Introduction: Manual of Warzone Tower Defense With Arduino Design

Presentation

We are chemical group YOJIO (You only study in JI once, so treasure it.) UM-SJTU Joint Institute locates in the campus site of Shanghai Jiao Tong University, Minhang, Shanghai. VG100 is the fundamental flow from of engineering science for freshmen students, which aims at cultivating teamwork and leadership.

For our first project, each team is required to make a glitch and a paper tower. Three bugs move on three straight racetracks towards the paper predominate. There are 4 tracks encompassing the column and the bugs randomly occupy three of them. To defend the tower, it should stop the bug with the laser beam happening top of the tugboat. The final score is based on the design of the bug, the performance and the weight of the towboa: the lighter the tower and the earlier the bugs are killed, the higher account each team tail end get. See the third figure.

Constrains

→The racetrack (Provided in the crippled)

Black in cosmopolitan with a 4cm wide white line in the midst

White stop lines across the track some 1m and 0m from the rump of the towboa

Protection domain 2.5m to 2m from the fathom (with shelter)

→The bug

Computer hardware:

∙ Bottom board made of PMMC

∙ A 15cm*10cm front board required

∙ A light sensor placed horizontally 5cm above the track in the front

Computer programing:

∙ Tracking function included

∙ Pelt along controlled at 0.2 to 0.3 m/s

∙ Moving in a straight line

∙ A 2 to 4 seconds full stop at the intermediate stop line and pot't be killed at that here and now

∙ A imperishable stop at the white line next to the tower

→The wallpaper tower

∙ Constructed with A4 paper

∙ Holding its system of weights on paper social organization only

∙ At to the lowest degree 60 atomic number 96 high

∙ Permitted to be stuck with only white glue

∙ No thicker than 3 pieces of report anyplace in the tower

∙ Including only 1 laser beam along the top.

Material list

1.The bug:

Arduino UNO ￥ 33.00*2

Efferent driving board L298N ￥ 8.40

Motor GA12-N20 ￥ 14.90

Motor Brackets 3PI miniQ N20 ￥ 2.50

Coupler M3 ￥ 2.90

Barrage Box 9V 6F22 ￥ 6.88

Batteries 9V ￥ 9.90

Bod 15*20cm ￥ 28.00

Caster 27mm ￥ 2.00

Line Tracking Sensing element SEN0017 ￥ 22.00

Flimsy Sensor BH1750 ￥ 6.14

Nylon Screws M3 ￥ 12.00

Screws M2*8 M2*10 M2*12 M3*8 Provided by the lab

Dupont Wires Provided by the lab

Breadboard 5cm*8cm Provided aside the research laboratory

Wheel 72mm Provided by the lab

2.The tower:

Cloud Bench +Servo SG90 ￥21.9

360 degree Servo DS04-NFC ￥33

Ultrasonic Sensor SR04 ￥3.6*4

Tracking Sensor DFRobot ￥22

Video

Due to the awful lightly-armed condition on game day, we cannot provide a video of the game. Instead, we have posted a TV of bug test on Youku.
The hyperlink is http://v.youku.com/v_show/id_XMTc3NjczNjg1Ng==.ht...

Step 1: Instruction Part I: Making the Hemipteron

The exploded view is shown in count on 1.

Step 1: Draw a Electric circuit Diagram (arsenic is shown in figure 2).

Step 2: Assemble the Motors and Wheels (as is shown in figure 3).

(1) Reparation the motors with motor brackets, M2.5(*4) around the bend and screws.

(2) Connect the wheels and motors with couplers. Use M2(*4) screws to fix them.

(3) Fix the universal wheel at the rear of our bug with M3(*4) screw and nuts.

Footprint 3: Make the Vertical Board(as is shown in figure 4).

(1) Cut a piece of crimp paper into the size of 12cm*15cm.

(2) Cut two corners and insert the paper room into the gap of the hemipteron. (Diagram will be provided)

(3) Stick the vertical table to the bug with 502.

Step 4: Assemble the Sensors(as is shown in figure 5).

(1) Draw a line 5cm above the ground along the front board.

(2) Place the light sensor horizontally so that the light sensor dental plate matches the line tired.

(3) Fix the nonfat sensor with scotch tape.

(4) Use cardinal M3*30 nylon columns to fix three tracking sensors so that the distance between the sensor and the ground is approximately 1.3cm, the go-to-meeting distance for microscopic signal detection.

Step 5: Integrated assembly

(1) Fix the battery box and motor driving board happening the intercept, at least 5*M3 screws and nuts are required. Fix the oecumenical wheel at the back (as is shown in shape 6).

(2) Stick the breadboard below the pester board and Arduino board on the hemipterous insect. (As shown in figure 7).

(3) Connect the agnate parts with Dupont Lines. (Witness Book of instructions in the circuit plot part)

(4) Use a welding gun and a soldering station to weld every last the places that are loose. (Carefulness! Hot! Do it under supervision! Not mandatory.)

Step 2: Education Part II: Making the Tower

The exploded view is shown in figure 1 and 2.

Step 1: Edifice the Basic

(1) Plica a slice of A4 newspaper publisher so that the two shorter sides touch.(Arsenic shown in figure 3).

(2) Agaze the folded wallpaper. Further crimp the paper from the inner side of 1) and make sure that the two touched sides in 1) directly coincide at the middle line.(As shown in figure 4 and 5)

(3) Equably paste side A with livid glue and stick it with the back side of side B (Not much white glue required) so that we can get a diarrheic triangular prism.(As shown in human body 6 and 7)

(4) Restate 1) to 3) 5 times to set out 6 same prisms.

(5) Equably spread the 2 single layers of each prism with white glue. Stick the prisms together so that we get a regular hexagon prism. (Every bit shown in figure 8)

Step 2: Cook the Connection Part (As shown in figure 9)

(1) Prepare a piece of paper.

(2) Draw a unconstipated hexagon whose length of incline is 7.5 cm.

(3) Make a rectangular (2cm*7.5cm) next to each side of the regular hexagon

Step 3: Build the Amphetamine Start of the Column

(1) Fold a piece of A4 paper thusly that the two longer sides touch. (Relate to digit 5 but note the difference)

(2) Repeat (2) to (5) in Step 1.

(3) Make 12 pieces of 50mm*50mm paper.

(4) Fold the paper mentioned in Step3, 3) in half.

(5) Impound white glue to one of the inner sides mentioned in Step3, 4). (As shown in figure 9)

(6) Attach the pasted side to an outer side of meat of the optical prism. The middlemost line of the littler one should coincide with the upper edge of the prism. (As shown in figure 10) Then exercise the similar for the other 5 edges.

(7) Similarly, attach more pieces of small paper to the tower. However, this time they should be sticked inner. (As shown in figure out 11) Then do the same for the other 5 edges inside.

(8) Cut all the parts that come out of the optical prism edge. (As shown in 12)

(9) Stay put all lowercase pieces of paper (if possible) to stabilis the structure. (As shown in reckon 13)

(10) Repeat Step3 6) to 9) at the other end of the structure. Stick it to the connection role.

Step 4 Build the second connection part

(1) Draw 48 parallel lines, paralleling to the short side of A4 paper. All two neighboring lines should have a distance of 5(mm).

(2) Fold the paper along the lines. Bolt line means you should fold the newspaper publisher towards you, and full line means you should fold the paper back to you. The cutaway view of the product will look like Figure 14.

(3) Use E. B. White mucilage to stick a sheet of paper at the top side of the corrugated paper.Stick other paper at the bottom.(Figure 15)

(4) Cut the corrugated newspaper publisher into 12(cm)*15(cm)

Step 5 Build the top of the paper tower (the servo, power, laser and Arduino part)

(1) Assemble the cloud terrace with a SG90 servomechanical and optical maser beam attached. Use 502 if necessary.

(2) Attach the tracking sensor on the cloud terrace. It should be strictly in a vertical plane with the laser beam. (As shown in envision 16)

(3) Depict 2 vertical disgraceful cross lines on a card dining table with lily-white newspaper publisher thereon. The line should be 0.5cm wide. Past make a whole (wheel spoke=0.6cm) in the middle.

(4) Stick the former pull of the board on the control system below. Put option the cloud patio on it. (See fancy 17)

(5) Set u Arduino, breadboard and batteries happening the topmost of the tower and the ultrasonic sensors happening the tug. (As shown in figure 18)

Step 3: The Final exam Outcome of Bug and Tower

See the figures above.

Whole tone 4: Trouble Shooting

1 We chose a modularized infrared sensor at first. It could only track a 2cm-bird's-eye white line of descent, merely the tourney provided 4cm-wide white lines for trailing.

Solution: Apply leastways 3 independent infrared sensors. You can adjust the distance betwixt each cardinal of them, indeed that the cable car toilet track lines with some widths.

2 The 360-degree servo was hard to control its rotation angle. We could only ascendency its direction and speed of rotation.

Answer: Stick an infrared sensor on the cloud terrace. Take in a cross of black lines on a wallpaper. Stick the paper along the top of the 360-degree servomechanical (below the cloud terrace). When the sensor detects a black line, the 360-stage servomechanical should stop at once so that it prat splay exactly 90 degree in a rotation.

3 Many objects should be placed at the top of the report tower, but there is not so much space.

Solution: Fold a corrugated board. IT provides extra load load-bearing blank space.

Step 5: References

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