GPS guided robot boat

Projects General Guidance
1

im joanne cantuba jr im 18 year old i`m meking a robot boat i need

your help all op you i want to make a boat with gprs arduino compass two servo one for gas en the other is for rudder en if i lost my signaal she going return to home en if she is on the position he going to shut down the motor help me pls i need your help i have one person he help but i dont now what he meins too pls help me if you help me i`m happy to i
develop olmost a year but al date is gone al person hoe help me with the
code is al gone en one person is this site he is very nice man
http://users.libero.it/riccardo.rocca/04_ROBOAT/roboat.htm
hier is my contact :

joanne cantuba jr.
vinkenkamp 55
wellerlooi
nederland
+31682003312
jantuba@gmail.com (not pravite )
jcantubs@live.nl (pravite )
i have skype ,msn , fb too
skype : jr_cantuba
msn: jcantubs@live.nl
fb: joanne cantuba

2

Your project will involve lots of different parts (controlling servos, reading position from a GPS sensor, reading bearing from a compass and so on) and you should find plenty of examples showing how to do these things on their own. If you're stuck on part of it, you're more likely to get help if you can give details about the problem you're stuck on and explain what you've done so far to try to get around the problem.

3

How big is your boat?
What distance will it be expected to travel?
Will it be working in still water such as a canal or lake, or in water with currents such as a river or the sea?

...R

4

Possible reading material.

https://www.google.com/search?as_q=gps+boat&as_epq=&as_oq=&as_eq=&as_nlo=&as_nhi=&lr=&cr=&as_qdr=all&as_sitesearch=http%3A%2F%2Fforum.arduino.cc%2Findex&as_occt=any&safe=images&tbs=&as_filetype=&as_rights=

5

my boat are 1.30 meter hier has gas engine en servo en my probleem how to prograam it ?

i find this one but i need to reprograam en with xbee

#include <Wire.h>
#include <Serial.h>
#include <Servo.h>

#define compassAddress 0x32 >> 1
#define adjustment 15 //Degress to adjust rudder
#define readDelay 2500 //Time between compass reads

Servo rudder; //Rudder servo object
int rudderAngle = 0; //current angle of the rudder servo
int rudderPosition = 0; //New position for rudder

unsigned int compassHeading = 0;
unsigned int initialHeading = 0;
unsigned int heading = 0;

int offset = 0;
int tempOffset = 0;
int headingShift = 0;

byte compassHeadingBytes[2]; //Heading read bytes from compass
int i = 0;

void setup() {
Serial.begin(115200); //Start the serial port for testing

Wire.begin(); //Start i2c

rudder.attach(9); //Rudder servo on pin 9

while( millis() < 500 ) { //Wait for the compass to initialise
delay(15);
}

rudderAngle = rudder.read(); //Get initial angle of rudder servo
readCompass(); //Get heading from compass

setPosition(); //translate into direction segment
setOffset(); //Set offset to correct heading
adjustPosition(); // Adjust heading to new position

initialHeading = heading; //Save heading as target direction
}

void loop() {

readCompass();
setPosition();
adjustPosition();
setServo();

delay(readDelay);

}

void readCompass() {
//Instruct compass to read echoes
Wire.beginTransmission(compassAddress); // transmit to device
// the address specified in the datasheet is 66 (0x42)
// but i2c adressing uses the high 7 bits so it's 33
Wire.write(0x50); // Send a "Post Heading Data" (0x50) command to the HMC6343
Wire.endTransmission(); // stop transmitting

//Wait for readings
delay(2); // datasheet suggests at least 1 ms

//Request heading reading from compass
Wire.requestFrom(compassAddress, 2); // request 2 bytes from slave device #33

//Receive heading reading from compass
if(2 <= Wire.available()) // if 2 bytes were received
{
for(int i = 0; i<2; i++) {
compassHeadingBytes = Wire.read();

  • }*

  • }*

  • compassHeading = ((int)compassHeadingBytes[0]<<8) | ((int)compassHeadingBytes[1]); // heading MSB and LSB*
    _ compassHeading = compassHeading * 0.1; //Translate heading to degress_
    }
    // Translate Compass reading to directional segment
    // LSB = N, MSB = NNE.
    void setPosition(){

  • if ( compassHeading >= 349 || compassHeading <= 11 ) {*

  • heading = 1;*

  • }*

  • else if ( compassHeading >= 12 && compassHeading <= 33 ) {*

  • heading = 2;*

  • }*

  • else if ( compassHeading >= 34 && compassHeading <= 56 ) {*

  • heading = 4;*

  • }*

  • else if ( compassHeading >= 57 && compassHeading <= 78 ) {*

  • heading = 8;*

  • }*

  • else if ( compassHeading >= 79 && compassHeading <= 101 ) {*

  • heading = 16;*

  • }*

  • else if ( compassHeading >= 102 && compassHeading <= 123 ) {*

  • heading = 32;*

  • }*

  • else if ( compassHeading >= 124 && compassHeading <= 146 ) {*

  • heading = 64;*

  • }*

  • else if ( compassHeading >= 147 && compassHeading <= 168 ) {*

  • heading = 128;*

  • }*

  • else if ( compassHeading >= 169 && compassHeading <= 192 ) {*

  • heading = 256;*

  • }*

  • else if ( compassHeading >= 193 && compassHeading <= 213 ) {*

  • heading = 512;*

  • }*

  • else if ( compassHeading >= 214 && compassHeading <= 236 ) {*

  • heading = 1024;*

  • }*

  • else if ( compassHeading >= 237 && compassHeading <= 258 ) {*

  • heading = 2048;*

  • }*

  • else if ( compassHeading >= 259 && compassHeading <= 281 ) {*

  • heading = 4096;*

  • }*

  • else if ( compassHeading >= 282 && compassHeading <= 303 ) {*

  • heading = 8192;*

  • }*

  • else if ( compassHeading >= 304 && compassHeading <= 326 ) {*

  • heading = 16384;*

  • }*

  • else if ( compassHeading >= 327 && compassHeading <= 348 ) {*

  • heading = 32768;*

  • }*
    }
    //Ofset based on segment seting, so initial heading is 256.
    void setOffset() {

  • switch ( heading ) {*

  • case 1:*

  • offset = 1;*

  • break;*

  • case 2:*

  • offset = 2;*

  • break;*

  • case 4:*

  • offset = 3;*

  • break;*

  • case 8:*

  • offset = 4;*

  • break;*

  • case 16:*

  • offset = 5;*

  • break;*

  • case 32:*

  • offset = 6;*

  • break;*

  • case 64:*

  • offset = 7;*

  • break;*

  • case 128:*

  • offset = 8;*

  • break;*

  • case 256:*

  • offset = 9;*

  • break;*

  • case 512:*

  • offset = 10;*

  • break;*

  • case 1024:*

  • offset = 11;*

  • break;*

  • case 2048:*

  • offset = 12;*

  • break;*

  • case 4096:*

  • offset = 13;*

  • break;*

  • case 8192:*

  • offset = 14;*

  • break;*

  • case 16384:*

  • offset = 15;*

  • break;*

  • case 32768:*

  • offset = 16;*

  • break;*

  • }*

  • offset = 8 - offset;*
    }
    // Adjust heading by offset
    void adjustPosition(){

  • unsigned int headingTemp = heading;*

  • if ( offset >= 0 ) {*

  • tempOffset = offset;*

  • while ( tempOffset > 0 ) {*

  • headingShift = headingTemp << 1;*

  • headingTemp = headingShift;*

  • if ( headingTemp == 0 ) {*

  • headingTemp = 1;*

  • }*

  • tempOffset = tempOffset - 1;*

  • }*

  • }*

  • else {*

  • switch (offset) {*

  • case -1:*

  • tempOffset = 1;*

  • break;*

  • case -2:*

  • tempOffset = 2;*

  • break;*

  • case -3:*

  • tempOffset = 3;*

  • break;*

  • case -4:*

  • tempOffset = 4;*

  • break;*

  • case -5:*

  • tempOffset = 5;*

  • break;*

  • case -6:*

  • tempOffset = 6;*

  • break;*

  • case -7:*

  • tempOffset = 7;*

  • break;*

  • case -8:*

  • tempOffset = 8;*

  • break;*

  • }*

  • while ( tempOffset > 0 ) {*

  • headingShift = headingTemp >> 1;*

  • headingTemp = headingShift;*

  • if ( headingTemp == 0 ) {*

  • headingTemp = 32768;*

  • }*

  • tempOffset = tempOffset - 1;*

  • }*

  • }*

  • heading = headingTemp;*
    }
    void setServo() {

  • unsigned int i,j;*

  • rudderPosition = rudderAngle;*

  • i = heading;*

  • if ( heading < 128 ) {*

  • while ( i < 128){*

  • rudderPosition = rudderPosition - adjustment;*

  • j = i << 1;*

  • i = j; *

  • }*

  • }*

  • if ( heading > 128 ) {*

  • while ( i > 128 ) {*

  • rudderPosition = rudderPosition + adjustment;*

  • j = i >> 1;*

  • i = j;*

  • }*

  • }*

  • rudder.write(rudderPosition);*
    }

6

Robin2:
How big is your boat?
What distance will it be expected to travel?
Will it be working in still water such as a canal or lake, or in water with currents such as a river or the sea?

...R

my boat is 1.30 meter
i want to travel on the see en lake

7

I suggest you make a test boat with an electric motor (which is easier to control) and write a program to make it follow a square course away from you and back to you. Don't bother with GPS or compass you may need a compass, but see what you can do without it at this stage. Have a long string attached to the boat so you can pull it back if it doesn't do what you want.

When you are confident you can do this try adding a compass and learning how to control the boat with that.

I think you will find that a compass is not responsive enough for straight steering and you may need a gyro.

Finally add a GPS and learn how to use that.

At some point in all this you may have enough confidence to let go of the string.

...R

Edited to add strikeouts and bold after a nights sleep.

8

Keep in mind, you'll want to waterproof EVERYTHING, so when your boat capsizes, you don't lose your electronics.

As mentioned before, this is a complicated project. Start from the goal, and start breaking stuff down to its most basic level (Write all of this down, its helpful to yourself) and work out all of the little problems. For example, you probably want to have some control systems to make sure you aren't exceeding any physical limitations, like you don't want to turn to sharply or you'll swamp the boat.

PS, use code tags.

9

hoi ,mirith
i have this one on my boat

arduino Water Leak Detection Alarm
i prograam it if the boat al has a lek the pump is going to on

10

thank you Robin2 i think i do that i hoop i can make ik :slight_smile:

11

Sounds a fun and ambitious project.

I'd start with an RC controlled boat and start intercepting and overriding
the controls from the RC receiver to the servos/motor - you ideally want an
RC channel that regains control back from the Arduino should things go
wrong and then you can pilot it back by hand.

Either that or be in a rowing boat yourself chasing it!

I hope it will have a crew of lego pirate figures.

12

Joanne
please put your code inside code tags like this
[c0de]
your code
[/c0de]

(only you use code instead of c0de)

now we can see your code properly!