Transo-Robot is an intelligent, autonomous transport robot designed to navigate predefined paths using sensor-based guidance. Built for Raspberry Pi, it integrates real-time sensor data to detect lines and markers, optimizing movement for package delivery or industrial automation tasks. The project demonstrates low-level C programming, hardware integration, and efficient control algorithms, making it a strong foundation for embedded systems and robotics applications.

Key Features:

• Embedded C programming: Direct hardware control for motors and sensors.
• Real-time decision-making: Uses sensor inputs to adapt navigation.
• Portable to ARM-based systems: Potential for optimization on Arm architectures.
• Modular & extendable: Can be adapted for different use cases (e.g., industrial automation, smart logistics).
• Open-source & collaborative: Designed to encourage contributions and improvements.

Prerequisites

• Raspberry Pi
• WiringPi library
• Sensors and motors connected to the Raspberry Pi

Installation

1. Install WiringPi:

   sudo apt-get update
   sudo apt-get install wiringpi

2. Clone the repository:

   git clone https://github.com/yourusername/Transo-Robot.git
   cd Transo-Robot

Usage

1. Run the program:

   sudo ./transo_robot

2. Output:

   The program will print "Transo-Robot Project" and start controlling the robot based on the sensor inputs.

Project Structure

Transo-Robot
├── src
│   ├── main.c        
│   └── utils.c       
│   └── motors.c      
│   └── sensors.c     
│   └── servo.c       
├── include
│   └── utils.h       
│   └── motors.h       
│   └── sensors.h       
│   └── servo.h       
│   └── softPwm.h       
│   └── wiringPi.h       
├── tests
│   └── mock_wiringPi.c       
│   └── test_main.c
│   └── test_motors.c
│   └── test_sensors.c
│   └── test_servo.c
│   └── test_utils.c
├── Makefile          
└── README.md         

Code Overview

• main.c: The main entry point of the program. Initializes the sensors, motors, and servo, and contains the main control loop.
• utils.c / utils.h: Utility functions used throughout the project.
• sensors.c / sensors.h: Functions to initialize and read from the sensors.
• motors.c / motors.h: Functions to control the motors.
• servo.c / servo.h: Functions to control the servo.

Functions

• initSensors(): Initializes the sensors.
• initMotors(): Initializes the motors.
• initServo(): Initializes the servo.
• readLineSensors(): Reads the status of the line sensors.
• readMarkSensors(): Reads the status of the mark sensors.
• stop(): Stops the robot.
• liftServo(): Lifts the servo.
• lowerServo(): Lowers the servo.
• moveForward(): Moves the robot forward.
• moveBackward(): Moves the robot backward.
• rotateRight(): Rotates the robot to the right.
• rotateLeft(): Rotates the robot to the left.

Servo Motor Movement

The servo motor is controlled to lift and lower based on the detection of significant marks:

• liftServo(): This function is called when a significant mark is detected (all sensors high). It lifts the servo to perform an action.
• lowerServo(): This function is called when a release mark is detected (all sensors low). It lowers the servo to perform an action.

Control Logic

The main control loop in main.c continuously reads the status of the line and mark sensors and responds accordingly:

• Line Sensors:

  • No line detected: Stop the robot.
  • Line detected on the right: Rotate right.
  • Line detected in the center: Move forward.
  • Line detected on the left: Rotate left.
  • Line detected on multiple sensors: Move forward or rotate based on the combination.

• Mark Sensors:

  • Significant mark detected (all sensors high): Stop, lift the servo, and move forward.
  • Release mark detected (all sensors low): Stop, lower the servo, and move backward.

Contributing

Feel free to submit issues or pull requests for improvements or bug fixes.

License

This project is licensed under the MIT License. See the LICENSE file for details.