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+= Room mapping robot. 
+
+== Contributors
+   Γαβριήλ Σίνγκ - cs131083
+   Ιωνάθαν Μπαξεβανίδης - cs161083
+   Κωνσταντίνος Χουτιούδης - cs141296
+   
+== Project Description
+  This was an attempt at making a "budget" [Slam]
+  (Simultaneous localization and mapping) robot-vehicle, with a time of flight
+  Lazer sensor.It uses the esp32 as it's brains (tons of io pins, 2 core, wifi &
+  bluetooth on chip,low consumption,etc.) and a arduino nano that acts as a slave
+  controling the drive tracks by taking commands from the esp32.
+
+== What is SLAM
+	In navigation, robotic mapping and odometry for virtual reality or augmented 		
+	reality, simultaneous localization and mapping (SLAM) is the computational
+    problem of constructing or updating a map of an unknown environment while    
+	simultaneously keeping track of an agent's location within it
+	
+
+== Working principal
+  The working principal behind the robot is based on dead reckoning meaning we
+  create the map as we go assuming we've started from position 0,0.Using the tof
+  sensor we get measurments from all directions (360 degrees) this happens using
+  the stepper motor along with the hall effect sensors so we the degree of each
+  measurment great so now we can bind these values (distnace,angle) to the
+  robot's postion.The problem with our particular platform was space limitations
+  and the fact that the tracks are moved by dc motors some solutions on these
+  problems would be if possible driving the tracks by stepper motors directly or
+  otherwise so we know exactly how many steps each track has made therefore
+  deducing the robots position or using photo encoders in the small dc motors
+  producing the same effect.(problems with bad  are also very real and can throw
+  off our measurments but hey we're not supposed to send this robot on mars )
+  Being able to determine our traveled distance and having 360 "accurate"
+  measurments of the space traversed would enable us to construct an algorithm
+  which by  using these data  could find a way to traverse the space creating a
+  map along the way.
+
+== Demo video & Photos
+video::Tu37dVoCxmo[youtube,500,500]
+
+image:./pics/demo1.jpg[700,700]
+
+image:./pics/demo2.jpg[700,700]
+
+image:./pics/inabox.jpg[700,700]
+
+image:./pics/drawbox.png[700,700]
+
+== Parts
+- Esp32
+- Arduino Nano
+- 28BYJ-48 Stepper
+- ULN2003 Stepper Motor Driver
+- I2C Logic Level Converter
+- VL53L1X
+- Hall Sensor
+- Slip ring
+- 2x18650 Batteries
+- Battery Protection Board
+- Toy truck
+- L298N Motor Driver
+
+image:./pics/esp32.jpg[200,200]
+image:./pics/nano.jpg[200,200]
+image:./pics/stepper&driver.jpg[200,200]
+image:./pics/logic_level.jpg[200,200]
+image:./pics/sensor.jpg[200,200]
+image:./pics/hall.jpg[200,200]
+image:./pics/slipdisc.png[200,200]
+image:./pics/bat.jpeg[200,200]
+image:./pics/bms.jpg[200,200]
+image:./pics/truck.png[200,200]
+image:./pics/L298N.jpg[200,200]
+
+image:./pics/diagram.png[1000,1000]
+
+== Why a lazer sensor ?
+   The main reason we went with a lazer sensor is because of the shorter time 
+   light sensors take to acquire measurements and we thought it would be more 
+   accurate, however it seems that the vl53L1x sensor isn't as accurate as
+   expected.
+
+== Difficulties & things to consider
+- Acquiring location position in a room
+- Getting accurate data from budget sensors with low resolution
+- Calculating travel distance based on Dc motors
+- Maintaning electrical connections between the two rotating parts
+
+== Problems that managed to get solved
+=== - Getting angle of measurment
+    Solution: Using a Hall sensor and a magnet to find 0 degree spot & using a
+    stepper motor with known gear ratio so we know the step angle
+
+=== - Power consumption
+   Solution: Used 2xcells 18650 batteries  because simple alkaline batteries
+   wheren't up to the task
+
+=== helpful links:
+link:https://www.youtube.com/watch?v=fQ2iB7qkrUg[youtube homemade lidar]
+
+