Our Trip To University Of South Wales

English

We spent 3 days down the University of South Wales to work on our project with supervision from Engineers who are placed in the University. The 3 days at the University were very successful, as we completed more work than we needed. Marc took all the original circuits and the prototype circuits and built the final designs. Callum and Scott created the power point ready to be presented down the Celtic Manor. Harry, Jesse and Matthew were all working on the power supplies that Scott, Cameron and Jordan created and Jordan and Cameron were creating pot holders to create on a 3D printer to add components onto the robotic arm.

Cymraeg

Rydym yn treulio 3 diwrnod i lawr y Prifysgol De Cymru i weithio ar ein prosiect gyda goruchwyliaeth gan Beirianwyr sy'n cael eu lleoli yn y Brifysgol . Y 3 diwrnod i lawr y Brifysgol yn llwyddiannus iawn , wrth i ni gwblhau mwy o waith nag yr ydym ei angen . Cymerodd Marc yr holl gylchedau gwreiddiol a'r cylchedau prototeip ac adeiledig y dyluniadau terfynol. Callum a Scott greodd y pwynt pŵer yn barod i'w gyflwyno i lawr y Celtic Manor . Roedd Harry , Jesse a Matthew i gyd yn gweithio ar y cyflenwadau pŵer sydd Scott , Cameron a Jordan greu a Jordan a Cameron yn creu deiliaid pot i greu ar argraffydd 3D i ychwanegu cydrannau ar y fraich robotig . 

It's alive!

English

Today we had meeting with Iain Shewring in the college, we set up a demonstration with the raspberry pi connected to the motor driver circuit. We showed our progress by moving motors using the Pi. After speaking with Iain, he suggested improvements in the coding and a possibility of connecting a PS3 pad via Bluetooth to control the robotic arm.

Cymraeg

Heddiw, yr oeddem wedi cyfarfod â Iain Shewring yn y coleg, rydym yn sefydlu arddangosiad gyda'r raspberry pi sydd wedi gysylltu â'r gylched gyrrwr modur.Rydym yn ddangos ein cynnydd drwy symud modur wrth ddefnyddio'r Pi. Ar ôl siarad â Iain, awgrymodd welliannau yn y cod a posibilrwydd o gysylltu pad PS3 drwy Bluetooth i reoli y fraich robotig.



Opto isolation breadboard & Motor driver (PCB)



English

Harry and Jesse have successfully designed and built a motor control board to control two motors (circuit design below), they have started building the second one as well. The opto isolator circuit has been built on breadboard (circuit diagram below) by me and Callum, after building the circuit we attempted to turn on a led with it. This was successfully done.

Cymraeg

Mae Harry a Jesse wedi dylunio ac adeiladu bwrdd rheolaeth echddygol i reoli dau modur (mae'r dyluniad cylched isod) yn llwyddiannus, yr oeddem nhw wedi dechrau adeiladu yr ail un hefyd. Mae'r gylched opto isolator wedi ei adeiladu ar bread board (diagram cylched isod) gan Marc a Callum, ar ôl adeiladu'r gylched rydym yn ceisio troi ar arweinir ag ef.

Motor driver circuit design /  Cylched dylunio modur gyrrwr.

Opto isolation being tested / Ynysu opto yn cael eu profi.

Opto isolater circuit diagram / Cylched dylunio opto isolator.

Motor driver successful

English

Harry and Jesse have built the motor control circuit on breadboard using L293D (link here) and successfully controlled a motor. Scott and Cameron have decided to use potentiometer to give a resistive feedback to the Pi. The opto isolator has arrived, I and Callum have started building the circuit on breadboard.

Cymraeg

Mae Harry a Jesse wedi adeiladu cylched rheolaeth echddygol ar  Breadboard gan ddefnyddio yr L293D (dolen yma) a reoli yr modur yn llwyddiannus. Mae Scott a Cameron wedi penderfynu defnyddio potensiomedr i roi adborth resistive i'r Pi. Mae'r Opto Isolator wedi cyrraedd, mae Marc a Callum wedi dechrau adeiladu'r gylched ar Breadboard.



This a picture of motor driver built on bread board. / Dyma llun o'r modur gyrrwr sydd wedi gael ei adeiladu a'r Breadboard.

The arm has arrived!

English

The robotic arm kit arrived from Maplins and has been built by Harry, Jesse and Matthew. Harry and Jesse have chosen a H bridge microprocessor to control the motors with, as it's very easy to change the direction of the motor. Marc and Callum have researched protecting the raspberry pi, we decided after reading a Linux article on pi protection (link here) that a opto isolater chip would be the best solution.

Cymraeg

Mae'r cit braich robotig gan Maplins wedi cyrraedd ac wedi ei adeiladu gan Harry, Jesse a Matthew. Mae Harry a Jesse wedi dewis pont microbrosesydd H i reoli'r moduron gyda, gan ei fod yn hawdd iawn i newid cyfeiriad y modur. Mae Marc a Callum wedi ymchwilio amddiffyn y Raspberry Pi, penderfynwyd ar ôl darllen erthygl Linux ar amddiffyn pi y byddai'r chip Opto Isolator fod yr ateb gorau.

Breakdown of the project

English

We decided on the four main parts of the project;

• Motor Control: This is the main part of project without the ability to control the motors and the direction, there would be no project. 
• Raspberry Pi Protection: When we sat down and discussed what would needed to do, we realized that the Raspberry Pi GPIO pins needed protection from any voltage spikes that may occur. 
• Code: We decided to write the code for project in python as we thought it was most appropriate language to use. 
• Motor Sensor: We wanted the program that we are going to code on the Pi, to be able to recognize each motor's limit. Due to all motors being DC and not feeding any data back we decided that external sensors would have to be fitted. 

We then assigned roles to different team members. I was given the role of team leader and tasked with building the raspberry pi protection board with Callum Bown. Scott and Cameron where given the task of fitting a sensor to the motors. Harry and Jesse job is to build motor control circuits. Jordan and Matthew where given the task of creating the code.

Cymraeg

Rydym yn penderfynu ar y pedwar prif ran y project;
• Rheoli Modur: Dyma brif ran prosiect heb y gallu i reoli'r moduron a'r cyfeiriad, ni fyddai unrhyw brosiect heb hyn.
• Diogel Raspberry Pi: Pan fyddwn yn eistedd i lawr a'i drafod beth fyddai ei angen i wneud, rydym yn sylweddoli bod y pinnau Raspberry Pi GPIO angen eu hamddiffyn rhag unrhyw pigau foltedd a allai ddigwydd.
• Cod: Rydym yn penderfynu ysgrifennu cod ar gyfer y prosiect yn python wrth i ni meddwl ei fod yn iaith fwyaf priodol i'w defnyddio.
• Synhwyrydd Modur: Roeddem am y rhaglen ein bod yn mynd i cod ar y Pi, i allu adnabod terfyn pob modur yn. Oherwydd yr holl moduron yn cael DC ac nid fwydo unrhyw ddata yn ôl penderfynwyd y byddai'n rhaid eu gosod synwyryddion allanol.

Yna byddwn yn neilltuo rolau i wahanol aelodau'r tîm. Cefais rôl arweinydd tîm a dasg o adeiladu'r bwrdd diogelu pi mafon gyda Callum Bown. Scott a Cameron lle cael y dasg o osod synhwyrydd at y moduron. Harry a Jesse swydd yw adeiladu cylchedau rheoli modur. Jordan a Matthew lle cael y dasg o greu y cod.

Start of the project

English

The project brief is to use a Raspberry Pi to control the movements of a Maplin's robotic arm. The project is being undertaken by eight members, these include Marc, Scott, Cameron, Callum, Harry, Jordan, Matthew and Jesse.

Cymraeg

Mae'r briff y prosiect yw defnyddio yr Raspberry Pi i reoli symudiadau Braich Robotig  Maplin yn. Mae'r prosiect yn cael ei gynnal gan wyth aelod, mae hyn yn cynnwys Marc, Scott, Cameron, Callum, Harry, Jordan, Matthew a Jesse.