📄 trishul - ece476 - pranay ahlawat abhijeet dhanapune.htm
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<P class=style2><SPAN class=style3>TRISHUL -<EM>Autonomous navigating robot
</EM></SPAN></P>
<HR>
<P><STRONG>Pranay Ahlawat</STRONG></P>
<P><STRONG>Abhhijeet Dhanapune </STRONG></P>
<P> </P>
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<P><A
href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2004/ad284/website/index.html#int"
target=_self>Introduction</A></P>
<P><STRONG><A
href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2004/ad284/website/index.html#hld">High
Level Design </A></STRONG></P></DIV>
<DIV class=style5 align=center>
<P><A
href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2004/ad284/website/index.html#hd">Hardware
Design </A></P>
<P><A
href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2004/ad284/website/index.html#sd">Software
Design </A></P>
<P><A
href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2004/ad284/website/index.html#code">Code</A></P>
<P><A
href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2004/ad284/website/index.html#results">Results</A></P></DIV>
<DIV class=style5 align=center><A
href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2004/ad284/website/index.html#vids">Videos</A></DIV></TH></TR></TBODY></TABLE>
<P> </P>
<P><STRONG><A name=int></A>Introduction</STRONG></P>
<HR>
<P>We decided to do this project due to our keen interest in the robotics. We
were also looking for a project that involved a perfect mix of hardware and
software complexity. This project enabled us to use new hardware such as
sensors, stepper motors and their integration in big projects.</P>
<P>The robot is essentially a vehicle propelled by two stepper motors. It uses
IR sensors for detection of obstacles and also to keep track of its current
position. The details of how this is done are given later on in the
documentation. </P>
<P align=center> </P>
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src="Trishul - ECE476 - Pranay Ahlawat Abhijeet Dhanapune.files/image001.jpg"
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src="Trishul - ECE476 - Pranay Ahlawat Abhijeet Dhanapune.files/image004.jpg"
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<P align=center><STRONG>Image 1&2: Trishul - our robot </STRONG></P>
<P align=left><SPAN class=style1><A
href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2004/ad284/website/index.html#top">[back
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<P align=center> </P>
<P align=left><STRONG>Higher Level Design<A name=hld></A></STRONG></P>
<HR>
<P align=left>The robot is essentially a vehicle propelled by two stepper
motors. It uses IR sensors for detection of obstacles and also to keep track of
its current position. The details of how this is done are given later on in the
documentation. </P>
<P>There were two problems that had to be addressed: </P>
<P>1.Keeping track of how much the robot had moved - this was not as simple as
counting the steps of the stepper motor because there was considerable loss of
traction and as a result slipping of the wheels.</P>
<P>2.The second problem was the robot not moving in a straight line ⌨️ 快捷键说明
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