WALL-E Version 1.0
The "WALL-E" Project is a ME 507 quarter term project inspired to recreate the robot WALL-E. The WALL-E robot is a fully 3D printed robot with modified components in order to fit the needs of the chosen peripherals and electronics. WALL-E contains a custom made PCB which is housed in the main body of WALL-E. WALL-E's peripherals and components include 2 pololu Romi Motors with encoders, 4 MG90s servos, BNO055 IMU, and a OV2640 ArduCam camera. The objective of WALL-E is to scan the surrounding area for the closest object to it. Once that object is detected, WALL-E drives up to the object, attempts to pick up or hold the object and detect the color of the object.
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File List
Here is a list of all files with brief descriptions:
[detail level 123]
 
Code
 
Inc
 
batteryMonitor.h		File containing the class to a Battery Monitor via the ADC
 
bno055.h		: Header file containing the class to the BNO055 IMU
 
camera.h		: File containing the initialization class to the OV2640 (Camera)
 
cameraRegs.h		: File containing the initialization Registers to the OV2640 (Camera) to begin use and configuring for minimal overhead and direct raw data processing via SPI
 
hcsr04.h		: File containing the class to the HCSR04 Ultrasonic Sensor class
 
pidController.h		: File containing the PID Controller Class
 
romiMotor.h		: File containing the class to the ROMI Motors class
 
servos.h		: File containing the class to the servo Motors class that control hand and arm movements
 
WALLE_FSM.h
 
src
 
batteryMonitor.cpp
 
bno055.cpp
 
camera.cpp		: File containing the Functions to the OV2640 (Camera)
 
hcsr04.cpp		: File containing the functions to the hcsr04 UltraSonic Sensor class
 
main.cpp
 
pidController.cpp		: File containing the Functions to WALLE PID Controller
 
romiMotor.cpp		: File containing the functions to the ROMI Motors class
 
servos.cpp		: File containing the functions to the servo
 
WALLE_FSM.cpp		: File containing the Class for the WALL_E Functionality
 
images
 
ArmAxleAssemblyCAD.png
 
ArmAxleCAD.png
 
ArmBarrelCAD.png
 
ArmPistonCAD.png
 
BackPanelCAD.png
 
BodyFrontDoorCAD.png
 
BottomPanelCAD.png
 
FingerCAD.png
 
firstPrint.PNG
 
GearShaftCAD.png
 
HandAxleCAD.png
 
InnerHingeCAD.png
 
Inspo1.png
 
Inspo2.png
 
MotherboardSchem.png
 
MotorMountCAD.png
 
OriginalArmCAD.png
 
OuterHingeCAD.png
 
PCBLayout.png
 
PowerDistr.png
 
ProgrammingWALLE.JPG
 
RightBodyPanelCAD.png
 
RightEyeCad.png
 
ServoMountCAD.png
 
TopPanelCAD.png
 
TreadCAD.png
 
WALLE_CAD.png
 
WALLE_CAMERA.JPG
 
WALLE_COMPL.png
 
WALLE_ESTOP.JPG
 
WALLE_HOUSING.JPG
 
WALLE_INSIDE.JPG
 
WALLE_MOTORS.JPG
 
WALLE_PCB.JPG
 
WALLE_RANGE.JPG