elisa3-robot

This project contains Arduino code for the Elisa-3 robot. The code enables the robot to perform various autonomous tasks, including:

• Line Following: The robot can detect and follow lines on the ground.
• Obstacle Avoidance: The robot can sense and navigate around obstacles in its path.
• Staying in a Box: The robot can be programmed to stay within a defined area.

Hardware

The project utilizes the following key hardware components:

• Elisa-3 robot
• Arduino (or compatible microcontroller)
• Ground sensors (for line following)
• Proximity sensors (for obstacle avoidance)

Software

The robot's control software is developed for the Arduino platform using C/C++. The project consists of the following .ino files:

• final_code.ino: This is the main operational code. It likely integrates various functionalities of the robot, potentially selectable via a switch or a predefined sequence, enabling behaviors like line following, obstacle avoidance, or staying in a box.
• Active_Sensing.ino: This file probably contains code related to active sensor control, such as emitting infrared signals and processing the received data for obstacle detection or environmental sensing.
• Line_detection.ino: This file is dedicated to the logic required for line detection, including reading ground sensor values and determining the line's position relative to the robot.
• MotorRun.ino: This file handles the low-level control of the robot's motors, providing functions to move forward, backward, turn, and stop.
• ObstacleAvoid.ino: This file implements the obstacle avoidance behavior, using data from proximity sensors to navigate around objects.
• Proximity.ino: This file likely deals with reading and processing data from the proximity sensors to detect nearby objects.
• linevalues.ino: This file may be used for calibrating the ground sensors, reading raw line sensor values, or storing threshold values for line detection.

Setup and Usage

Uploading the Code

1. Connect the Elisa-3 robot to your computer via USB.
2. Open the Arduino IDE (or a compatible alternative like PlatformIO).
3. Ensure you have the correct board selected in the IDE (usually an Arduino Leonardo or compatible ATmega32U4-based board).
4. Select the correct serial port that the robot is connected to.
5. Open the final_code.ino file (or your main project file if you've structured it differently). The IDE should automatically open other .ino files in the same directory as tabs.
6. Click the Upload button in the Arduino IDE. This will compile the code and flash it to the robot's microcontroller.

Operating the Robot

The robot's behavior is controlled by a physical selector switch. The SelectorPosition() function in final_code.ino reads the state of this switch. Based on the switch's position, the robot will execute one of the following routines:

• Position 1: Activates the Linefollow() function. The robot will attempt to follow a line on the ground using its ground sensors. This function uses ground sensors line[0] and line[3].
• Position 2: Activates the StayBox() function. The robot will try to stay within a defined area (a "box") presumably marked by lines, using ground sensors line[1] and line[2]. If it detects a boundary, it will turn to stay inside.
• Position 3: Activates the Linefollow2() function. This appears to be an alternative line following routine, possibly using different sensors or logic (it uses ground sensors line[1] and line[2]).

Refer to the comments in final_code.ino and the specific logic within each function (Linefollow(), StayBox(), Linefollow2()) for more detailed operational characteristics.

Contributing

Contributions to this project are welcome. Please fork the repository and submit a pull request with your changes.

License

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