometry
[*] Line following
[*] Color recognition and detection sensor
[*] Automatic route planning
[*] Localization
[*] Robotic cars
[*] Dead Reckoning
... and much more.
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #2 The Zoomtown Layout Defined - All About the Filming Location for the Experiment
The layout for the experiment controls many aspects of the experiment. The layout will greatly affect these attributes for the Zoomies:
[*] How big the Zoomies can be
[*] How many Zoomies can fit on the layout
[*] What types of sensors are needed
[*] How fast the Zoomies should travel
... and much more.
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files
EPISODE #1 Welcome to the autonomous robotic experiment, this is what it is about
The ZoomTown Experiment will cover many technologies over the course of the video series. Learn some of the details of how this experiment will play out on this channel. Many of the decisions and choices moving forward will have a basis explained in this video. The ZoomTown Experiment is about using a Raspberry Pi PICO to create a bunch of autonomous robotic cars for use in a modeled Automated Transportation System. This entire series will cover all the aspects of preparing for and conducting this experiment. With over 15 robotic cars traveling at random times to random locations, chaos is assured. This experiment will serve to help tame that chaos into order and efficiency - I HOPE! In the world of exploring and experiments, success is hoped for, failures are assured!
SEE ASSOCIATED VIDEOS:
Raspberry Pi PICO Setup and Preparation for Programming https://youtu.be/-1xDEE3vrawPICO
DOWNLOAD FILES HERE -- https://makingstuffwithchrisdehut.com/electronics-files