PleePlee is a proof of concept of a mobile gardener robot. This repository is about the code for miscellaneous components of the robot. It contains the code and documentation for:
- the camera
- the LEDs
- the motor driver
- the odometric captors
The PleePlee robot is able to:
- 🌱 🚿 Water plants.
- 🚗 Move in a straight line and turn in place.
- 💡 📡 Localize itself in a small area delimited by luminous landmarks.
- ➰ Avoid obstacles.
- 👀 Log any changes to the garden. (Foreign object or person crossing).
This repository is about the code used for multiple hardware components on the robot. It contains the code and documentation for:
- the camera
- the LEDs
- the motor driver
- the odometric captors ot.
The camera complements the beacons (leds) in supporting the location. The camera takes pictures of the leds and from these pictures the angle of the leds on the picture is calculated.
The LEDs are luminous landmarks used as beacon for locating the robot by triangularisation.
The robot has 4 motors, each equipped with an odometry sensor which enables us to get the number of turns per wheels. The Arduino card controls 4 motors and the servomotor.
The optical odometry sensors monitors the number of turns of each wheel. This allows a greater precision for the robot moves and ease the location.