https://community.element14.com/challenges-projects/project14/theworldinmotion/Build any projects that involve motors or mechanical motion. en-USTelligent Community 12https://community.element14.com/challenges-projects/project14/theworldinmotion/b/blog/posts/received-project14-world-in-motion-rewardTue, 22 Nov 2022 13:09:00 GMT93d5dcb4-84c2-446f-b2cb-99731719e767:3db43f3b-11fc-4944-8ebb-4cca195d7a86misazHello Element14 community. About month ago I was selected as Grand Prize winner of Project14 World in Motion competition for my Duratool Storage Cabinet Upgrade. Thank you for selecting me. I won electronics components from Farnell in value of 200 USD. Last week I received first part of my reward. Some components was backordered because they get out of stock between I send basket and element14 ordered it, so I am looking forward for about 1/5 later but most components already flooded my desk. In this blog I want to share list of parts which I ordered and describe my ideas why did I ordered them. Some parts I chosen from my long-term wishlist and some of them I ordered for immediate use. Microcontrollers: 8-pin STM32 MCU Buy Now I love microcontrollers. I use them in almost all my projects. So, I decided to order some interesting dev boards. In previous months I spend my time with very advanced and high-performance microcontrollers. For example, it was Renesas RA6M4 which you have seen in my project. But I was thinking about it and most of time I use these MCU because they have some specific peripheral (Ethernet in case of RA6M4) and otherwise I use them very briefly. Usually, these MCUs are big overkill. So, I decided to go with some lower-end MCUs and selected some interesting boards for experimenting with. I chose three MCU devboards. First is STM32G0316-DISCO. It is $10 evaluation board for 8-pin STM32 microcontroller. I have experiences with STM32, but I have never used these very low-pin parts. It has some challenges because for example Reset pin is shared with other GPIOs and requires special care in special configuration. I personally think that in most case it is better to use TSSOP20 instead SOIC8 because sizes are similar, but TSSOP20 have more pins because it has smaller pitch. But low-pin MCUs are cool to me, so I want to play with it and possibly use it for some tasks in my projects. In the meantime I already used it. You can see it as part of my VEML3328 Last-Minute Entry to the Summer of Sensors Design Challenge . Microcontrollers: Modern AVR DB Buy Now Second microcontroller evaluation board which I received is AVR128DB48 Curiosity Nano board. ATMega16 was my first microcontroller (in 2014) and AVR allowed me to grow up and I still love these MCUs even I do not use them frequently anymore. AVR128DB48 is one of the newest AVR MCU. It has newer architecture, and it is manufactured using modern technology which result to much better properties (for example you can run it at full speed when powering as low as 1.8 V). Many things changed in AVR world since I was playing with ATMega16. Board has onboard debugger so last week I used breakpoint with AVR microcontroller first time in my life. MCU now support two powering rails, so you can some ports power by lower voltage than is main voltage (usualy 3.3V as main voltage and 1.8V on VDDIO2). Other cool feature of Curiosity board is that main voltage is software adjustable, so you can try it at different voltages. I tried 2.5V and works like a charm. If you are interested in more details, then I recommend reading baldenginner’s 7 reasons why I like the ATmega128Dx MCUs . Microcontrollers: Low-cost Bluetooth Low Energy Buy Now The last microcontroller development board which I ordered is Silicon Labs BG22-EK4108A with Wireless Gecko MCU. Board is cool because it cost only $10 and except Bluetooth LE capable MCU has Segger J-Link OB debugger. For 10 dollars you may think it has some entry level Cortex-M0+ MCU but opposite is true. MCU is very modern ARM Cortex-M33 with TrustZone clocked at high 76.8 MHz. It is more than for example STM32 DISCO mentioned above offers. I think it is good deal and I am looking forward for playing with this MCU. New Breadboard + High Quality (near Zero Ohm) Wires Next part in my basket was breadboard. Some of my projects (for example my previous Digitally Adjustable Power Supply ) are very huge and utilizes multiple breadboards. But my oldest breadboard is from 2014 and over years some contacts get very weak. Sometimes it is lottery and already cost me several hours of debugging. So, I ordered new breadboard: If you remember my blogs as part previous Experimenting with MAX40080 Current Sense Amplifier (Blog #10) I faced issue with my wires which had very high resistance. As part of competition I used wires form other devkit but I have only few of this wires. Now it changed and I ordered new better wires for use cases when resistance is important: I already tested them. Design with these wires is much more clear. You can see it as part of my VEML3328 Last-Minute Entry to the Summer of Sensors Design Challenge next to STM32G031 disco. Product Name Manufacturer Quantity Buy Kit MC001795, Breadboard, 830 Tie Points MULTICOMP 1 Buy Now MC001810, Jumper Wire Kit, Multicolour, 2 mm - 125 mm, 22 AWG, 140 Piece MULTICOMP 1 Buy Now MAX78000FTHR Upgrade Maybe you remember my previous reward from Project14 competition: Received Project14 7-segment Display Competition Reward As part of reward I ordered incredible MAX78000FTHR board. Board come with pin headers for soldering. But I noticed some confusion with Adafruit Feather standard. Some shields exposes sockets (for example MAX25405EVKIT ) and some exposes pins ( MAX41470EVKIT ). For being able connect both types to the board I decided to do not soldered bundled pin headers but instead I ordered pin sockets with extended terminals as part of this review. I ordered both 12-pin and 16-pin variant. Both are from Samtec. Part numbers are: SSQ-112-03-T-S and SSQ-116-03-T-S. After soldering to the board: Now I can connect both types of shields (one from bottom, second type from top). Another upgrade is that I want to try power it by battery. Board has JST connector with 2mm pitch and I did not find any compatible battery with this connector. So, I instead ordered battery with different connector, compatible connector and precrimped wires. I did not received battery yet (which is interesting because it is in stock and order contained line number dedicated to the item, but it was skipped in received package). Except battery, connectors and precrimped wires was in package: Product Name Manufacturer Quantity Buy Kit SSQ-116-03-T-S, PCB Receptacle, 2.54 mm, 1 Rows, 16 Contacts, THT, SSQ SAMTEC 1 Buy Now SSQ-112-03-T-S, PCB Receptacle, 2.54 mm, 1 Rows, 12 Contacts, THT, SSQ SAMTEC 1 Buy Now MIKROE-2759, Li-Polymer Battery, Add-On Board, 3.7V, 190mAh MIKROELEKTRONIKA 1 Buy Now 01SPHSPH-26L300, Cable Assembly, Crimp Terminal Socket to Crimp Terminal Socket, 11.8 ", 300 mm, Blue JST 10 Buy Now PHR-2, Connector Housing, PH, Receptacle, 2 Ways, 2 mm, BPH and SPH Series Crimp Contacts JST 100 Buy Now Turning nRF52840 Dongle to Devkit The other item which I ordered in previous basket (and decided to upgraded it) is nRF52840 dongle. I upgraded it in following way: Added 120 pF capacitors for tuning NFC antenna Soldered ARM Cortex-M 10-pin JTAG connector for connecting debugger Soldered special pinheads for using it on the breadboard As part of reward, I ordered parts for first and third bullet. JTAG connector I already had. The more interesting are pinheads. Because JTAG connector is at the bottom I need special very long pin headers. I chosen pinheads from Samtec. Part number is: TSW-120-17-T-S. This pin head I broken to two 10-pin and soldered to the board. Fully inserted to breadboard it looks as follows: As you can see there are space for JTAG connector and cable. About two millimetres of gap remained, so my computation of required length was correct and I am satisfied. Product Name Manufacturer Quantity Buy Kit TSW-120-17-T-S, Pin Header, 2.54 mm, 1 Rows, 20 Contacts, THT, TSW SAMTEC 1 Buy Now FTSH-105-01-L-DV-K, Pin Header, 1.27 mm, 2 Rows, 10 Contacts, SMD SAMTEC 1 Buy Now FFSD-05-D-12.00-01-N, Ribbon Cable, 10 Ways, 12 ", 1.27 mm SAMTEC 1 Buy Now CGA2B2C0G1H121J050BA, SMD MLCC, 120 pF, 50 V, 0402, ± 5%, C0G / NP0 TDK 10 Buy Now NFC and Tuning Capacitors Recently I decided to make my own NFC Tags. I want to use them as part of next Project14. For this reason, I ordered 13 pcs of one of the cheapest NFC tag available on the market. Part number is ST25TA02KB-PC6H5. They are in 5-pin very small SMD package, but as far I successfully soldered two of them. NFC Tags requires capacitors in values about tens of pico farads for tuning antenna. Because I was not sure what values I will need I ordered all in range 40 – 200 pF (except values which I already own) values in 0603 package and available at Farnell in stock. For summary I ordered: 56 pF 68 pF 82 pF 100 pF 120 pF 150 pF 180 pF I will post photos of my assembled tags containing NFC chips and capacitors later as part of my next project. For my experiments with NFC, I also ordered STEVAL-SMARTAG1 and X-NUCLEO-NFC03A1 NFC Reader shield but because they are out of stock, I did not receive them yet. Currently missing reader block my project but according to website it should be restocked at the end of month, so there should be sufficient time for completing project. Product Name Manufacturer Quantity Buy Kit X-NUCLEO-NFC03A1, Expansion Board, NFC Card Reader STMICROELECTRONICS 1 Buy Now STEVAL-SMARTAG1, Evaluation Board, NFC Dynamic Tag Sensor Node, ST25DV64K NFC Tag STMICROELECTRONICS 1 Buy Now ST25TA02KB-PC6H5, RFID, READ/WRITE, 13.567MHZ, UFDFPN-5 STMICROELECTRONICS 13 Buy Now CC0603JRNPO9BN560, SMD MLCC, 56 pF, 50 V, 0603, ± 5%, C0G / NP0 YAGEO 10 Buy Now 0603N680J500CT, SMD MLCC, 68 pF, 50 V, 0603, ± 5%, C0G / NP0 WALSIN 10 Buy Now 885012206078, SMD MLCC, 150 pF, 50 V, 0603, ± 10%, X7R WURTH ELEKTRONIK 10 Buy Now MC0603B121K500CT, SMD MLCC, 120 pF, 50 V, 0603, ± 10%, X7R MULTICOMP PRO 10 Buy Now GA0603A101JXBAC31G, SMD MLCC 100 pF, 100 V, 0603, ± 5%, C0G / NP0 VISHAY 30 Buy Now C0603C820J5GACAUTO, SMD MLCC, 82 pF, 50 V, 0603, ± 5%, C0G / NP0 KEMET 10 Buy Now 0603N181G500CT, SMD MLCC, 180 pF, 50 V, 0603, ± 2%, C0G / NP0 WALSIN 10 Buy Now Experimenting with Gesture Sensors components Currently I am working on projects as part of Experimenting with Gesture Sensors Design Challenge. I ordered some parts for this contest. Details about need for these parts I will post in blog post as part of Experimenting with Gesture Sensors Design Challenge soon. As part of this reward I ordered: 1pcs of Maxim Integrated (ADI) MAX25405 Gesture Sensor (chip) 5pcs of OSRAM SFH 4248-Z IR LED 5pcs of OSRAM SFH4249 IR LED 5pcs of Infineon BSD840N dual-channel NMOS transistor For some reason I received all but SFH4249 IR LED. Because I received 4248 IR LED I am still satisfied. Product Name Manufacturer Quantity Buy Kit MAX25405EQP/VY+, Gesture Sensor MAXIM INTEGRATED 1 Buy Now SFH4249, IR LED, 950 nm, 50 °, PLCC, 50 mW/Sr, 12 ns, 12 ns AMS OSRAM GROUP 5 Buy Now SFH 4248-Z, IR LED, 950 nm, 30 °, SMD, 100 mW/Sr, 12 ns, 12 ns AMS OSRAM GROUP 5 Buy Now BSD840NH6327XTSA1, Dual MOSFET, N Channel, 20 V, 880 mA, 0.27 ohm, SOT-363, Surface Mount INFINEON 5 Buy Now Soldering goodies I decided to upgrade my soldering toolbox. I ordered 3 tips (Duratool D02261, D02262 and Multicomp MP000023). After I received them, I noticed they are not the same size as tip used by my soldering iron, so they are useless to me now, but maybe in the future I get compatible soldering iron. Next soldering goodie was new soldering wick. I already used it for desoldering and cleaning and it is nice. It is much better than Chinese alternative which I used for years. Next soldering related goodie which I receoveid as part of reward for free is tip cactivator from Weller: And finally, I ordered 3 heat shrink tubes. As far I received two of them. Third get out of stock in meantime when I send basket and when Element14 ordered it for me, so middle size I will receive later. This was last part which I ordered for regular use. But because some dollars remained in my budget I ordered some parts which I do not need them immediately but I want to test and play with them and possibly use them sometime in the future. Product Name Manufacturer Quantity Buy Kit MP000023, Soldering Tip, Conical, 0.6mm MULTICOMP PRO 1 Buy Now D02261, Soldering Iron Tip, Conical, Chisel, 2 mm DURATOOL 1 Buy Now D02262, Soldering Iron Tip, 45° Bevel, 3 mm DURATOOL 1 Buy Now 423, Desoldering Braid, Oxide Free Copper, #1, 1.5 m L x 0.8 mm W, SuperWick 400 MG CHEMICALS 1 Buy Now TIP ACTIVATOR, Tip Activator, Low Temperature, Lead Free, 25g WELLER 1 Buy Now PP002758, Heat Shrink Tubing, 2:1, 0.099 ", 2.5 mm, White, 3.9 ft, 1.2 m MULTICOMP PRO 1 Buy Now PP002781, Heat Shrink Tubing, 2:1, 0.06 ", 1.5 mm, Brown, 3.9 ft, 1.2 m MULTICOMP PRO 1 Buy Now PP002795, Heat Shrink Tubing, 2:1, 0.138 ", 3.5 mm, Green, 3.9 ft, 1.2 m MULTICOMP PRO 1 Buy Now High-power N-Channel MOSFETs Buy Now All my MOSFETs which I have are rated to less than 1A. It is because I generally work with very low currents, but I already faced situation when I need more. So now I ordered three units capable of 80 A. Part number is IPP034N03LGXKSA1. It is marked as NRND on Infineon website but still offers good Price-performance ration. Signal Relay Buy Now I have idea about one project which will use two relays but I never find enough time for completing this project. Now I did one step further and ordered 2pcs of Axiom (TE) IM01TS Relay. VEML3328 Color Sensor Buy Now VEML3328 is color sensor. Something like single-pixel camera. It was mentioned in Optical Sensors Quiz and I was interested in it. This sensor is also present on board which were recently RoadTested. But I missed this RoadTest due to lack of free time. Because I was still interested in playing with this sensor, I ordered it now as part of this reward. It did not take very much time and now it is on my breakout which I designed, ordered and received from OSHpark in meantime: In meantime I already play with it. You can see it as part of my VEML3328 Last-Minute Entry to the Summer of Sensors Design Challenge next to 8-pin STM32. MEMS Microphone Buy Now The other SMD Sensor is MEMS microphone. I have already used some hardened on EVKITs but I never have any on breakout for general purpose use with any MCU. So now I have one: I already made breakout but due to lack of free time I did not solder and test it yet. MAX16935 DC/DC Step Down Regulator Buy Now I used this regulator in several projects including project for which I received this reward. Because my stock is running low and some dollars remained in my budget, I ordered one. One pin is bend but this is not big issue since it is in TSSOP package. It is not the exact same part number which I have. It differ in preset voltage and has no spread spectrum capability but none of these is issue for my hobby projects. Part number is MAX16935RAUE/V+ OLED Display Module Buy Now As far I had only Nokia 5510 compatible SPI display. Now I ordered new modern I2C OLED display. It’s resolution is 64 × 48 px, which is exactly the same as in case of my old Nokia 5510 display. You can see it as part of my VEML3328 Last-Minute Entry to the Summer of Sensors Design Challenge next to 8-pin STM32G0 and VEML3328. Display works but some libraries requires fix of pixel mapping because columns are not connected to signals 0 – 63, but they are mapped to the 32 – 95. Display controller has command which can reflect this and map it to the standard 0 – 63 range of memory area. 2x7-pin IDC Connector Buy Now The last connecter in my basket is IDC connector. I used most of my stock of these connectors in project for which I won competition. So, I ordered one for future project. Part number is Samtec TST-107-01-G-D. 0603 LEDs As far I had only red 0603 LED. For my Duratool Storage Box Upgrade project I ordered amber 0603 LEDs for distinguishing failures (red) and standard indications (amber) but I still did not have other collors. As part of reward, I ordered green, blue and yellow LEDs. My future projects will be more colourful. Part numbers are: Multicomp MP008282 (Green), MP008278 (Yellow) and MP008276 (Blue). After soldering to breakout and adjusting resistors, they look as follow: Product Name Manufacturer Quantity Buy Kit MP008276, LED, Blue, SMD, 0603 [1608 Metric], 20 mA, 3.4 V, 470 nm MULTICOMP PRO 10 Buy Now MP008278, LED, Yellow, SMD, 0603 [1608 Metric], 20 mA, 2.4 V, 595 nm MULTICOMP PRO 10 Buy Now MP008282, LED, Green, SMD, 0603 [1608 Metric], 20 mA, 2.4 V, 575 nm MULTICOMP PRO 10 Buy Now Resistors Last cents of my basket I spend for resistors. I extended my stock of 10K and 100K resistors in 0603 package by 40 new pcs. Except these resistors I ordered also 0-ohm jumpers in 0603 package and 4×33-ohm resistor network. Product Name Manufacturer Quantity Buy Kit MCWR06X000 PTL, Zero Ohm Resistor, Jumper, 0603, Thick Film, 100 mW, 1 A, SMD MULTICOMP PRO 30 Buy Now CRG0603F10K/10, SMD Chip Resistor, 10 kohm, ± 1%, 100 mW, 0603, Thick Film, General Purpose NEOHM - TE CONNECTIVITY 40 Buy Now MR06X1003FTLV, SMD Chip Resistor, 100 kohm, ± 1%, 125 mW, 0603, Thick Film, General Purpose WALSIN 40 Buy Now CAY10-330J4LF, Fixed Network Resistor, 33 ohm, Isolated, 4 Resistors, 0804, Convex, ± 5% BOURNS 10 Buy Now Summary And this is all. As far reward come in 5 packages, but some parts are still on backorder. When I was sending order all parts were in stock but with current situation, stock statuses can change very quickly. After I receive them, I will post second part blog. Currently it is scheduled to February 2023. This reward is super cool to me. It brought me a lot of fun and I guess it will do the same in the future. If you have any feedback regarding my choice, feel free to write in comments below. I would also like to hear what would you buy for 100 or 200 USD from Farnell/Newark? Do you know about any interesting but less known part? Some interesting sensor, chip, devkit, tool or something like this? These comments are always inspirative to me. If you want to win your own 100 or 200 USD shopping cart then go to Project14 page and join actually opened contest. At the end I would like to thank Element14 for selecting me grand prize winner and sending me the reward. I would like to thank Tariq Ahmad for organizing these competitions. At the end I would also thank you for reading this blog.worldinmotionchwishlistrewardhttps://community.element14.com/challenges-projects/project14/theworldinmotion/m/managed-videos/146720Tue, 27 Sep 2022 19:20:00 GMT93d5dcb4-84c2-446f-b2cb-99731719e767:7a7ebfac-1b92-4897-9402-dd8ed3a69c63rahulkhannaVision Line Follower using CH32V307 & HuskyLens You can get HuskyLens from: https://www.dfrobot.com/product-1989.html?tracking=qlFCvkDilNCTmTOSEGHNIxeqgaQGOp3SZCnaR13VZAG86M3mWPrLMfa9i9kvCzRL GitHub Link: https://github.com/Rahul24-06/CH32V307-Hus...rahulmazearduino unocamera line followerautonomousline followerline follower robot using arduinoroboticsElectronics Projectauto calibrationHow Tolinerobotmakeprogrammingmotor driver L293DembeddedRakkibotmaze solving robotline follower using cameraalgorithmunomaze solvingelectronicspidThe Lonely Programmerrahul khannakhannaarduinoline follower robot using arduino unodiy electronicsline following robotautomatic robothttps://community.element14.com/challenges-projects/project14/theworldinmotion/b/blog/posts/vision-line-follower-using-ch32v307-huskylens-1458473456Tue, 27 Sep 2022 18:59:00 GMT93d5dcb4-84c2-446f-b2cb-99731719e767:7a48638d-45bf-4671-a0da-dcc2b8394302rahulkhannaVision Line Follower using CH32V307 & HuskyLens Design a vision-based line following robot using CH32V307 Dev board and a Husky Lens Things used in this project Story Hardware Build How It Works HuskyLens is an AI machine vision sensor, which is used to detect and track the line. The data from the Husky Lens gives us a detailed view of whether the line is detected. if detected, the (x, y) is extracted. With this data, the CH32V307 Development board is programmed to control the motors using the motor driver shield. This blog explains the making of Vision-based Line followers using the CH32V307 Development board and HuskyLens. Basic Hardware Components CH32V307 Development Board CH32V307V-EVT-R1 is a development board based on the WCH CH32V307 RISC-V microcontroller with an Ethernet port, an USB Type-C port, and eight UART interfaces accessible through headers. WCH designed RISC-V4F 32-bit RISC-V core up to 144MHz, supports Single-cycle multiplication and hardware division, and hardware float point unit (FPU). It has a memory of up to 64KB SRAM, Storage of Up to 256KB Flash. This Development board has Networking – Gigabit Ethernet MAC, 10 Mbps PHY, USB – 1x USB 2.0 OTG full-speed interface, 1x USB 2.0 host/device interface with built-in 480 Mbps PHY, 8x USART, 2x CAN interfaces, 2-wire debug interface, SDIO, FSMC memory interface, DVP digital video interface, 80x GPIO ports, with 16 external interrupts, 2x I2C, 3x SPI, 2x I1S, 2x 12-bit DAC, 2-unit 16-channel 12-bit ADC, 16-channel TouchKey, 10 timers, 2x general DMA controllers, 18 channels in total, 4x amplifiers. CH32V307 has Power management and is available in Packages: LQFP64M, andLQFP100. That's a lot of spec for a development board. HuskyLens HuskyLens is an easy-to-use AI machine vision sensor. It is equipped with multiple functions, such as face recognition, object tracking, object recognition, line tracking, color recognition, and tag(QR code) recognition. You can buy Husky Lens from https://www.dfrobot.com/product-1989.html? Step 1: Getting Started with CH32V307 First, we download the MounRiver Studio (MRS) using this link . Create a new Mounriver project, select CH32V307 [RISC-V] series, select RT-Thread in the template type and click finish. Setting Up RT-Thread Studio While working on the Mounriver IDE, I came across RT-Thread Studio that officially supports WCH Boards and other dev boards too. For that reason, I'll be using the RT-Thread Studio for this project hereafter. First, download the IDE from here and Install it on your PC. Open the RT-Thread SDK Manager and Install the CH32V307V-R1 under the WCH platform. This might take up some time. Once Installed, Create a new project. Name the file as LFR, Select the Board CH32v307V-R1 and RT-thread as latest. Click on the finish button. We write a basic program to toggle the built-in LED. GPIO_ResetBits(GPIOA,GPIO_Pin_0); while(1) { GPIO_SetBits(GPIOA,GPIO_Pin_0); rt_thread_mdelay(500); GPIO_ResetBits(GPIOA,GPIO_Pin_0); rt_thread_mdelay(500); } Step 2: Interfacing HuskyLens Update the firmware to the HUSKYLENSWithModelV0.4.9Class.kfpkg with K-Flash. Install the HUSKYLENS Library First, download and install the HUSKYLENS Library first. Copy the "HUSKYLENS" to our project directory as shown below Connection Diagram The CH32V307 USART3 Pins are PB10 & PB11. These are used to communicate with HuskyLens.The L293D motor driver shield is connected to the Arduino Header as shown. CH32V307 -> HuskyLens Vcc -> Vcc GND -> GND USART3_Tx(PB10) -> RX USART3_Rx(PB11) -> TX Make the connections mentioned above. Interfacing with Husky Lens HuskyLens Protocol Setting You need to set the protocol type of HuskyLens. The protocol should be 'Serial 115200'. Of course, you can adopt the Auto Detect protocol, which is easy to use and convenient. You can find the sample code below which is used to interface with the Huskylens. int main(void) { for(char s=0; s USART2 */ { USART_SendData(USART3, TxBuffer[TxCnt++]); while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET); /* waiting for sending finish */ } Delay_Ms(100); while(!Rxfinish); /* waiting for receiving int finish */ printf("RxBuffer:%s\r\n", RxBuffer); while(1) { while(TxCnt USART2 */ { USART_SendData(USART3, TxBuffer[TxCnt++]); while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET) ; } Delay_Ms(1000); } } while (!huskylens.begin(USART3)) { printf("Begin failed!\n"); printf("1.Please recheck the \"Protocol Type\" in HUSKYLENS (General Settings>>Protocol Type>>Serial 9600)\n"); printf("2.Please recheck the connection.\n"); Delay_Ms(1000); } Delay_Ms(100); while(1) { if (!huskylens.request()) printf("Fail to request data from HUSKYLENS, recheck the connection!"); else if(!huskylens.isLearned()) printf("Nothing learned, press learn button on HUSKYLENS to learn one!"); else if(!huskylens.available()) printf("No block or arrow appears on the screen!"); else { printf("###########"); while(huskylens.available()) { HUSKYLENSResult result = huskylens.read(); printResult(result); } } } void printResult(HUSKYLENSResult result){ if (result.command == COMMAND_RETURN_BLOCK){ Serial.println(String()+F("Block:xCenter=")+result.xCenter+F(",yCenter=")+result.yCenter+F(",width=")+result.width+F(",height=")+result.height+F(",ID=")+result.ID); } else if (result.command == COMMAND_RETURN_ARROW){ Serial.println(String()+F("Arrow:xOrigin=")+result.xOrigin+F(",yOrigin=")+result.yOrigin+F(",xTarget=")+result.xTarget+F(",yTarget=")+result.yTarget+F(",ID=")+result.ID); } else{ Serial.println("Object unknown!"); } } Operation and Setting Dial the function button to the left or right until the word "Line Tracking" is displayed at the top of the screen. Long press the function button to enter the parameter setting of the line tracking function. Dial the function button right or left until "Learn Multiple" is selected, then short press the function button, and dial it to the left to turn off the "Learn Multiple" switch, that is, the square icon on the progress bar is turned to the left. Then short press the function button to complete this parameter. You can also turn on the LEDs by setting "LED Switch". This is very useful in a dark environment. Dial the function button to the left until "Save & Return" is selected, and short press the function button to save the parameters and it will return automatically. Line Learning: It is recommended that within the view field of HuskyLens, just remain inline to learn and have no cross lines. Point the "+" symbol at the line. Then HuskyLens will automatically detect the line and a white arrow will appear on the screen. At that time, short press the "learning button" to complete the learning process. A blue route direction arrow will appear on the screen. Train Line Prediction: When HuskyLens detects the line which has been learned, a blue arrow will appear automatically on the screen. The direction of the arrow indicates the predicted direction of the line. Predict Now the device is ready for Line detection. Step 3: Interfacing Motor Driver Since the CH32V307 board has Arduino Compatible headers, I bought an L293D dual motor driver shield that can be easily plugged into the Dev board. We assign and configure the PWM pins for Motor 1 and Motor 2, where Pin PA8 and PA0 are assigned to motor 1 and Pin PB6 and PB8 are assigned to motor 2. Motor Test is done using the following code. /* * Pin PA8 and PA0 - Motor 1 * Pin PB6 and PB8 - Motor 2 */ u8 speed = 100; // -255 to +255 int main(void) { USART_Printf_Init(115200); printf("Speed Control"); TIM1_PWMOut_Init( 100, 48000-1, speed, speed); // fwd delay(5000); TIM1_PWMOut_Init( 100, 48000-1, -speed, -speed); // rev while(1); } Step 4: Block Diagram The Complete connections can be done by following the block diagram and would look like this. Step 5: Enclosure Design I bought a standard Robot chassis from a local store for $4. We have the BO motors on the left and right sides of the Chassis and a ball caster for balancing weight. Chassis with BO motor and Wheels Next, we mount the Husky Lens with the given L clamps and it turns like this. HuskyLens - Line Follower Now we add the CH32V307 and the Motor driver to the chassis. I've got 2 Lithium-ion cells to run this robot. These cells are connected in series to provide 7.4V. This can be replaced with Li-Po batteries too. Step 6: Let's See It Working Finally, it's time to run the robot. I ran the HuskyLens sensor and serially printed the computed speed and this is what I got. Line Detection - Image https://youtu.be/AS5i8F_BLWI Demo Video Although it is not a perfect line follower, by calibrating the PID constants, we can achieve smoother operation. If you faced any issues in building this project, feel free to ask me. Please do suggest new projects that you want me to do next. Give a thumbs up if it really helped you and do follow my channel for interesting projects. :) Share this video if you like. Github - https://github.com/Rahul24-06/ Happy to have you subscribed: https://www.youtube.com/c/rahulkhanna24june?sub_confirmation=1 Thanks for readinghuskylensmotor projectsworldinmotionchvisionmotors