This is a college course robotics project. Its purpose is to learn more about robotics, AI, mobility, computer vision, and decision making.
RPi.GPIO Module: The mobility.py was designed with a Raspberry Pi in mind. If you intend to use this without a Pi, you will need to find a workaround for this package.
Raspberry Pi: This project was developed and tested using Raspberry Pi OS for the mobility testing,
Skid-Steer Mobile Robot: We used the Yahboom Raspberry Pi G1 Tank when designing and testing this project.
Contains the Mobility class that controls the hardcoded movements of the bot with an OOP paradigm.
Parameters
l_forward → The pin number that controls the left forward motor
r_forward → The pin number that controls the right forward motor
l_reverse → The pin number that controls the left reverse motor
r_reverse → The pin number that controls the right reverse motor
l_velocity → The pin number that controls the left velocity motor
r_velocity → The pin number that controls the right velocity motor
Functions
forward → Moves the bot forward
backward → Moves the bot backward
turn_right → Turns bot 90 degrees to the right
turn_left → Turns bot 90 degrees to the left
go_right → Moves the bot to the right
go_left → Moves the bot to the left
square → Moves the bot in a square pattern
spin → Moves the bot in a spin pattern
motor_test → Tests each wheel motor in turn
clean_up → Cleans up all the GPIO pins (should be updated to only clean motor pins)
reset_pins→ Allows new pins to be used for motors
Creates a mobility object based on the hardcoded GPIO numbers and allows the user to input a letter to test the movements.
Commands
test → Runs the motor_test function to test each motor.
x → Exits the program
f → Runs forward function
b → Runs backward function
l → Runs go_left function
r → Runs go_right function
c → Runs the square function
s → Runs the spin function