Delhi Technology Club
One Moment Is Life....
Creates Magic Via Technology
Gamify The Real Mobile Tank
Gamify The Real Mobile Tank
In this demo, Movement of real mobile tank is being controlled by the movement of a virtual tank in the Unity game. This has been made by establishing a network connection between virtual tank in game & real mobile tank.
List of Components-
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Devastator Tank Mobile Robot Platform (Metal DC Gear Motor):https://www.dfrobot.com/product-1477.html
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L298n Motor Driver: https://www.factoryforward.com/product/l298n-dual-h-bridge-dc-stepper-motor-driver-controller-board-module-arduino/
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Croma Powerbank: https://www.croma.com/croma-ca0065-10400mah-power-bank-grey-/p/187144?gclid=EAIaIQobChMIv9SpqNa04gIVxA0rCh3ThQewEAQYAyABEgKXUPD_BwE
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Battery Holder:https://robokits.co.in/batteries-chargers/battery-chargers/battery-holder-for-lithium-ion-18650-2-cell
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Jumper Wires: https://robokits.co.in/arduino/jumpers-wires
Download Unity Tank Game:
Workflow
Python Source Code for controlling the robot wirelessly with Tank Game
from threading import Thread
import socket
import time
import sys
import RPi.GPIO as GPIO
IP_ADDRESS_SEND = "Enter IP address of System running Game"
IP_PORT_SEND = 22002
VERBOSE = True
IP_PORT = 22001
motor1a = 7
motor1b = 11
motor1e = 22
motor2a = 13
motor2b = 16
motor2e = 15
def setup():
GPIO.setmode(GPIO.BOARD)
GPIO.setup(motor1a,GPIO.OUT)
GPIO.setup(motor1b,GPIO.OUT)
GPIO.setup(motor1e,GPIO.OUT)
GPIO.setup(motor2a,GPIO.OUT)
GPIO.setup(motor2b,GPIO.OUT)
GPIO.setup(motor2e,GPIO.OUT)
def debug(text):
if VERBOSE:
print "Debug:---", text
# ---------------------- class SocketHandler -------Client-----------------
def sendCommand(cmd):
debug("sendCommand() with cmd = " + cmd)
try:
# append \0 as end-of-message indicator
sockSend.sendall(cmd + "\0")
except:
debug("Exception in sendCommand()")
closeConnection()
def closeConnection():
global isConnected
debug("Closing socket")
sockSend.close()
isConnected = False
def connect():
global sockSend
sockSend = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sockSend.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
debug("Connecting...")
try:
sockSend.connect((IP_ADDRESS_SEND, IP_PORT_SEND))
except:
debug("Connection failed.")
return False
return True
sockSend = None
isConnected = False
def sendData():
if connect():
isConnected = True
print "Connection established"
sendCommand("go")
else:
print "Connection to %s:%d failed" % (IP_ADDRESS_SEND, IP_PORT_SEND)
print "done"
# ---------------------- class SocketHandler -------Srvr-----------------
class SocketHandler(Thread):
def __init__(self, conn):
Thread.__init__(self)
self.conn = conn
def run(self):
global isConnected
debug("SocketHandler started")
while True:
cmd = ""
try:
debug("Calling blocking conn.recv()")
cmd = self.conn.recv(1024)
except:
debug("exception in conn.recv()")
# happens when connection is reset from the peer
break
debug("Received cmd: " + cmd + " len: " + str(len(cmd)))
if len(cmd) == 0:
break
self.executeCommand(cmd)
conn.close()
print "Client disconnected. Waiting for next client..."
isConnected = False
debug("SocketHandler terminated")
def executeCommand(self, cmd):
debug("Calling executeCommand() with cmd: " + cmd)
if cmd == "up": # remove trailing "\0"
GPIO.output(motor1a,GPIO.LOW)
GPIO.output(motor1b,GPIO.LOW)
GPIO.output(motor1e,GPIO.LOW)
GPIO.output(motor2a,GPIO.LOW)
GPIO.output(motor2b,GPIO.LOW)
GPIO.output(motor2e,GPIO.LOW)
GPIO.output(motor1a,GPIO.LOW) #MOTOR1
GPIO.output(motor2b,GPIO.LOW) #MOTOR2
GPIO.output(motor1e,GPIO.HIGH) #MOTOR1
GPIO.output(motor2e,GPIO.HIGH) #MOTOR1
GPIO.output(motor1b,GPIO.HIGH) #MOTOR2
GPIO.output(motor2a,GPIO.HIGH) #MOTOR2
elif cmd == "down":
GPIO.output(motor1a,GPIO.LOW)
GPIO.output(motor1b,GPIO.LOW)
GPIO.output(motor1e,GPIO.LOW)
GPIO.output(motor2a,GPIO.LOW)
GPIO.output(motor2b,GPIO.LOW)
GPIO.output(motor2e,GPIO.LOW)
GPIO.output(motor2e,GPIO.LOW) #MOTOR1
GPIO.output(motor2a,GPIO.LOW) #MOTOR2
GPIO.output(motor1e,GPIO.HIGH) #MOTOR1
GPIO.output(motor1a,GPIO.HIGH) #MOTOR1
GPIO.output(motor1b,GPIO.HIGH) #MOTOR2
GPIO.output(motor2b,GPIO.HIGH) #MOTOR2
elif cmd == "right":
GPIO.output(motor1a,GPIO.LOW)
GPIO.output(motor1b,GPIO.LOW)
GPIO.output(motor1e,GPIO.LOW)
GPIO.output(motor2a,GPIO.LOW)
GPIO.output(motor2b,GPIO.LOW)
GPIO.output(motor2e,GPIO.LOW)
GPIO.output(motor1e,GPIO.HIGH) #MOTOR1
GPIO.output(motor2e,GPIO.HIGH) #MOTOR1
GPIO.output(motor1b,GPIO.HIGH) #MOTOR2
GPIO.output(motor2b,GPIO.HIGH) #MOTOR2
elif cmd == "left":
GPIO.output(motor1a,GPIO.LOW)
GPIO.output(motor1b,GPIO.LOW)
GPIO.output(motor1e,GPIO.LOW)
GPIO.output(motor2a,GPIO.LOW)
GPIO.output(motor2b,GPIO.LOW)
GPIO.output(motor2e,GPIO.LOW)
GPIO.output(motor1e,GPIO.HIGH) #MOTOR1
GPIO.output(motor1a,GPIO.HIGH) #MOTOR1
GPIO.output(motor1b,GPIO.HIGH) #MOTOR2
GPIO.output(motor2a,GPIO.HIGH) #MOTOR2
elif cmd == "brake":
GPIO.output(motor1a,GPIO.LOW)
GPIO.output(motor1b,GPIO.LOW)
GPIO.output(motor1e,GPIO.LOW)
GPIO.output(motor2a,GPIO.LOW)
GPIO.output(motor2b,GPIO.LOW)
GPIO.output(motor2e,GPIO.LOW)
# ----------------- End of SocketHandler -----------------------
setup()
serverSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# close port when process exits:
serverSocket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
debug("Socket created")
HOSTNAME = "" # Symbolic name meaning all available interfaces
try:
serverSocket.bind((HOSTNAME, IP_PORT))
except socket.error as msg:
print "Bind failed", msg[0], msg[1]
sys.exit()
serverSocket.listen(10)
print "Waiting for a connecting client..."
isConnected = False
while True:
debug("Calling blocking accept()...")
conn, addr = serverSocket.accept()
print "Connected with client at " + addr[0]
isConnected = True
socketHandler = SocketHandler(conn)
# necessary to terminate it at program termination:
socketHandler.setDaemon(True)
socketHandler.start()
t = 0
while isConnected:
print "Server connected at", t, "s"
time.sleep(10)
t += 10
C# Source Code for sending movement command to mobile tank(Robot).
public class TCPTestClient : MonoBehaviour
{
#region private members
private TcpClient socketConnection;
private Thread clientReceiveThread;
#endregion
// Use this for initialization
void Start()
{
ConnectToTcpServer();
}
public void disconnect() {
socketConnection.GetStream().Close();
socketConnection.Close();
}
/// <summary>
/// Setup socket connection.
/// </summary>
private void ConnectToTcpServer()
{
try
{
socketConnection = new TcpClient("<Enter IP Address of raspberry pi running mobile tank controlling python code>", 22001); //ipaddress of pi
}
catch (Exception e)
{
Debug.Log("On client connect exception " + e);
}
}
/// <summary>
/// Send message to server using socket connection.
/// </summary>
public void SendMessage(String cmd)
{
if (socketConnection == null)
{
return;
}
try
{
// Get a stream object for writing.
NetworkStream stream = socketConnection.GetStream();
if (stream.CanWrite)
{
string clientMessage = cmd;
// Convert string message to byte array.
byte[] clientMessageAsByteArray = Encoding.ASCII.GetBytes(clientMessage);
// Write byte array to socketConnection stream.
stream.Write(clientMessageAsByteArray, 0, clientMessageAsByteArray.Length);
Debug.Log("Client sent his message - should be received by server"+clientMessage);
}
}
catch (SocketException socketException)
{
Debug.Log("Socket exception: " + socketException);
}
}
}