GR-CITRUS is a WiFi access point and Web server. By accessing from the browser of your smartphone, you can operate forward, backward, right turn, or left turn. Simple auto-run is also possible by programming the robot.

(0) Advance preparation

Insert microSD card into WA-MIKAN.

Solder a pin header to JP2 of GR–CITRUS and attach the connectors to SANBOU-KAN motor connection terminals and motor cables.

(1) Assembling the chassis

Use the push rivet to secure the angle material and the bearing to the universal plate.

(2) Fixing SANBOU-KAN

Fix the SANBOU-KAN securely on the universal plate with screws, spacers and nuts.

(3) Fixing the gearbox

Secure the twin motor gearbox to the back of the universal plate securely with screws and nuts.

(4) Fixing of flooring wiper

Connect the plates with screws.

(5) Installation of tires

Connect the SANBOU-KAN and the motor and install the tires.SANBOU-KAN.

(6) Mounting of flooring sheet

Cut the flooring wiper sheet in half the size. After wrapping the plate with the sheet, then fix the ends of the sheet with a stapler.

(7) Writing the program

Write the following program.

https://github.com/takjn/CitrusSweeper/blob/master/main.rb

When writing the program, confirm that JP2 of GR-CITRUS is open. If the jumper is inserted in JP2, the writing operation will fail.

(8) Installing the battery

After writing the program, remove the USB cable from GR-CITRUS and insert the jumper to JP2 of GR–CITRUS.
Please secure the mobile battery to the chassis with double-sided tape.

(1) Turn on the power to GR-CITRUS.

Confirm that jumper pin is inserted in JP2 of GR-CITRUS, and a microSD card is inserted in WA - MIKAN.
Connect the mobile battery and GR - CITRUS with a USB cable.

(2) Connect your smartphone and GR-CITRUS via WiFi.

GR-CITRUS becomes the WiFi access point. Open the smartphone WiFi setting and connect to Sweeper 192.168.4.1. The password is 37003700.

(3) Access GR-CITRUS from the browser.

Open the smartphone browser and go to http://192.168.4.1/.

Press the Forward button to move forward, press the Backward button to reverse, and rotate left and right with Left and Right.

When you press the Auto button, auto-run is performed according to the preprogrammed contents.
Press the Exit button to end the program. If you want to run it again after exiting, turn on the power again.

Changing the moving speed

If you want to change the default moving speed, change the value of MOTOR_SPEED in TB6612 Driver class. Specifying a large value will make it move faster, but please limit it to about 100.

Changing HTML

If you want to customize the operation screen, change the contents of INDEX_BODY of CitrusSweepwer class. Although you can write any HTML codes between EOS and EOS, it is better to avoid writing large HTML codes because of memory limitations.

Changing the auto-run program

Please change the auto-run program in the CitrusSweepwer class run method. With ingenuity, you may be able to create a program to automatically clean your room.

WiFi SSID and password

If you want to change the default SSID and password, change the value of the argument when setting CitrusSweepwer class to new in the last line of the program.

Although SANBOU-KAN is a convenient board, I think purchasing the board is a bit difficult. You can use a motor driver that uses TB6612FNG instead of SANBOU-KAN. Wire GR-CITRUS and TB6612FNG as shown here. Also, connect TL6612's A01 and A02 to the left wheel motor, B01 and B02 to the right wheel motor, and VM and PGND to the motor drive power supply plus and minus.

Supplement

If you change the pins on GR-CITRUS, you must also modify the program as well. When creating an instance of TB6612Driver class (when calling the new method), specify the pin number as an argument.