ROBOT PRO MICRO AUTONOMOUS OBSTACLE AVOIDANCE
Small self-built robot with autonomous handling and obstacles avoidance. Derived from the JJROBOTS project and modified to use the Arduino Pro Micro card instead of the Leonardo card. The hardware also includes two A4998 driver steppers set at about 0.5A, an MPU 6050, an ESP12 module and an LD1117 regulator TO SUPPLY the WiFi BOARD to 3.3V. The two steppers are type JK35HY34-1004 and the main power is derived from 2 LiPo cells of 900mAh Kokam. Two analog sensors IR Sharp GP2Y0A21YK0F have been added to detect obstacles during autonomous motion, which is initiated via the touch [PRO] button of the standard APP provided by JJROBOTS. The software for the PRO MICRO version and the Leonardo standard card version are attached. The video is available on Youtube : https://youtu.be/OKxtx6MELJc . Several oscillations that you see in the video are caused by the floor that is not perfectly smooth, but has troughs between tiles, which are small obstacles for the small wheels used, and detected by the MPU card, which reacts to.