Field Mapper Robot

Overview

Design of a modular, cost‑effective robot for mapping magnetic fields within a defined volume.

Software requirements

• PyCharm – Python IDE (Python 3.13) – Link
• Arduino IDE – Native Arduino software – Link

Hardware requirements

• CPU: 64‑bit dual‑core (modern)
• RAM: ≥ 8 GB (PyCharm needs 2 GB free)
• Storage: ≥ 5 GB free SSD (PyCharm ≈ 3.5 GB + projects)
• OS: Windows 10 64‑bit +, macOS 10.15 +, Ubuntu 20.04 +
• Basic jumper wires for Arduino
• M3 screws with nuts
• USB‑C ↔ USB‑C / USB‑A ↔ USB‑C cable (Arduino Uno R4)
• Wire cutter/stripper
• Precision screwdriver set

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Bill of Materials

Component	Qty	Unit Price (USD)	Link
Linear stages (Z 300 mm, XY 300 mm – 12 mm pitch)	1	338.54	Product
TB6600 stepper driver	3	5.60	Product
Arduino UNO R4 Minima	1	16.00	Product
Gaussmeter GM2	1	902.00	Product
Total		1262.14

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High‑Level Workflow

Software workflow diagram

Wiring diagram

Installation and Setup

1. Clone the repository:

   git clone https://github.com/SipanHovsep/Field_mapper_robot

2. Install dependencies:

   pip install -r requirements.txt  

3. Connect the hardware as described in the wiring diagram.
4. Print the files in 3D print files
5. Connect and upload Arduino_script.ino to Arduino
6. Run Arduino_finder.py
7. Run Path_maker.py
8. Run Arduino_runner.py
9. Check out Supporting images for further images

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Scripts Overview

Arduino_finder.py

• Run once the arduino is connected
• Finds the connection port name and writes it in Arduino_port.txt file

Path_maker.py

• Generates the path trajectory with discrete points
• Allows user to modify the trajectory and spacing between individual points
• Visualizes the path in 3D with exact sequence the robot would follow, for user to validate
• Writes the x y z coordinates of the path in the right order in "path.CSV" file

Arduino_runner.py

• Allows user to input delay time for sensor read at each desired point and control the speed of robot movement
• Retrieves the coordinates from "path.CSV" file
• Generates text commands to move the robot according to the path
• Sends text commands to arduino at 9600 baud (defined by user) via Arduino port retrieved from Arduino.txt file
• Establishes a serial connection with Gaussmeter through usb port
• Records voltage readings of Gaussmeter per data point and appends to corresponding coordinate
• Generates Data.CSV, containing x y z reading values for each coordinates

Arduino_script.ino

• Defines Pin map of the arduino
• Listens for simple text commands (X+, X-, Y+, Y-, Z+, Z-,) sent over USB at 9600 baud (Links Arduino_runner.py with Arduino)
• Moves the robot 1 mm per command by pulsing the chosen step pin 533.34 times (defined by callibration)

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Assembly Tips

1 · Axis Ruler for Quick Calibration

Attaching a printed ruler minimises calibration time and ensures precise step‑to‑millimetre mapping.

2 · Mount on a Rigid Base

Secure the frame to a **≥ 40 × 60 × 1.5 cm** wooden panel for stability during operation.

3 · Variable DC Power Supply

A low‑cost variable supply (~15 USD) simplifies testing different motor voltages and current limits.

4 · TB6600 DIP‑Switch Settings

Set switches **S1–S6 = OFF** to match the firmware micro‑stepping and protect the motors.

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