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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Software Design

Overview

This page will explain the Software Design aspects of the WALL-E project. More in depth detail over source and header files can be found in the Classes tab of the website.

System Architecture

The WALL-E project follows an FSM with states to start, turn, scan, scan_complete, turn, forward, stop. The goal of WALL-E is to transition between states scanning all around for the closest object. Upon recording all areas, WALL-E turns to the closest possible object, moves towards it. Attempts to pick up the object and identifies its color.