POLITEKNIK SULTAN SALAHUDDIN ABDUL AZIZ

SHAH ELECTRICAL ENGINEERING DEPARTMENT

SESSION: 1 2023/2024

NAME:NURUL LIDIYA & NUR YUANA QHARUNISHA MATRIC NO:F1077&F1098

COURSE: CLASS:DEU5B
PROGRAMME:DEU
ASSESSMENT/TOPIC:
MINI PROJECT CLO 1: investigate the concept and fundamentals of mobile robotic,
TOPIC 1,2,3,4 embedded controller, sensors and actuators based on land mobile
robot design
MARKS: CLO2 : design the concept of robot positioning, identification and
communication in mobile robot control according to a standard
/ 100
PLO 3: design solutions for well-defined technical problems and
assist with the design of systems, components or processes to meet
/ 100 specified needs with appropriate consideration for public health and
safety, cultural, societal, and environmental considerations (DK5)

PLO 4: conduct investigations of well-defined problems; locate and

search relevant codes and catalogues, conduct standard tests and
measurements.

CLO 1 / 2 / 3 / 4

PLO 1 / 2 / 3 / 4 / 5 / 6 / 7 / 8 / 9 / 10 / 11 / 12

DK 1 / 2 / 3 / 4 / 5 / 6 / 7

DP 1 / 2 / 3 / 4 / 5 / 6 / 7

NA 1 / 2 / 3 / 4 / 5 / 6
 ELECTRICAL ENGINEERING DEPARTMENT
ACADEMIC SESSION: 1 2023/2024
DEC 50122 : EMBEDDED ROBOTICS
ASSESSMENT: MINI PROJECT
TITLE: SUMO ROBOT
LECTURER’S NAME:
GROUP NO. :
TOTAL
STUDENT ID & NAME : MARKS
(100%)

(1) NURUL LIDIYA BT MOHD SULAIMAN

08DEU21F1077

(2) NUR YUANA QHAIRUNISHA BT MASRULL

08DEU21F1098

(3)

(4)

(5)

DATE SUBMIT : DATE RETURN :

1 WELL-DEFINED PROBLEM SOLVING:

DP1: Cannot be resolved without extensive - Embedded system, simulation,

practical knowledge as reflected in DK5 electronics, control system is the
and DK6 supported by theoretical knowledge that support the designing of
knowledge defined in DK3 and DK4. mobile robot (DK5)
- Programming, electronic assembly,
motor control is related to practical
engineering knowledge required to
solve the problem. (DK6)
- Electronics, programming, and control
system as engineering fundamental
knowledge required to solve the
problem. (DK3)
- In-depth specialist engineering
knowledge on robotics, control
system, communication is required.
(DK4)
DP3: Can be solved in standardized ways. - Mobile robot navigation using standard
configuration (motor driver) and
communication using Bluetooth that
common in robotics
DP4: Are frequently encountered and thus - Mobile robot navigation usually using DC
familiar to most practitioners in the motor drive and Bluetooth communication is
practice area. familiar to practitioner.

DP7: Are discrete components of - The design needs to involve different

engineering systems systems:
 Navigation (DC Motor, motor
driver, differential drive wheel
configuration),
 Sensor system (infrared, sonar),
 Communication system (Bluetooth)

Engineering systems involved are

navigation, sensor and communication.
2 INSTRUCTIONS:

In this project, you need to design and develop an Autonomous Sumo Robot. Task to be
completed (autonomous):

a. Your robot able to detect an opponent robot. (By using a sensor)

b. Your robot able to push the opponent robot out of arena.(Both Motor will move
Forward)
c. Your robot able to avoid leaving the arena by detecting the white circle at the edge
of arena. (By using a sensor)
- Both Motor will move Backward

For Bluetooth control robot, wireless Bluetooth remote should be programmed

accordingly to control robot navigation.

SUMO Arena
3 You must plan and complete this robot within 3 weeks. Your report must include

i. Gantt chart (21 days)

ii. Project Cost
iii. Work delegation among group members
iv. Block diagram and sketch of the robot
v. Circuit design with simulation using Proteus
vi. Coding
vii. Result
viii. Discussion
GANTT CHART 21 DAYS

PROJECT COST = TOTAL RM 106.50

NO PART / DEVICE PRICE QUANTITY

1 2WD Smart Robot Car Chassis

RM 17.9 1

2 2Amp 7V-30V L298N Motor Driver /

Stepper Driver (2 Channels)

RM 4.90 1

3 Bluetooth Serial Transceiver HC-05

RM13.90 1

4 Uno Compatible (CH340) with USB

Cable

RM29.00 1
5 Rocker Switch Small 2 Pins Red

RM1.60 1

6 Dupont Jumper Wires Bundle

(20cm/40 ways)
RM4.60 1

7 3V-5.5V SR04P Ultrasonic Ranging

Module
RM4.90 1

9 Breadboard 8.5x5.5cm (400 Holes)

RM2.70 1

10 IR sensor

RM6.00 2

11 Battery AA

RM15.00 2

TOTAL RM106.5
WORK DELEGATION AMONG GROUP MEMBERS

TEST
ROBOT BUY
COMPONENT

INSERT CODING
ON ROBOT
DO CODING
ON ORDUINO

DO CONNECTION
ON COMPONENT

BLOCK DIAGRAM

INPUT PROCESS OUTPUT

IR SENSOR ULTRASONIC
IR SENSOR
SENSOR
SKETCH OF THE ROBOT
CIRCUIT DESIGN WITH SIMULATION IN PROTEUS
CODING

// Pin configuration for L298N motor driver

const int ENA = 11; // Speed control for motor A
const int IN1 = 7; // Motor A input 1
const int IN2 = 6; // Motor A input 2
const int ENB = 10; // Speed control for motor B
const int IN3 = 5; // Motor B input 1
const int IN4 = 4; // Motor B input 2

// Pin configuration for IR sensors

const int IR1 = A0;
const int IR2 = A1;

// Pin configuration for ultrasonic sensor

const int TRIG_PIN = 12;
const int ECHO_PIN = 13;

void setup() {
pinMode(ENA, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);

pinMode(IR1, INPUT);
pinMode(IR2, INPUT);

pinMode(TRIG_PIN, OUTPUT);
pinMode(ECHO_PIN, INPUT);

Serial.begin(9600);
}
void loop() {
int ir1Value = digitalRead(IR1);
int ir2Value = digitalRead(IR2);
int distance = getDistance();

Serial.print("IR1: ");
Serial.print(ir1Value);
Serial.print(", IR2: ");
Serial.print(ir2Value);
Serial.print(", Distance: ");
Serial.print(distance);
Serial.println(" cm");

if (ir1Value == HIGH && ir2Value == HIGH) {

moveForward();
} else if (ir1Value == LOW && ir2Value == HIGH) {
turnRight();
} else if (ir1Value == HIGH && ir2Value == LOW) {
turnLeft();
} else if (ir1Value == LOW && ir2Value == LOW) {
stopRobot();
moveBackward();
delay(500);
turnRight();
delay(500);
} else if (distance > 0 && distance < 20) {
moveFast();
 } /*else if (ir1Value == LOW && ir2Value == LOW) {
stopRobot();
}*/

// Add additional logic based on distance measurements for obstacle avoidance

delay(10);
}

void moveForward() {
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(ENA, 255);

digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENB, 255);
}

void moveBackward() {
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(ENA, 200);

digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(ENB, 200);
}

void turnLeft() {
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(ENA, 200);

digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENB, 150);
}

void turnRight() {
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(ENA, 150);

digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(ENB, 200);
}

void stopRobot() {
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
analogWrite(ENA, 0);

digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
analogWrite(ENB, 0);
}

void moveFast() {
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(ENA, 240);
 digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENB, 240);
}

int getDistance() {
digitalWrite(TRIG_PIN, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);

int duration = pulseIn(ECHO_PIN, HIGH);

int distance = duration * 0.034 / 2;

return distance;
}
 RESULT

DISCUSSION

We have to construct the sumo robot for this little project. The 2WD smart robot car chassis,
the 2Amp 7V-30V L298N Motor Driver / Stepper Driver (2 Channels), the Bluetooth serial transceiver
HC-05, the Uno compatible Ch340 with USB cable, the rocker switch small with 2 red pins, the jumper,
the ultrasonic, the infrared, the breadboard, and the battery must all be purchased first.

The robot's obstruction is detected by the ultrasonic.Therefore, we add the code such that the
DC motor will cut off when the robot encounters an impediment. The white or distinct line can be
detected by the infrared sensor.Thus, we put the coding so that it will change orientation when
the infrared sensor detects a different line.

We first insert the code for the ultrasonic function and how it operates. Second, we insert the
infrared sensor function coding, and it functions as well. But the infrared sensor only functions when
we insert both codes.

After connecting everything and configuring the Arduino, we see that all of the hands-on work
we do, along with guidance from Pn Faizah during our lecture, enable us to successfully complete
this small project.
 Name Registration Number
S1 NURUL LIDIYA BT MOHD SULAIMAN 08DEU21F1077
S2 NUR YUANA QHAIRUNISHA BT MASRULL 08DEU21F1098
S3
S4
Rubric for Practical Skill (CLO3,
PLO5)

Skills Excellent (5) Very Good Good (3) Fair (2) Unsatisfactory (2) Weight S1 S2 S3 S4
(4)
Able to
Able to write Able to write
Development Able to write write and
and able run it and able run
and and able run able run Unable to write
with more than it with more 3
implementation it without any it with or run it
3 but less than than 10
codes. error. less
10 errors. errors.
than 3
errors.
Able to
draw
Able to draw Schematic Schematic
schematic No labeling done
Drawing schematic drawing and not complete
but and unable to 2
schematic complete with labelling not and without
labelling draw schematic
labelling. complete. any labelling.
not
complete.
Able to run Able to
Able to run Able to run
simulation run Unable to run
simulation with simulation
without any simulation simulation.
an error. with an
error . with an
Simulation error. 3
error.
Simulation Simulation log Simulation
Simulation log unable to
log shows show more than log show
shows no generate
less than 3 3 errors but more than 10
error simulation log
errors. less than 10 errors.
errors.
Total
Attribute Sub attribute Very Weak (1) Weak (2) Fair (3) Good (4) Very Good (5) S1 S2 S3 S4

Completes work Completes tasks

No attempt to Rarely completes
Occasionally on time by taking ahead of
complete work work on time.
Time completes work on advantage of the schedule by
on time. Not Not able to
Management time. Tries to time provided and creating a plan
able to manage time
manage time. by using time and scheduling
manage time. well.
management skills. time to complete
the work
Tries to make
No attempt to
decision by Satisfactory
make decision. Able to make a Able to make a
understanding attempts to make
Do not good decision very good
the situation. decisions and
Decision understand the based on good decision based on
Decision made is satisfactory
Making situation and understanding of excellent
based on limited understanding of
relate with the situation and understanding of
understanding of the situation and
options that available options. the situation and
Managerial the situation and available options.
are available. available options.
available options.

Deliver ideas
Deliver ideas Deliver ideas with Deliver ideas with Deliver ideas with
with minimal
Organization unclearly, satisfactory clarity, good clarity, excellent clarity,
clarity,
of Ideas loosely and comprehensiveness comprehensiveness comprehensiveness
comprehensivene
disorganized. and organization. and organization. and organization.
ss and
organization.
Work was not
divided equally.
Work was Work was divided Work was divided
Only few Work was
Delegation of divided satisfactorily excellently
members are divided well
Work minimally amongst group amongst group
doing the amongst group
amongst group members. members.
work while members.
members
others are
ignored.
No motivation Minimal Satisfactory Very high
High motivation to
Motivation to complete motivation to motivation to motivation to
complete task.
task. complete task. complete task. complete task.
 Budget is not
clear, not
Budget is not Budget is not Budget clear,
reasonable and
clear, not clear, reasonable reasonable and
not cost
reasonable but and cost effective. cost effective.
effective. Budget is clear,
cost effective. Budget narrative Budget narrative
Budget reasonable and
Budget narrative identifies expenses identifies expenses
narrative cost effective.
provides detail and provides and provides
Budget and does not Budget narrative
explanation of general general
cost provides itemizes expenses
expenditures but explanation, but explanation, but
detail in detail. Budget
lacks depth and lacks depth and lacks depth and
explanation of calculation are
connections connections connections
expenditures. correct
between costs between costs and between costs and
Budget contains
and the goals of the goals of the the goals of the
calculation
the project. project. project.
errors and/or is
completely
incorrectly.
Total