Surface Water Maze Solver Robot V0.5

This is an intial version of surface water maze solver made for MicroFish Competition conducted by IITG,Assam as a part of Techniche 2024.

As our first prototype it has cons than features.

So suggestions & insights are welcomed.

I will share the step files and code once an updated model is made .

Components used:

1. HC-SR04 : 4
2. Arduino Nano : 1
3. 2210kv BLDC Motor : 2
4. Custom 100A ESC : 1
5. Readytosky 40A ESC : 2
6. Mg995 : 1
7. 6.25mm Steel Balls : 50
8. PLA + : 1 kg
9. Lipo 2800mah : 1

Aimed at making a design that can take sharp 90 degrees easily .

Used a 1:2 gear ratio to convert 180 degrees to 360 for the rotating thruster's .

All the files are sliced and printed with Bambu Studio and Bambu Labs A1.

Used 1.5 inch thick foam to fill the robot's base and to balance it.

We used DotBoard and headers to fit in 3X HCSR04,1X ESC ,1X Servo ,Vin.

We used flood fill intialially , as the area was too simple so switched to wall following algorithm.

the codes will be uploaded in the next update.

1. Adding Rudders at the back for finner adjustments with turbulence.
2. Adding Esp32 dev boards to simulate and pid tune the robot with Micro-Ros.

As at the spot we observed a lot of problems with the flow of the lake.