WEEK 27: BUYING ADDITION COMPONENTS

OBJECTIVE

1. To decide what type of components that suitable to develop my new design project.
2. To search electronic store that sells the components that needed with a reasonable price.

METHODOLOGY

1. Understanding the steps taken to build the quadruped robot on https://www.instructables.com/id/ESP8266-WIFI-AP-Controlled-Quadruped-Robot/ . 
2. Comparing the design to my 3D printed body parts and decide what components suitable for my project.
3. Listing the addition components that need to buy.
4. Searching the electronic store on Jalan Pasar, Pudu, Kuala Lumpur.
5. Buying the components.

RESULT

As a result, I found one electronic store near Jalan Pasar, Pudu, KL that offer all the components needed to build my project. The named of the store is 'Online Components Sdn Bhd'. 

Online Components Sdn Bhd near Jalan Pasar

The addition components that I've bought on this store is:

WeMos D1 Mini

PCA9685 16-Channel 12-bit PWM Servo Motor Driver

Hobbywing UBEC 5V or 6V switchable max 3A

Mini DC-DC Step Down Converter

Li-Poly RC Battery 7.4V 2200mAh

Boat Button Switch

ANALYSIS/DISCUSSION

The store provide me all the addition components required for me to build my prototype. The reason why I choose these components is because: 

WeMos D1 Mini: This is the same type as NodeMCU dev kit. it has ESP8266 WiFi module but this component is a lot smaller than nodeMCU. I choose this component because of it small size so that it is fit to my robot since my robot is small. It also has less pin however, I only use 4 pins for my project. thus, less pin does not give problem to build my prototype.

PCA9685 16-Channel 12-bit PWM: This component is recommended from the project that I found in the internet. it can give addition of PWM pin to my arduino Pro Mini. This board is powered using 5V power and very useful for building a robot or proect that use many PWM servo motor.

UBEC 5V or 6V switchable max 3A: This component works as voltage regulator to 5V of 6V similar to DC to DC voltage regulator. However, it has filtering so it will reduce noise that can affected the motor glitch and it has high ampere that's enough to lift up the robot load.

Mini DC to DC Step-Down Converter: The mini DC to DC step-down converter is to regulate power from source to 5V which then can supply to the components that powered up with 5V. It has no filtering so, for this project I will not powering up servo motors with this component.

Li-Poly RC Battery: This LiPo is the main power source for my robot. It gives 7.4V power to connect to the UBEC and DC to DC step-down.

Boat Switch Button: For safety issues and power saving consumption, I will make a power switch from the LiPo using the Boat switch button since the LiPo doesn't have switch button.

CONCLUSION

In conclusion, the components to build this project have already been bought. All the components are bought with a reasonable price. Thus, I can continue to developing the quadruped robot using the addition components.

WEEK 26: DISCUSS WITH SUPERVISOR REGARDING THE PROJECT CHOSEN

OBJECTIVE

1. To meet with Sir Zaki to discuss regarding the project that I selected suitable for my project.
2. To ask for his permission and advice on continuing my project as we discussed.

METHODOLOGY

1. Inform Sir Zaki earlier to conduct a meeting to discuss about the project that selected.
2. Meet him at his office within the week.
3. Discuss the project and explaining to him why this project can relate to my project.
4. Ask for his permission to continue building the project following the project that have been chosen.

RESULT

On the discussion session, I explain to him that this project can be done but I need to buy addition components and modified the current project. I explain to him that this project doesn't use BLYNK application however it use a web browser and the ESP8266 function as the WiFi Access Point.

ANALYSIS/DISCUSSION

Sir Zaki approved my plan on developing this type of project. However Sir Zaki wanted me to modified the robot. Thus, I will use my current 3D printing body parts and modified the arduino codes to match my 3D body parts design.

CONCLUSION

In conclusion, the discussion going as plan and Sir Zaki approved my project. Thus, I will continue developing the project by buying the addition components first.

WEEK 25: FINDING ANOTHER BENCHMARK

OBJECTIVE

1. To find more suitable project related to IoT robot.
2. To find other ways to control quadruped robot using IoT.

METHODOLOGY

1. Finding other suitable project related to IoT robot using internet.
2. Finding other ways to control quadruped robot using IoT from the internet.
3. List the selected projects obtained from the internet.
4. Compare the selected projects with my project.
5. Choose a more suitable and simple project that can modified according to the criteria for my project.

RESULT

As a result, there are various project found that are related to IoT robot and quadruped robot. The list below are the link of the projects obtained from the internet.

• https://www.instructables.com/id/QUATTRO-the-Arduino-Quadruped-Robot/
• https://www.instructables.com/id/ESP8266-WIFI-AP-Controlled-Quadruped-Robot/
• https://oscarliang.com/arduino-quadruped-robot-stalker/
• https://www.instructables.com/id/Synopsis/

ANALYSIS/DISCUSSION

After comparing each projects obtained from the internet as listed in the result. 

https://www.instructables.com/id/ESP8266-WIFI-AP-Controlled-Quadruped-Robot/ 

has more similar project to mine. This project use WiFi to control the robot. The robot can be control using smartphone similar to my main objective. I want to develop a quadruped robot that can be control using smartphone. However, the component that this project use slightly different than what I have bought for my previous project and the quadruped robot body is different than my 3D printed body parts that i have already printed out. The figure below are the quadruped robot from the link in the description above. Nonetheless, I can modified and comes out with different idea to build according to my design.

ESP8266 WiFi AP CONTROLLED QUADRUPED ROBOT

CONCLUSION

In conclusion, this quadruped robot is more suitable for me to imitate because it is similar to my project however this robot did not use BLYNK application to control the robot but it use web browser to control the robot and the ESP8266 works as WiFi access point for smartphone to interface.

WEEK 24: DISCUSS WITH SUPERVISOR REGARDING PROBLEM FACED

OBJECTIVE

1. To meet with Sir Zaki to discuss regarding the problems I faced.
2. To ask his advice for my project.

METHODOLOGY

1. Inform Sir Zaki to organised a discussion meeting within this week.
2. Meet him at his office in 5th Floor of UniKL BMI academic building.
3. Discuss regarding the problems I faced while developing my project.
4. Ask for any advice regarding my final year project.

RESULT

In the meeting session with Sir Zaki, I explain to him what is my problems by showing him my coding that I develop to interface the robot with BLYNK application was impossible for me due to my limitation knowledge of arduino and BLYNK application interface. 

ANALYSIS/DISCUSSION

Sir Zaki understand on what is the reason of my problem on developing my project. After the discussion, he inform me to find another benchmark that are more suitable to develop my project. Sir Zaki wanted me to develop same project but if there is a different method to control the robot using Internet of Things (IoT).

CONCLUSION

After the meeting, we both concluded that I need to find more suitable benchmark for me to develop the same project however I must find other method or ways to control the quadruped robot using Internet of Things (IoT).

WEEK 23: DEVELOP AND CODING TESTING

OBJECTIVE

1. To develop software coding for quadruped robot.
2. To execute and test coding.

METHODOLOGY

1. Develop coding and modified existing coding found in the internet.
2. Execute the codes using Arduino IDE.
3. Troubleshoot any error in the coding.
4. Testing the coding to the hardware components.

RESULT

As a results, the existing codes obtain from 

https://www.instructables.com/id/DIY-Spider-RobotQuad-robot-Quadruped/ can't be modified or added with BLYNK application coding. The figure below shows an error while the coding was execute.

ARDUINO CODE TEST USING ARDUINO IDE SOFTWARE

ANALYSIS/DISCUSSION

The codes obtained from the internet can't be interfaced with the BLYNK application codes. The BLYNK application can't control the robot due to to many servo motors are use at the same time. The BLYNK application can only be interfaced if controlling one, two or more at once. Thus, for this type of project the BLYNK application is not suitable for controlling the quadruped robot. This is also due to my limitation of knowledge on using BLYNK application and arduino.

CONCLUSION

As in conclusion, I have to meet and discuss with my supervisor to inform of the problems that I faced when developing my project.

WEEK 22: PRINTING 3D PRINTED BODY PARTS (3)

OBJECTIVE

1. To observe all the remaining 3D body parts.
2. To eliminate the supporting pillar and smoothing the remaining 3D body parts.
3. To collect all the 3D body parts.

METHODOLOGY

1. Go to the 3D printing service to observe the remaining 3D printing body parts.
2. Eliminate the supporting pillar using scrapper.
3. Smoothing the remaining 3D body parts using sand paper.
4. Collecting all the finishes 3D body parts.

RESULT

The figure below is the remaining 3D body parts that have been printed and smoothed. 

Some of the remaining 3D body parts have been clean using scrapper

ANALYSIS/DISCUSSION

All the 3D printing body parts have been smoothed and collected from sir Azman. The total of 3D printing service for my project is RM96.00 since the rate price introduce by sir Azman is according to the weight of the project which is 1g equal to RM1. My 3D body parts total weight is 96g. 

CONCLUSION

In conclusion, the 3D printing part for my project is done. All the body parts have been completely printed. Thus, now I can continue to develop my project.

WEEK 21: PRINTING 3D PRINTED BODY PARTS (2)

OBJECTIVE

1. To observe the 3D printing body parts.
2. Cleaning the finish body parts.

METHODOLOGY

1. Go to the 3D printing service to observe the printing body parts.
2. Cutting the supporting pillar for the finishes body part.
3. Smoothing the edge of the finishes body parts.

RESULT

The figures below are the printing process of my 3D body parts. However there are no picture of me cutting and smoothing the finishes body parts since there is no one can take my picture.

3D printing body parts for quadruped robot

ANALYSIS/DISCUSSION

The figures above show my observation of the 3D printing body parts of my quadruped robot. For each body parts take about 2 to 4 hours to finish. Thus, it takes a lot of time to finish my whole body parts project.

CONCLUSION

As a conclusion, the finishes body part's supporting pillar have been eliminate using cutter and then it is smooth using sand paper. However, only 60% of my body parts have been finish for this week since the printing takes a lot of time. Sir Azman told me to collect them after all the parts have been finish by next week.