arduino robot tank vacuum proto-type

Hello, a little about me. 

I have gone by Mayhem since the early 90's, so I have just stuck with that (you know old dogs and all).

PRINTER :

ENDER 3 V2 MICRO SWISS HOTEND 390 STEP DRIVE EXTRUDER 4020 HEAD COOLING DUEL 4010 PRINT COOLING

PRINTED AT 32 LAYER HEIGHT

SPEED 50MM

TEMP 215 - MINE IS HIGH DUE TO HOTEND AND EXTREME COOLING.  SET YOURS TO WHATEVER TEMP YOU NORMALY PRINT AT.

SUPPORTS EVERYWHERE TURN THE MIDDLE MODULE SIDEWAYS 

CURA 5.3

SUNLU META 1.75

NO INSTRUCTIONS AT THIS TIME AS THIS IS A WORKING PROTOTYPE AND THE DESIGN WILL BE UPGRADED AND CHANGED AS I MAKE IMPROVMENTS OVER TIME

THIS VERSION ONLY WORKS WELL ON HARD FLOORS 

UPGRADING THE DRIVE SYSTEM FOR CARPET IN THE FUTURE

THE ARDUINO INO FILE HAS TO BE PAIRED WITH THE NEXTION DISPLAY FILE THEY DO NOT WORK SEPERATLY

NEXTION 3.5 ENHANCED 

USING THIS FOR THE EXTRA CPU WILL NEED IT FOR MAPPING IN THE FUTURE

ARDUINO MEGA 2650 THE PORTS ARE NEEDED AND THE EXTRA MEMORY SPACE AND PROGRAMING SPACE WILL BE REQUIRED IN THE FUTURE

A HARD PACK 5200MAH RC CAR BATTERY 7.4 v a 11.1 v lipo could be used but the power systems would have to be changed as I'm running a boost to the 12v fan to isolate I'm the noise from the rest 

5 - 04 ULTRASONICS

3 - IR OBSTIVAL SENSORS

2 - SPEED SENSORS

L296N

AVC 4028 55000 RPM 35CFM STATIC PRESSURE 1.47 H20 TESTING PA UNKNOWN

MG90S SERVOS CUT THE BOARD OUT RUNNING DIRECTLY FROM L268N BACK OFF FOR EXTRA COOLING

REPLACING THESE WITH MG995 IN THE NEXT VERSION AS THE MG90S BARLY HAVE ENOFF TORQUE AT FULL CHARGE TO TURN ON CARPET WILL DO THE SAME TO THESE

BOTH THE ARDUINO INO AND THE NEXTION DISPLAY HAS GOT ALOT OF PLACE HOLDERS FOR FUTURE CODE TO BE ADDED 

I WILL BE ADDING A MAPPING SYSTEM USING THE NEXTION CPU FOR CACULATIONS SENDING COMMANDS TO THE ARDUINO WHEN IT HAS REACHED A BOARDER

ILL BE USING A LED CLICK SPPED COUNTER WITH 5 SLOTS AND THE TRACKS ARE SET AT EXACTLY 50MM SO EACH READING WILL BE A 10MM WHEEL MOVMENT WILL SPLIT THE OUT SIGNAL WIRE TO BOTH THE ARDUINO AND THE NEXTION FOR MAPPING AND STAYING WITHIN SET BOUNDS

THERE WILL ALSO BE A MANUAL MODE TO BE PAIR WITH A CONTROLLER THAT I AM MAKING FOR ALL MY ROBOTS IN THE WORKS SO ONE CAN MANUALLY MAP THE PATTERN THEY WANT THE VACUUM TO FOLLOW ONLY DEVIATION IF SOMTHING IS IN THE WAY

EVENTALLY WHEN THE VACUUM SEES SOMTHING ITLL TRIGGER CARMEN TO SEND OUT ANOTHER ROBOT WITH A GRABBER ARM TO MOVE THE OBJECT TO A ALREADY CLEANED SPOT SO THE VACUUM CAN RETURN AFTER THE REST IS DONE TO CLEAN AREAS MISSED

THIS IS JUST THE FIRST PROTOTYPE

THE CODE IS ROUGHT BUT WORKING TIMMMINGS AND DISTANCE NEEDS FINE TUNNING

BUT IV GOT A NEWBORN COMMING HOME SUNDAY SO I WILL NOT HAVE MUCH TIME IN THE NEXT FEW MONTHS TO WORK ON THIS 

SO I WANTED TO GET IT OUT INTO THE WILD SO THE COMUNITY CAN MAKE ANY SUGESTIONS ON THE MODEL OR THE CODE

EVENTUALLY THIS THE AI THAT I AM MAKING (CARMEN ALREADY IN TESTING) ALONG WITH A HELPER ARM BOT AND SEVERAL OTHER BOTS THAT WILL NOT BE MADE PUBLIC WILL ALL PAIR TOGETHER FOR A HOME AUTOMATION SYSTEM

BOTH THE NEXTION AND THE ARDINO CODE ARE 100 PERCENT MINE AND ARE NOT FOR USE WITHOUT MY PERMISSION

THE NEXTION IMAGES ARE NOT MINE AND ARE NOT FOR USE IN ANY SETTING OTHER THEN PRIVATE