The Final Project

Then, I added a thickness for all faces of surfaces.

For changing the body color I clicked on the appearance panel and selected the color.

In the bottom of the part, I created 4 holes for the wires and screws in the same place of the chassis’s holes.

The last step, I created a cover for the robot body.

Mini caster wheel

One of the parts required to build the robot is the mini caster wheel. At that time, I could not buy the caster wheel because there was a 24-hour curfew and lockdown due covid-19. For this reason ,I decided to design and 3d print this part.

I started by designing the wheel holder. First, I sketched a rectangle with one hole and two mounting brackets.

After that, I extruded the holder by clicking on the Extrude tool.

Then, I used the Fillet tool for the edges.

For the wheel, I drew a circle with a hole in the middle and extruded it.

Also, I have used the Fillet tool to make the wheel smother.

In the assembly page, I connected all parts to show the final look.

Additive Fabrication

I started the fabrication process using 3d printing to bring designs to life. I started to print the robot chassis with the ABS white filament.

Then, I chose the woodfill filament for the robot body. It printed perfectly ! Also, I printed the cover with the same matirial.

For the rest parts, I used the PLA filament with different colors.

2D design

I decided to make a 2D design for the blocks. As I mentioned before, the blocks will look like the amusement park, such as a circus tent, carousel, ferris wheel, etc.

Subtractive Fabrication

The plywood is the material that I decided to use for the blocks. To make sure it is suitable for my project I made a small experiment to test if the plywood thickness will dielectric the RFID reader to read the tags or not. The thickness of the plywood is 2 mm and the thickness of the 3D model 2mm.

For fabricating the blocks, I used the Full Spectrum laser cutter.

Designing my Fabyduino !

PCB Design

The microcontroller that I decided to use is Atmega 328p from Atmel.

What is ATMEGA328P microcontroller?

Atmega 328p from Atmel is a high performance, low power controller from Microchip. It is an 8-bit microcontroller based on AVR RISC architecture. It is the most popular of all AVR controllers as it is used in ARDUINO boards.

Atmega 328p features :

• High Performance, Low Power AVR® 8-Bit Microcontroller.

• Microcontroller that is pre-loaded with the Arduino UNO 16MHz bootloader.

• Advanced RISC Architecture.

• Digtal 14 Pin I\O.

• Analog 6 Pin input.

• 131 Powerful Instructions – Most Single Clock Cycle Execution.

• 32 x 8 General Purpose Working Registers.

• Fully Static Operation.

• Up to 20 MIPS Throughput at 20 MHz.

• On-chip 2-cycle Multiplier.

Atmega 328p pins :

Pinout diagram is shown in below

I had to read the Datasheet to identify the pins that I need to use for my project.

Making FABY Board

To design the circuit, I used the electronic design automation software Eagle from Autodesk.

By following the same PCB design process in Week 7, I created a new project file and changed the name to “ Faby project “

To create PCB board there are two main steps:

1- Schematic Diagram

2- Board Layout

Schematic Diagram

Depending on the microcontroller that I chose, this is the list of the components that I need to import in the schematic.

• Atmega328p microcontroller.

• 100 nF capacitor.

• 1 uF capacitor.

• 10 kohm resistor.

• Headers (for: inputs/outputs, ISP, VCC, GND, FTDI).

In the schematic editor, I imported the components from the Fab library fab.lbr which I have previously added to the schematic libraries . To add libraries check assignment “ “

After the schematic is completed, I switched over to the board layout view by pressing the board button.

Board Layout

In the board layout, I clicked the move button to drag the components into the black rectangle to place them.

Then, I connected the componnects by following the yellow lines which show the unrouted parts.

Last but not least, I chose the layers that need to appear in the board layout and I hid the rest.

Traces :

Outline :

Final design :

Milling Process

For milling and drilling the PCB, I used the carvy machine. As usual steps, I prepared the carvey machine by placing the copper board on the workspace. Then I chose the proper bit for the milling (Bit : 1/64 in = 0.015 in). For the Depth : 0.2 and the Depth per pass : 0.1 mm.

I put the microcontroller on the PCB board to make sure it fit perfectly.

drilling the dots I used Bit : 0.016 in, Depth = 1.8 mm and Depth per pass = 0.3 mm. Also, I used Bit : 1/32 in = 0.031, Depth : 1.8 mm and in Depth per pass : 0.3 mm for the outline.

Soldering Process

To start the soldering, I identified all the components that I mentioned before for my Fabyduino.

Electronics

Input

• MFRC522 RFID

• Switch button

OUTPUT

• Geared motors

• Buzzer

Motor Driver :

• L298 Dual H-Bridge Module

RFID-RC522 Sensor

What is RFID Reader?

RFID means radio-frequency identification, a technology used for electronic and wireless identification of objects, humans and animals. It uses electromagnetic fields to transfer data over short distances.

Specifications:

• Input voltage: 3.3V

• Frequency: 13.56MHz

• Communication : SPI, I2C protocol, UART

• Maximum Data Rate: 10Mbps

• Read Range: 5cm

How does it work ?

Two-way radio transmitter- receiver, the reader, that sends a signal to the tag and reads its response.

RFID pinout

• VCC supplies power for the module.

• RST is an input for Reset and power-down.

• GND is the Ground Pin.

• IRQ is an interrupt pin that can alert the microcontroller when RFID tag comes into its vicinity.

• MISO / SCL / Tx pin acts as Master-In-Slave-Out when SPI interface is enabled.

• MOSI (Master Out Slave In) is SPI input to the RC522 module.

• SCK (Serial Clock) accepts clock pulses provided by the Arduino.

• SS / SDA / Rx pin acts as Signal input when SPI interface is enabled.

Interfacing of RFID RC522 with Arduino UNO

Each RFID card has a unique ID to present a specific command. I used a simple code to prepare RFID Cards and test it.

Components

• Arduino UNO

• MFRC522 RFID Reader

• RFID Tags

• Bread Board

• LEDs

To interface RC522 RFID Reader with Arduino UNO I started by adding the library for MFRC522.

The Code:

What is L298 Dual H-Bridge Module Motor Driver?

It is a motor controller breakout board which is typically used for controlling speed and direction of motors.

Specifications:

• Driver Model: L298N 2A

• Driver Chip: Double H Bridge L298N

• Motor Supply Voltage (Maximum): 46V

• Motor Supply Current (Maximum): 2A

• Logic Voltage: 5V

• Driver Voltage: 5-35V

• Driver Current:2A

• Logical Current:0-36mA

• Maximum Power (W): 25W

• Current Sense for each motor

• Heatsink for better performance

• Power-On LED indicator

How does it work ?

The L298N motor driver controls the speed of rotation of a dc motor using PWM (Pulse Width Modulation) signals and the direction of rotation is determined by an H-bridge.

• Heatsink for better performance

• Power-On LED indicator

Pin descriptions :

• IN1 & IN2: Motor A input pins that used to control the spinning direction of Motor A.

• IN3 & IN4: Motor B input pins that used to control the spinning direction of Motor B.

• ENA: Enables PWM signal for Motor A.

• EN: Enables PWM signal for Motor B.

• OUT1 & OUT2: Output pins of Motor A.

• OUT3 & OUT4: Output pins of Motor B.

• 12V: 12V input from DC power Source.

• 5V: Supplies power for the switching logic circuitry inside L298N IC.

• GND: Ground pin.

Wiring

• Start by connecting the power supply to the motors.

• Connect the input and enable pins (IN1, IN2, IN3 andIN4) of the L298N module are connected to Arduino digital output pins(5, 6, 3, and 7).

• Connect one motor to terminal A(OUT1 & OUT2) and the other motor to terminal B(OUT3 & OUT4).

• For the RFID, I connected pins (SDA, SCL,MOSI,MISO,GND,RST and 3.3V) to (10,13,11,12,GND,9,3.3V).

• Then I connected the buzzer to pin 8 and GND.

Programming

The Code explanation:

I started by adding the SPI bus library

#include "SPI.h"

Then I added the RFID reader library

#include "MFRC522.h"

Also, I added the pitches.h which is the library that contains all the pitch values for typical notes.

#include "pitches.h"

Next, I define some pins :

- slave select pin

#define SS_PIN 10

- Define reset pin

#define RST_PIN 9

The next step was creating variable integers :

int M2S=3;

int M2D=7;

int M1S = 5;

int M1D = 6;

int x=0;

int y=0;

int z=0;

int n=0;

int f=0;

After that, I Instantiated a MFRC522 reader object.

MFRC522 rfid(SS_PIN, RST_PIN);

After that, I Instantiated a MFRC522 reader object.

MFRC522 rfid(SS_PIN, RST_PIN);

I created a MIFARE_Key struct named 'key', which will hold the card information.

MFRC522::MIFARE_Key key;

In the Setup function, I initialized the serial communications with the PC, SPI library and MFRC522 object.

void setup() {

Serial.begin(9600);

SPI.begin();

rfid.PCD_Init();

I Set all the motor control pins and buzzer to outputs.

pinMode(M1S, OUTPUT);

pinMode(M1D, OUTPUT);

pinMode(M2S, OUTPUT);

pinMode(M2D, OUTPUT);

pinMode(8,OUTPUT);

In loop function : Look for new cards and Select one of the cards

void loop() {

if(!rfid.PICC_IsNewCardPresent()||!rfid.PICC_ReadCardSerial())

return;

MFRC522::PICC_Type piccType = rfid.PICC_GetType(rfid.uid.sak);

To check is the PICC of Classic MIFARE type:

if (piccType != MFRC522::PICC_TYPE_MIFARE_MINI &&

piccType != MFRC522::PICC_TYPE_MIFARE_1K &&

piccType != MFRC522::PICC_TYPE_MIFARE_4K) {

Serial.println(F("Your tag is not of type MIFARE Classic."));

return;

The code formats UUID as a string of 4 hex bytes (each bytes a pair of hex digits) separated by colons.

Blank the string

String strID = "";

Iterate over the four bytes of the UUID

for (byte i = 0; i < 4; i++) {

Next, I added the following to the string "ID"

strID +=

If the hex number to be displayed is less than 0x10, add a leading '0' to the string 'ID'

(rfid.uid.uidByte[i] < 0x10 ? "0" : "") +

Then, I added the UUID to the string 'ID' as HEX.

String(rfid.uid.uidByte[i], HEX) +

Adds a colon to the string 'ID' after the hex byte unless the index is 3 (ie the last one).

(i!=3 ? ":" : "");

strID.toUpperCase();

Serial.print("Tap card key: ");

Serial.println(strID);

I turned off motors - Initial state

if (strID.indexOf("29:2D:A1:B2") >= 0 && n==0 && y==0 && z==0)

digitalWrite(M1D,LOW);

analogWrite(M1S,0);

digitalWrite(M2D,LOW);

analogWrite(M2S,0);

delay(800);

I turned on motor - Moving forward

digitalWrite(M1D,LOW);

analogWrite(M1S,255);

digitalWrite(M2D,LOW);

analogWrite(M2S,255);

x=1;

} else if(strID.indexOf("29:2D:A1:B2") >= 0 && n==1) {

If it is the true card then play this melody

int melody[] = {

NOTE_D7 , NOTE_B6 , NOTE_D7, NOTE_G7

int noteDurations[] = {

4, 8, 4, 4

iterate over the notes of the melody

for (int thisNote = 0; thisNote < 4; thisNote++) {

To calculate the note duration, take one second divided by the note type.

int noteDuration = 1000 / noteDurations[thisNote];

tone(8, melody[thisNote], noteDuration);

int noteDurations[] = {

4, 8, 4, 4

To distinguish the notes, set a minimum time between them. The note's duration + 30% seems to work well:

int pauseBetweenNotes = noteDuration * 1.30;

delay(pauseBetweenNotes);

stop the tone playing:

noTone(4);

y=0;

z=0;

n=0;

f=0;

else if(strID.indexOf("29:2D:A1:B2") >= 0 && n==0 && f==1){

If it is a false card then play this melody

int melody[] = {

NOTE_A2 , NOTE_B1 , NOTE_A2

};

int noteDurations[] = {

4, 4, 4

};

for (int thisNote = 0; thisNote < 3; thisNote++) {

To calculate the note duration, take one second divided by the note type.

int noteDuration = 1000 / noteDurations[thisNote];

tone(8, melody[thisNote], noteDuration);

To distinguish the notes, set a minimum time between them.

int pauseBetweenNotes = noteDuration * 1.30;

delay(pauseBetweenNotes);

noTone(3);

The Code:

The pitches:

Assembling

Faby robot Assembling

I started by assembling the robot chassis. First, I gathered all the components:

• Robot chassis x 1

• DC gear motor x 2

• L298N motor driver x 1

• Wheel x 2

• Mini caster wheel x 1

• Male jumper wires x 4

• Screws and nuts

Then, I installed the two motors on the chassis in the mount brackets. After that, I installed the wheel on the chassis with screws and nuts. Also, I tinned the wire with solder and soldered them to the motor terminals. Next, attached the tire wheels to the outside part of the motors and the mini caster wheel in the back area of the chassis.

The next step, I connected the robot body to the chassis. I wired up the PCB, RFID, L298N module , buzzer, switch button and the power bank.

The Blocks Assembling

I colored some parts with spray paint.

Testing Faby

I spent the most time of the project on the programming and testing phases. The testing process helped me to fix all the problems that I faced and showed me the flaws to modify the design.

For instance, controlling the motor speed according to the range and capability of the RFID reader to read the tags.

Last but not least, I uploaded the code to my Fabyduino board to test it.

The Final result : Faby !

DOWNLOAD FILES :

2D Designs :

• Fabyland Ticket

• Circus Tent

• Carousel

• Ferris wheel - Part 1

• Ferris wheel - Part 2

• Popcorn Cart

• Ice Cream Truck

• Faby Decoration

3D Designs :

• Chassis

• Robot Body - Part 1

• Robot Body - Part 2

• Mini Caster Wheel

Codes :

• Faby Code

• Pitches

REFERENCE :

• Interface L298N DC Motor Driver

</Done!>