University Institute of Engineering

Department of Computer Science & Engineering

DISRUPTIVE TECHNOLOGY – 2
EXPERIMENT-8

Student Name: Peeyush Chaurasia UID: 22BCS16408

Branch: Computer Science & Engineering Section/Group:403-A
Semester: II Date of Performance:28/04/2023
Subject Name: Disruptive Technologies-2
Subject Code: 22ECH-103

1. Aim of the practical:

 Design a two-wheel line following robot integrated with infrared sensors.

2. Tool Used:
Coppeliasim
3. Basic Concept /Command Description:
The robotics simulator CoppeliaSim, with integrated development environment, is based on
a distributed control architecture: each object/model can be individually controlled via an
embedded script, a plugin, ROS / ROS2 nodes, remote API clients, or a custom solution.
This makes CoppeliaSim very versatile and ideal for multi-robot applications. Controllers
can be written in C/C++, Python, Java, Lua, Matlab or Octave.

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Department of Computer Science & Engineering

4.Code:
function sysCall_init()

    bubbleRobBase=sim.getObject('.')

    leftMotor=sim.getObject("./leftMotor")

    rightMotor=sim.getObject("./rightMotor")

    noseSensor=sim.getObject("./sensingNose")

    minMaxSpeed={50*math.pi/180,300*math.pi/180}

    backUntilTime=-1 -- Tells whether bubbleRob is in forward or backward mode

    floorSensorHandles={-1,-1,-1}

    floorSensorHandles[1]=sim.getObject("./leftSensor")

    floorSensorHandles[2]=sim.getObject("./middleSensor")

    floorSensorHandles[3]=sim.getObject("./rightSensor")

    robotTrace=sim.addDrawingObject(sim.drawing_linestrip+sim.drawing_cyclic,2,0,-1,200,{1,1,0},nil,nil,{1,1,0})

    -- Create the custom UI:

    xml = '<ui title="'..sim.getObjectAlias(bubbleRobBase,1)..' speed" closeable="false" resizeable="false"

activate="false">'..[[

                <hslider minimum="0" maximum="100" on-change="speedChange_callback" id="1"/>

            <label text="" style="* {margin-left: 300px;}"/>

        </ui>

        ]]

    ui=simUI.create(xml)

    speed=(minMaxSpeed[1]+minMaxSpeed[2])*0.5

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Department of Computer Science & Engineering

    simUI.setSliderValue(ui,1,100*(speed-minMaxSpeed[1])/(minMaxSpeed[2]-minMaxSpeed[1])) 

end

function sysCall_sensing()

    local p=sim.getObjectPosition(bubbleRobBase,-1)

    sim.addDrawingObjectItem(robotTrace,p)

end

function speedChange_callback(ui,id,newVal)

    speed=minMaxSpeed[1]+(minMaxSpeed[2]-minMaxSpeed[1])*newVal/100

end

function sysCall_actuation()

    result=sim.readProximitySensor(noseSensor)

    if (result>0) then backUntilTime=sim.getSimulationTime()+4 end

    -- read the line detection sensors:

    sensorReading={false,false,false}

    for i=1,3,1 do

        result,data=sim.readVisionSensor(floorSensorHandles[i])

        if (result>=0) then

            sensorReading[i]=(data[11]<0.5) -- data[11] is the average of intensity of the image

        end

    end

    -- compute left and right velocities to follow the detected line:

    rightV=speed

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    leftV=speed

    if sensorReading[1] then

        leftV=0.03*speed

    end

    if sensorReading[3] then

        rightV=0.03*speed

    end

    if sensorReading[1] and sensorReading[3] then

        backUntilTime=sim.getSimulationTime()+2

    end

    if (backUntilTime<sim.getSimulationTime()) then

        -- When in forward mode, we simply move forward at the desired speed

        sim.setJointTargetVelocity(leftMotor,leftV)

        sim.setJointTargetVelocity(rightMotor,rightV)

    else

        -- When in backward mode, we simply backup in a curve at reduced speed

        sim.setJointTargetVelocity(leftMotor,-speed/2)

        sim.setJointTargetVelocity(rightMotor,-speed/8)

    end

end

function sysCall_cleanup()

    simUI.destroy(ui)

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Department of Computer Science & Engineering

end

CODE FOR PATH:

path=require('path_customization'

function path.shaping(path,pathIsClosed,upVector)

    local section={-0.02,0.001,0.02,0.001}

    local color={0.3,0.3,0.3}

    local options=0

    if pathIsClosed then

        options=options|4

    end

    local shape=sim.generateShapeFromPath(path,section,options,upVector)

    sim.setShapeColor(shape,nil,sim.colorcomponent_ambient_diffuse,color)

    return shape

end

5.Observations, Simulation Screen Shots and Discussion:

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Department of Computer Science & Engineering
 University Institute of Engineering
Department of Computer Science & Engineering

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6. Result and Summary:
CoppeliaSim is a powerful cross-platform robot simulator which has a free educational version.
CoppeliaSim's strength comes from several features:

1. CoppeliaSim provides a unified framework combining many powerful internal and

external libraries that are often useful for robotics simulations. This includes dynamic
simulation engines, forward/inverse kinematics tools, collision detection libraries,
vision sensor simulations, path planning, GUI development tools, and built-in models
of many common robots.
2. CoppeliaSim is highly extensible. CoppeliaSim developers provide an API that allows
one to write custom plugins that add new features. You can embed Lua scripts directly
into a simulation scene that, for example, process simulated sensor data, run control
algorithms, implement user interfaces, or even send data to a physical robot. They also
provide a remote API that allows one to develop standalone applications in many
programming languages that are able to pass data in and out of a running CoppeliaSim
simulation.
3. CoppeliaSim is cross-platform, mostly open-source, and provides a free educational
license.

7.Additional Creative Inputs (If Any): -

Null

8.Learning outcomes (What I have learnt):

1. We have learned about open-source coppeliasim cross platform.
2. Learnt about robotics development platform environment to model, program and simulate
robots.
2. Learnt about various GUI development tools, dynamic simulation engines, collision
detection libraries and built in models.
 University Institute of Engineering
Department of Computer Science & Engineering

Evaluation Grid (To be filled by Faculty):

Sr. Parameters Marks Obtained Maximum

No. Marks
1. Worksheet completion 8
including writing
learning Objective/Outcomes
(To be submitted at the end of
the day)
2. Viva-Voce 10
3. Conduct 8
Signature of Faculty Total Marks 30
(with Date): Obtained:
 University Institute of Engineering
Department of Computer Science & Engineering