xcj_swarm

Xinchejian Swarm Robot project

Introduction:

Build a swarm of robots with autonomus behavior to achieve their goals by interacting with each other using IR communication.

See each xinCheJian wiki for assembly instructions and information.

Original Requirements: Each basic robot contains the following:

• 1x microcontroller Attiny2313
• 1x motor controller L293D
• 2x gear motors
• 1x LiPo battery 3.7V Sensor shield

A custom made PCB will be used. This PCB will be mounted into a 3D printed casing which contains the gear motors and the wheels as well the IR sensor array.

Goal is that the maximum price for the basic robot should not exceed 5US$ (without shield)

Each robot will have a basic programming and basic hardware platform. The basic programming is:

1. Self protection:
   • check your battery status
   • find the charging station when battery runs low
   • avoid obstacles and other robots
   • search for power (sunlight etc.)
2. Community (swarm) needs:
   • search for building material
   • search for dead robots
   • bring dead robots to the charging station
   • help dead robots with a charger robot
   • tell others where to find power (sunlight)
   • tell others where is an obstacle or danger

Folder structure: /32u4-edwardrf work in progress - check XCJ mailing list for later versions. /AtTiny2313 AtTiny2313 version - that won the AFRON competition /ATMEGA328 version based on /ATMEGA168 latest super version (replaces UNO version).

Note there is a LARGE amount of direct compatability between the code for ALL versions. Differences to note are:
    - different IO pins - see "Arduino, AtTiny, L293 and header pin mappings.ods"
    - size of memory limits size of code
    - AtTiny versions have fewer IO commands available. See http://wiki.xinchejian.com/wiki/Programming-AFRON

Branches & master

• Please use branches to do YOUR work before committing back to the master!
• Goal is for the master to be 'production ready' at ALL TIMES!

More at the XinCheJian website wiki.xinchejian.com

• the original Swarmrobot pages at http://wiki.xinchejian.com/wiki/Swarm_robots

• collated summary and AFRON competition entry http://wiki.xinchejian.com/wiki/Category:AFRON_$10_Robot_Competition

  latest Swarmrobot index - entry page is now: http://wiki.xinchejian.com/wiki/Category:Swarm_Robots