instructables

Autonomous Tank With GPS

by Arduino_having11_Guy

DFRobot recently sent me their Devastator Tank Platform kit to try out.
So, of course, I decided to make it autonomous and also have GPS capabilities. This robot would use an
ultrasonic sensor to navigate, where it moves forward while checking its clearance. If it gets too close to an object
or other barrier it would check each direction and then move accordingly.

BoM:

DFRobot Devastator Tank Robot Platform: Link

DFRobot GPS Module with Enclosure: Link

Teensy 3.5
Ultrasonic Sensor - HC-SR04 (Generic)

Micro Servo 9g

https://www.youtube.com/watch?v=Y406dfs5hP0

Autonomous Tank With GPS: Page 1

Step 1: Assembling the Chassis

The kit comes with extremely easy-to-follow instructions for putting it together. In addition to 4 simple structural
pieces, it features many different mounting holes that can support boards such as the Raspberry Pi and Arduino
Uno. I started by getting the suspension attached on each side of the chassis, and then put the wheels on. After
that I simply screwed each piece together and added the tracks.

Step 2: Creating the Electronics

I decided to use a Teensy 3.5 for the brain on my
robot, as it could support multiple serial connections
and ran at 120 MHz (compared to 16 for an Arduino
Uno). Then I attached the GPS module to the Serial1
pins, along with a Bluetooth module on Serial3. The
L293D was the best choice for a motor driver, as it
supports 3.3v in and 2 motors. Last was the servo
and ultrasonic distance sensor. The chassis supports
one microservo on the top, and in addition to that I
glued on an HC-SR04 due to its low power usage
and ease-of-use.

Autonomous Tank With GPS: Page 2

 Download
http://www.instructables.com/ORIG/FBG/Z3Y0/JDCBVAE3/FBGZ3Y0JDCBVAE3.ino
…

Download
http://www.instructables.com/ORIG/FP7/UEB7/JDCBVAE8/FP7UEB7JDCBVAE8.stl
…

Step 3: Making the App

I wanted this robot to have both manual and
autonomous capabilities, so the app provides both. I
started by creating four buttons that controlled each
direction: forward, backward, left, and right, and also
two buttons for switching between the manual and
autonomous modes. Then I added a list picker that
would allow for users to connect to the HC-05
http://www.instructables.com/ORIG/FD5/F57R/JDCBVAE2/FD5F57RJDCBVAE2.apk
…
bluetooth module on the robot. Finally I also added a
map with 2 markers that displays the location of both
the user's phone and the robot. Every 2 seconds the
robot sends its location data via Bluetooth to the
phone where it is then parsed. You can find it here
https://github.com/having11/RCTankApp
Download

Step 4: Assembly

Putting it all together is fairly simple. Just solder wires from each motor into the proper pins on the motor driver.
Then use some standoffs and screws to mount the board onto the robot. Make sure the GPS module is outside of
the tank so its signal isn't blocked by the metal frame. Finally connect the servo and HC-SR04 to their respective
locations.

Autonomous Tank With GPS: Page 3

Step 5: Using It

Now just attach power to the motors and the Teensy. Connect via the app to the HC-05 and have some fun!

Autonomous Tank With GPS: Page 4