A3Bujji Core – Multi‑Mode Robotics Framework

Assistance • Actuation • Automation

🚀 Overview

A3Bujji Core is a modular robotics platform that seamlessly switches between three operational environments based on human involvement:

• Assistance Mode – Human‑following & supervised task execution using ultrasonic + IR sensors.
• Actuation Mode – Remote tele‑robotic control via Bluetooth and a cross‑platform mobile app.
• Automation Mode – AI‑powered autonomy using sensor fusion and onboard decision logic.

The framework includes:

• Arduino control firmware (ATmega328P @ 16 MHz)
• Hardware reference designs (sensors, actuators, wiring)
• Bluetooth mobile app (React Native / Flutter template)
• Optional Web Dashboard (Node.js + Express + Vite) for logs, teleop, and OTA config

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📦 Monorepo Structure

A3Bujji-Core/
├─ arduino/                # Firmware sketches & libraries
│  ├─ core_firmware/       # Main firmware (modes, sensors, actuators)
│  └─ libs/                # Reusable Arduino libs
├─ apps/
│  ├─ mobile/              # React Native (Expo) app for Bluetooth teleop
│  └─ dashboard/           # Node.js + Vite web dashboard
├─ docs/                   # Diagrams, assets, user guides
└─ tools/                  # Scripts, simulators, CI helpers

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🛠️ Hardware

• MCU: Arduino UNO / Nano (ATmega328P, 16 MHz)
• Sensors: Ultrasonic (HC‑SR04), IR, IMU (MPU‑6050), object‑follow/IR array
• Actuators: DC gear motors, L298N driver, optional servos
• Wireless: Bluetooth (HC‑05/06 or BLE module)
• Power: Li‑ion 2S–3S (4–6 hours typical), BMS recommended

See /docs/circuit for the wiring diagram and BOM (bill of materials).

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🧠 Software Modes

• Assistance: Real‑time human tracking, obstacle avoidance, supervised tasks
• Actuation: Manual teleop via mobile app, live telemetry & logs
• Automation: Autonomous navigation, waypoint following, rule‑based decisions

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⚙️ Quick Start

1) Prerequisites

• Node.js ≥ 18, npm ≥ 9 (or pnpm/yarn)
• Arduino IDE ≥ 2.x (or PlatformIO)
• Expo CLI (for mobile) or Flutter if you choose Flutter template

2) Clone

git clone https://github.com/<your-org>/A3Bujji-Core.git
cd A3Bujji-Core

3) Install (Web Dashboard)

cd apps/dashboard
npm install
# Useful scripts
npm run dev      # Vite dev server
npm run build    # Production build
npm run start    # Serve built app
npm run lint     # Lint
npm run test     # Unit tests (Vitest)

Environment variables (apps/dashboard/.env):

VITE_BT_SERVICE_ID=
VITE_API_BASE=http://localhost:4000

4) Mobile App (React Native via Expo)

cd apps/mobile
npm install
npx expo start

Pair with the robot’s Bluetooth module (default: A3BujjiCore, PIN 1234 unless changed).

5) Arduino Firmware

• Open arduino/core_firmware/core_firmware.ino in Arduino IDE
• Install libraries: ArduinoBLE (if using BLE), NewPing, MPU6050
• Select board & port → Upload

Configure mode defaults in config.h (e.g., DEFAULT_MODE=ASSISTANCE).

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📱 Mobile Controls

• Connect/Disconnect Bluetooth
• Teleop Joystick / D‑Pad
• Mode Switch: Assistance | Actuation | Automation
• Telemetry: Distance, IMU, battery, connection status

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🌐 Web Dashboard (Optional)

• Live metrics and logs (WebSocket)
• Mode switching & safety stop
• Firmware config editor (stored in EEPROM)
• Session recorder (CSV export)

Run locally:

cd apps/dashboard
npm run dev

Build & serve:

npm run build && npm run start

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🔌 Wiring Snapshot

[HC-SR04] TRIG → D9, ECHO → D8
[IR Array] A0–A3 → IR sensors
[IMU] SDA → A4, SCL → A5 (I2C)
[L298N] IN1–IN4 → D2–D5, ENA/ENB → PWM D3/D6
[BT] TXD → D10 (SoftSerial RX), RXD → D11 (SoftSerial TX)

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🧪 Simulation & Testing

• Unit tests (dashboard) with Vitest
• Firmware dry‑run via serial simulator in tools/
• Mock telemetry for UI development without hardware

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🧩 API (Dashboard ⇄ Robot Bridge)

HTTP

GET  /api/status         # robot summary
POST /api/mode           # set {mode: assistance|actuation|automation}
POST /api/teleop         # set {vx, vy, omega}

WebSocket

telemetry:{ distance, imu, battery, ts }

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🗺️ Roadmap

• OTA config via BLE characteristics
• Vision module (ESP32‑CAM / USB camera)
• Path planning plugin system
• SLAM integration (optional, off‑board)
• Multi‑robot fleet dashboard

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🧰 Troubleshooting

• No Bluetooth pairing → Check module voltage (3.3V vs 5V), baud rate, and PIN.
• Sensors unstable → Add decoupling caps, verify grounds, calibrate IMU.
• Motors jitter → Use separate motor supply & common ground; verify ENA/ENB PWM.
• Slow response → Reduce serial logging, ensure 115200 baud, disable unused features.

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🤝 Contributing

1. Fork the repo & create a feature branch
2. Run linters/tests (npm run lint && npm run test)
3. Open a PR with a clear description & screenshots

See CONTRIBUTING.md and CODE_OF_CONDUCT.md (add in /docs).

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👥 Team

• Vishal Jaiswal – Project Manager
• Nikhil Patel – Hardware Engineer
• Shreyansh Dubey – Software Developer
• Rahul Singh Lodhi – Systems Integrator

Gyan Ganga Institute of Technology and Sciences — Robotics & Embedded Systems, Sept 2024

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📄 License

MIT © A3Bujji Core Team

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🔗 Links

• Demo Video: docs/demo.mp4
• Documentation: docs/
• Circuit Diagrams: docs/circuit/
• Prototypes: docs/prototypes/
• GitHub Issues: https://github.com/<your-org>/A3Bujji-Core/issues

A3Bujji Core — Empowering developers with adaptive robotics for the future of assistance, actuation, and automation.