Difference between revisions of "S15: Rubik's Cube Solver"
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=== Appendix === | === Appendix === | ||
You can list the references you used. | You can list the references you used. | ||
Revision as of 00:17, 25 May 2015
Contents
Rubik's Cube Solver
Abstract
The Rubik’s Cube is a common 3-D combination puzzle known and loved by people of all ages. The mathematics of Rubik’s Cubes has been explored in great detail ever since the beginning of their production in the 1980’s.The aim of the project is to develop Rubik’s cube solving algorithm to solve the Rubik’s cube in shortest possible time without any human intervention. The project explored areas of - research and development, testing and debugging, and documentation.
Objectives & Introduction
The goal of the project is to write the software and create the hardware required to autonomously solve the Rubik’s cube. The first part of this project consisted of research on the mathematics of the Rubik’s Cube and how that is used for various solutions to the cube. Next, the focus was put on making a Windows based GUI through which the user can input the arrangement of colors for all the faces on the cube. Finally, the commands to move the robotic arms are send via the sjone board to the servos.
Team Members & Responsibilities
- Nikhil Chaturvedi
- Cube solving algorithm
- Interface SJOne with cube solving claws
- Connectivity from console to SJOne board
- Preeti Benake
- Build the cube solving claws
- Interface cube algorithm with claws
- Rajashree Kambli
- Connectivity from Console to SJOne board
- Updating the wiki page
- Shahid Qureshi
- Build the cube solving arms
Team Schedule
| Sl.No | Start Date | End Date | Task | Status | Actual Completion Date |
|---|---|---|---|---|---|
| 1 | 02/28/2015 | 03/02/2015 | Finalized high level design architecture | Completed on time | 03/02/2015 |
| 2 | 02/28/2015 | 04/17/2015 | Investigating Robotic arm design; eliminated few hardware options. | Completed on time | --/--/2015 |
| 3 | 03/07/2015 | 03/09/2015 | Investigated interfacing console with SJOne board. | Completed on time | 03/09/2015 |
| 4 | 03/10/2015 | 03/14/2015 | Investigated BlueZ Bluetooth stack for Python and C. | Completed on time | 03/14/2015 |
| 5 | 03/29/2015 | 04/17/2015 | Implementing Bluetooth interfacing of SJOne board using C BlueZ and Console using PyblueZ | Completed on time | --/--/2015 |
| 6 | 04/18/2015 | 04/20/2015 | Order and test the hardware components | Completed on time | --/--/2015 |
| 7 | 04/22/2015 | 04/24/2015 | Interfacing the motors to SJOne board | Ongoing | --/--/2015 |
| 8 | 04/10/2015 | --/--/2015 | Investigating implementation of Rubik cube solving algorithm (Kociemba's algorithm) | Ongoing | --/--/2015 |
| 9 | 04/28/2015 | 05/03/2015 | Build the Robot arm and test the controls | Ongoing | --/--/2015 |
| 10 | 05/03/2015 | 05/10/2015 | Interface the Robot arm and test the algorithms | Scheduled | --/--/2015 |
| 11 | 05/11/2015 | 05/19/2015 | Testing | Scheduled | --/--/2015 |
Parts List & Cost
| Item# | Part Desciption | Vendor | Qty | Cost |
|---|---|---|---|---|
| 1 | Servo Motors | 6 | $56.58 | |
| 2 | Robotic Claw | 2 | $39.92 | |
| 3 | Speed Rubik cube | 2 | $21.48 | |
| 4 | Turnable table for Motors | 1 | $7.99 | |
| 5 | Robotic Claw stands | 2 | $7.52 | |
| 6 | Wires and other Accessories | --- | $16.5 |
Design & Implementation
The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.
Hardware Design
Discuss your hardware design here. Show detailed schematics, and the interface here.
Hardware Interface
The hardware implementation includes the the interfacing the robot claws to SJ One board. The following block diagram represents the connection of the motors to the board.
| Description | Motor Pin | SJOne Development Board Pins | Commands | Note | |
|---|---|---|---|---|---|
| Holder Servo Motor |
P2.0 and P2.2 PWM |
PWM motor(PWM::pwm1, 50); PWM motor(PWM::pwm3, 50); |
Sets PWM signal of 50 Hz Sets PWM signal of 50 Hz Opening and Closing the claw. | ||
| Tuner Servo Motor |
P2.1 and P2.3 PWM |
PWM servo(PWM::pwm2, 50); PWM servo(PWM::pwm4, 50); |
Sets PWM signal of 50 Hz Sets PWM signal of 50 Hz Turn the claw clockwise and anticlockwise. |
Motor :The motors used to achieve the movement are MG995 Servo motor. Servo motors are preferred due to the precise movements of the arms by 90 degree, which was required. The rotation was controlled by the PWM value passed to the particular motor. The open and close function of the claw was controlled by one motor(holder motor). The clockwise and anticlockwise rotation of the claw was controlled by the other motor(turner motor). The figure depicts the claw attached to the motor (turner motor).
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Testing & Technical Challenges
Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.
Include sub-sections that list out a problem and solution, such as:
My Issue #1
Discuss the issue and resolution.
Conclusion
Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?
Project Video
Upload a video of your project and post the link here.
Project Source Code
References
Acknowledgement
Any acknowledgement that you may wish to provide can be included here.
References Used
http://www.nxp.com/documents/user_manual/UM10360.pdf
http://www.socialledge.com/sjsu/index.php?title=SJ_One_Board
Appendix
You can list the references you used.
