The G.A.R.E.V. or Global Access Remote Exploration Vehicle was my project for the final year of my degree at the University of Plymouth. I don't know why the name was made so long, but I wanted something that would describe it properly. For the majority of the information and most of the report I handed in, visit the G.A.R.E.V. LONG page.
If you don't want to venture into the G.A.R.E.V. LONG page, here's a quick description. The G.A.R.E.V. is a small vehicle, built by myself using aluminium and a track and wheel set. It has a twin motor gearbox to provide independant drive to each side of the vehicle. Power is provided by 8 AA batteries giving 9.6V, which is provided directly to the motors via a L298 motor driver with PWM control, and also regulated down to 5V for the microcontroller and other electronics. Two standard micro servos, like the kind used in micro RC helicopters are used to provide pan and tilt functionality to a small wireless video camera mounted on top. Communication to a PC for remote control is via a Bluetooth connection. Communication to the web is enabled via what is essentially a TCP/IP to COM port interface in the form of a small application running on a PC.
A list of all of the major parts used in the project below:
- Tamiya Track and Wheel set
- Tamiya Twin motor gearbox
- Sparkfun BlueSMiRF
- PIC 16F876A
- 2.4GHz wireless camera - get one on eBay
Have a look at the long page for a more detailed description of the parts.
The software for bridging the gap between the Bluetooth connection and the internets is something I knocked up very quickly in Python, and isn't very reliable, but it works! Finally the interface for the web browser is written in Java. All the software needs to do is accept a TCP/IP connection, then pass the data out a specified COM port (which would be your Bluetooth adapter).
Again, for more details see the long page.
A couple of people have e-mailed me asking for sources, PCB layouts. Previously I have been unable to help with either of these due to poor excuses on my part, but I have just discovered some source code in an old backup on my server! So, please find below the source for the PIC on-board the tank, and the Java web applet. I have no idea how these compare to the state of the code when it was completely finished, but hopefully it will help someone out.
Note: in the early stages of the project, it was creatively named 'ChrisTank', so you may see that in the comments somewhere!
G.A.R.E.V. PIC ASM Source: garevsource.asm
G.A.R.E.V. Java web interface applet source: TankControl.java
(you also need this for the GUI: arrows.gif)