Please ignore Path Planning Code of Task 4 and Task 5 as it is not generic. The Task 6 Path planning code is generic but can be improved in various ways.
In this 10th edition of eYRC which is focusing on developing robotics based solution in the agricultural domain. They have formulated six major themes based on the difficulty faced by the farmers while they work hard to get the fruit of success. Each themes is focusing on different technologies to solve the problem on various process of the agriculture. The themes are categorized as follows.
- Agri Bot
- Berry Minator
- Diary Bike
- Functional Weeder
- Soil Monitoring Bot
- Strawberry Stacker
From the above six themes, we are assigned with Soil Monitoring Bot based on our interest and skill set. The short description of our theme is as follows.
In this theme, we build the SM Bot for deployment on an arena that abstracts an agriculture field. The brain of the robot is powered by an FPGA (Field Programmable Gate Array) that controls its sensors, actuators and pick-place mechanism. Challenges and learnings in this theme include building a Soil Monitoring Bot from scratch using an FPGA. This robot traverses the arena, senses the environment and picks and places necessary supplies from the supply unit to the field. It uses wired and wireless communication. We help teams build a sophisticated architecture using Verilog HDL to unveil the powerful parallel processing capabilities of FPGAs.
Concepts used: FPGA architecture, FPGA programming using Verilog HDL, Wireless communication concepts, building a bot using a real FPGA development board.
- Hari Vikinesh
- Kulasekaran
- Jerish Abijith Singh
- Aryan Vinunath
Task0 - In this task we have installed the necessary Quartus Prime 19.1 Lite Software with modelsim Altera for simulation. After that we have created our first project which is the implementation of basic logic gates and check its working on simulation.
Task1 - To learn deep in understanding the Verilog HDL basics and the design methodologies of Verilog HDL. This task is divided into 4 sub-tasks. Were we have worked on designing combinational and sequential circuits, finite state machines, frequency scaling and pulse width modulation.
Task2 - This task is divided in 2 sub-tasks. In this task we need to design a control unit for Analog to Digital Converter (ADC) and Universal Asynchronous Receiver Transmitter (UART). These modules will form the building blocks for sensing, actuation and for various other actions of the SM Bot that we built in Stage 2.
Only Top 40% of this entire theme teams are qualified to Stage2 and we are one among them.
Task3 - Task 3 is divided into four sub-tasks which are namely Flex Printing, Arena Preparation, Hardware Testing and Bot Building. All the supportive documents are provided by the e-Yantra for Flex Printing, Arena Preparation and Hardware Testing. For Bot Building we have received a robotic kit package from e-Yantra which includes all electronic components which are necessary for the theme Implementation. For Bot Building, we have designed the bot in Fusion360 abiding to the constraints provided in the rulebook. After that we have used acrylic sheet to build the bot. Our Built Bot Images can be found in the Images folder.
Task4 - The objective of this task is to build a robot (SM bot) and make it follow a black line along with color & node detection, and wireless communication using Xbee. Our Video Demonstration is attached here.
Task5 - The objective of this task is to identify SI (Status Indicators) in NG (Nutty Grounds) Farmland, pick Supplies from the Warehouse and deposit in the Farmland at the correct Deposition Zones (DZ).
Task6 - This is the final task of the competition and in this we need to demonstrate full theme implementation as per the Rulebook. All the previous task acts as the base to complete this task. This task is divided into two sub tasks i.e Original Configuration Run(Mandatory) and Bonus Configuration Run(Optional).
After Task 6 result, the selection result for prefinal and finals are released. Five teams are selected to the Finals and we are delighted that we are selected to International Finals of eYRC 2021-22.
We had the Online Finale event on April 1st showcasing the Final Theme Run video of all the finalist teams of our theme. Followed by the QnA Section with the Digital Circuit and FPGA Experts from IIT Bombay. Our Final Theme Run Video is attached here.
After the prolonged effort that our team has put into this competition, we are delighted that we have ended this journey by winning the second position for this theme.
Hope you will find this repository informative :)