Wheelchair Prototype Arduino_Version

Description

This project is an electric wheelchair. We started with a simple prototype and used Arduino to implement the code and test the components. We wrote five codes for this project:

1. RC & Motor Driver Testing - This code tests the functionality of the motor driver and controls it using bluetooth module.
2. Encoder Testing - This code reads the counts and calculates the distance using encoders.
3. IMU Testing - This code reads angles and directions from the IMU (MPU6050 sensor) attached to the robot.
4. Obstacle Avoidance Testing - This code uses three ultrasonic sensors to detect obstacles and stop the robot in emergency situations.
5. Arduino & ROS Integration Testing - This code integrates ROS and Arduino to allow communication between the two platforms.

Requirements

Hardware

This project requires the following hardware components:

• Robot Chassis with Wheels and Motors
• Arduino Mega board
• Motor driver
• Bluetooth Module (HC-05)
• MPU6050 sensor
• Encoders
• Ultrasonic sensors (3) HC-SR04
• Battery
• Jumbers & Swithces

Libraries

This project requires the following libraries:

• SoftwareSerial
• A ROS installation
• Wire.h
• MPU6050.h