Hole detection, gripping and I2C communication of a climbing robot

Abstract

This project will consist in programming a part of the entire climbing robot programming. In the Image 2 is shown a scheme of the different programs that the robot is going to have. First of all, the gripper program is the one that is going to be develop in this project, then, there will be also needed a program for controlling the servos, another one to control the central microchip, which will be the I2C master and, finally, one extern program for a Raspberry Pi to communicate with the central microchip using Bluetooth. Image 2. Scheme of robot communication The aims of this project, as a part of the robot climbing to program the gripper, are mainly three. The first is detecting the holes on the wall with a distance sensor, the second one, controlling the motor that lets the robot grip on the wall and the third one communicate the pic with other pics of the robot using I2C protocol. The gripper, which is the final element of the robot, is in which the sensors and the mechanism to grip are held and, as consequence, is the only structure that has been used to develop this project. For this project, have been needed two sharp sensors GP2Y0A21YK0F, the gripper, and a printed board with the microchip. After this little introduction to have an idea of how the project is organized and its objectives, the different parts of the project will be carefully explained.