6 virtual implementation - A-Division-Even-2024-25/Repo-06 GitHub Wiki

6.1 2D sketch

WhatsApp Image 2025-06-17 at 18 12 51_1179eee4

6.2 3D model of all parts

Screenshot (197) Screenshot (198) Screenshot (199) Screenshot (201) Screenshot (205) Screenshot (207) Screenshot (208)

6.3 circuit diagram

WhatsApp Image 2025-06-17 at 16 00 19_a8fa6b4d

6.4 Flow Chart

ChatGPT Image Jun 18, 2025, 05_07_37 PM

6.5 bill of materials

Sl. No	Sprint No	Date	Part Name / Drawing	Name of the Consumables	Specification	Qty	Student Sign	Guide Sign	Store Incharge Sign
1	1	-	Project (Lymphatic Pump)	Acrylic sheet	105 × 135	01	✓	✓	✓
2	1	-	Project	Acrylic sheet	85 × 85	02	✓	✓	✓
3	1	-	Project	Acrylic sheet	85 × 135	01	✓	✓	✓
4	1	-	Project	M3×30 bolt	-	04	✓	✓	✓
5	2	-	Frame Box	Fevikwik	-	01	✓	✓	✓
6	2	-	Frame Box	Upper Rod	6 mm Ø	01	✓	✓	✓
7	2	-	Frame Box	Squid Rod	6 mm Ø	01	✓	✓	✓
8	3	-	Rod	Nylon Pipe	8 mm Ø	01	✓	✓	✓
9	3	-	Rod	Squid Rod	6 mm Ø	01	✓	✓	✓
10	3	-	Rod	Nylon Pipe	6 mm Ø	01	✓	✓	✓
11	3	-	Rod	Acrylic Pipe	8 mm Ø	01	✓	✓	✓
12	4	-	Rod	Squid Rod	6 mm Ø	01	✓	✓	✓
13	4	-	Rod	Steel Rod	6 mm Ø	01	✓	✓	✓
14	4	-	Rod	Steel Rod	6 mm Ø	01	✓	✓	✓
15	4	-	Rod	Acrylic Pipe	6 mm Ø	01	✓	✓	✓
16	5	-	Clamp	Nut	M3	02	✓	✓	✓
17	5	-	Clamp	Clamp	U	01	✓	✓	✓
18	5	-	Clamp	Clamp	D	01	✓	✓	✓
19	6	-	-	Clamp	U	01	✓	✓	✓
20	6	-	-	Clamp	D	01	✓	✓	✓

6.6 3D model assembly

Screenshot (200) Screenshot (202) Screenshot (203)

DOIT Esp32 DevKit code with Web Controls

#include <WiFi.h>
#include <WebServer.h>

// WiFi credentials
const char* ssid = "YourWiFiSSID";     // Replace with your WiFi SSID
const char* password = "YourWiFiPassword"; // Replace with your WiFi password

// Pin definitions
#define RELAY_IN1 18  // Relay IN1 connected to D18
#define RELAY_IN2 13  // Relay IN2 connected to D13
#define IR_SENSOR 5   // IR sensor OUT connected to D5

// Web server on port 80
WebServer server(80);

// Motor states
enum MotorState { STOP, FORWARD, BACKWARD };
MotorState motorState = STOP;

void setup() {
  Serial.begin(115200);
  delay(1000);
  Serial.println("Starting ESP32...");

  pinMode(RELAY_IN1, OUTPUT);
  pinMode(RELAY_IN2, OUTPUT);
  pinMode(IR_SENSOR, INPUT);

  digitalWrite(RELAY_IN1, HIGH);
  digitalWrite(RELAY_IN2, HIGH);

  Serial.print("Connecting to WiFi: ");
  Serial.println(ssid);
  WiFi.begin(ssid, password);

  unsigned long startAttemptTime = millis();
  const unsigned long timeout = 10000;

  while (WiFi.status() != WL_CONNECTED && millis() - startAttemptTime < timeout) {
    delay(500);
    Serial.print(".");
  }

  if (WiFi.status() == WL_CONNECTED) {
    Serial.println("\nConnected to WiFi");
    Serial.print("IP Address: ");
    Serial.println(WiFi.localIP());
  } else {
    Serial.println("\nFailed to connect to WiFi. Check SSID, password, or signal strength.");
    return;
  }

  server.on("/", handleRoot);
  server.on("/forward", handleForward);
  server.on("/backward", handleBackward);
  server.on("/stop", handleStop);

  server.begin();
  Serial.println("Web server started");
}

void loop() {
  if (WiFi.status() == WL_CONNECTED) {
    server.handleClient();
  } else {
    Serial.println("WiFi disconnected. Attempting to reconnect...");
    WiFi.reconnect();
    delay(5000);
  }

  if (digitalRead(IR_SENSOR) == LOW) {
    stopMotor();
    Serial.println("Obstacle detected, motor paused");
  } else {
    switch (motorState) {
      case FORWARD:
        forwardMotor();
        Serial.println("No obstacle, resuming Forward");
        break;
      case BACKWARD:
        backwardMotor();
        Serial.println("No obstacle, resuming Backward");
        break;
      case STOP:
        stopMotor();
        break;
    }
  }
  delay(100);
}

void handleRoot() {
  String html = "<html><body><h1>Rope Walking Bot Control</h1>";
  html += "<p><a href=\"/forward\"><button style=\"font-size:20px; padding:10px; margin:5px;\">Forward</button></a></p>";
  html += "<p><a href=\"/backward\"><button style=\"font-size:20px; padding:10px; margin:5px;\">Backward</button></a></p>";
  html += "<p><a href=\"/stop\"><button style=\"font-size:20px; padding:10px; margin:5px;\">Stop</button></a></p>";
  html += "<p>Motor State: " + String(motorState == FORWARD ? "Forward (Anticlockwise)" : motorState == BACKWARD ? "Backward (Clockwise)" : "Stopped") + "</p>";
  html += "</body></html>";
  server.send(200, "text/html", html);
}

void handleForward() {
  if (digitalRead(IR_SENSOR) == HIGH) {
    motorState = FORWARD;
    forwardMotor();
    Serial.println("Forward button pressed (should be anticlockwise)");
  } else {
    Serial.println("Obstacle detected, cannot start forward");
  }
  server.sendHeader("Location", "/");
  server.send(303);
}

void handleBackward() {
  if (digitalRead(IR_SENSOR) == HIGH) {
    motorState = BACKWARD;
    backwardMotor();
    Serial.println("Backward button pressed (should be clockwise)");
  } else {
    Serial.println("Obstacle detected, cannot start backward");
  }
  server.sendHeader("Location", "/");
  server.send(303);
}

void handleStop() {
  motorState = STOP;
  stopMotor();
  Serial.println("Stop button pressed");
  server.sendHeader("Location", "/");
  server.send(303);
}

void forwardMotor() {
  Serial.println("Forward: IN1 LOW, IN2 HIGH");
  digitalWrite(RELAY_IN1, LOW);
  digitalWrite(RELAY_IN2, HIGH);
}

void backwardMotor() {
  Serial.println("Backward: IN1 HIGH, IN2 LOW");
  digitalWrite(RELAY_IN1, HIGH);
  digitalWrite(RELAY_IN2, LOW);
}

void stopMotor() {
  Serial.println("Stop: IN1 HIGH, IN2 HIGH");
  digitalWrite(RELAY_IN1, HIGH);
  digitalWrite(RELAY_IN2, HIGH);
}