# Self-Parking Robot
###### tags: `ROBOTICS`, `LiDAR`
## Arduino & ROS
file location:
https://drive.google.com/drive/folders/139Qo4cpKLf0iU39zv5uE5DMH5dq13d3l?usp=sharing
:::success
Multiple sensor files, and versions for Arduino(.ino) and for ROS(C/C++)
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## Check steps
1. Determine the threshold in the environment
Place the car in the field about 80cm away from the light ball and turn it at an angle, about 700-800 degrees without light

2. Determine the IR range
Put the IR reciever and transmitter, about 10 to 100 away from the check ratio
:::danger
:bulb: Something else to check and do

| Mechanical structure | Light Puppets | ROS | Messenge |
| -------- | -------- | -------- |-------- |
| Whether it can respond to obstacle avoidance, the gripper can be wider, and the upper obstacle avoidance can be smaller | You can move forward and backward or add a mask (recommended to use the paper at the back), note that it is easy to leave without a mask , you can use a photomask or a wider gripper | ros is better if you can upload lower_bond (but can't upload to arduino) | Create a return status, such as light_sensor or IR_Reciever |

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:::info
**Decision**

Go straight → (collision) → go backward → turn left (about 200 degrees) → go straight
(During this period, it will go straight when encountering light)

Catch the ball → turn right (about 200 degrees) → go straight
(Will go straight when encountering Beacon during this period)
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## Mechanical structure
Mobile Robot with LIDAR
Mobile Robot

## Exrta Self-Parking Robot
### Demo
#### First take
{%youtube m0C_GKls2yQ %}
#### Second take
{%youtube K2vrQTtaRzY %}