The Doodle Bot is a very simple robotic platform for beginners, students and hobbyist.

The Chassis is a simple laser cut panel with two ball raced geared motors and a servo for raising and lowering a white board marker, jumbo chalk or crayon. Each wheel is fitted with an 8-pole magnet that is monitored by hall effect sensors to form two simple wheel encoders.

read more

• Arduino UNO or compatible board such as the Freetronics Eleven
• Seeed Studio's Grove OLED display 96x96
• Seeed Studio's Grove Base Shield
• Seeed Studio's Grove Universal Cables

• Arduino IDE version 023 - later versions are NOT supported (at the time of this writing)
• Processing IDE
• Seeed Studio's Gray OLED Library - unzip these files and copy them into the Arduino Library folder

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// OLED Slideshow: Arduino Sketch written by ScottC 21/07/2012

#include <Wire.h>
#include <SeeedGrayOLED.h> //From http://garden.seeedstudio.com/images/c/c4/SeeedGrayOLED.zip
#include <avr/pgmspace.h>

int counter=0;
 
void setup()
{
 //Allow communication to OLED
 Wire.begin(); 
 
 //Allow Serial communication between Freetronics Eleven and Computer
 Serial.begin(28800);
 
 //Initialise the OLED
 SeeedGrayOled.init();
 //Clear the OLED display
 SeeedGrayOled.clearDisplay();
 //Set to vertical mode - horizontal mode doesn't work with this example
 SeeedGrayOled.setVerticalMode();
 
}
 
void loop(){
 //Listen for Serial comunication
 while (Serial.available()>0) {
 // Read data and send directly to the OLED
 sendMyData(Serial.read());
 counter++;
 
 //When counter reaches 4608 pixels, the picture is complete.
 if(counter>4607){
 //Insert delay to allow viewing of picture.
 delay(4000);
 Serial.println("End of Transmission");
 
 //Reset the counter for the next picture
 counter=0; 
 }
 }
}

// This function was adapted from the SEEED Gray OLED driver so that
// character bytes could be sent directly to the OLED.
void sendMyData(unsigned char Data){
 Wire.beginTransmission(SeeedGrayOLED_Address); // begin I2C transmission
 Wire.send(SeeedGrayOLED_Data_Mode); // data mode
 Wire.send(Data);
 Wire.endTransmission();
}


// This function was adapted from the SEEED Gray OLED driver so that
// commands could be sent directly to the OLED. 
// NOT USED IN THIS EXAMPLE ***********************
void sendMyCommand(unsigned char Cmd){
 Wire.beginTransmission(SeeedGrayOLED_Address); // begin I2C communication
 Wire.send(SeeedGrayOLED_Command_Mode); // Set OLED Command mode
 Wire.send(Cmd);
 Wire.endTransmission(); // End I2C communication
}

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/* OLED Slideshow: Processing Sketch Written by ScottC 21/7/2012 

References:
Getting Pixels: http://www.learningprocessing.com/examples/chapter-15/example-15-7/
Greyscale conversion = http://www.openprocessing.org/sketch/60336
*/


import processing.serial.*; /* Needed for Serial Communication */

/* Global variables */
Serial comPort;
String [] comPortList;
String comPortString;
PImage img;
char[] tempGrey=new char[4609];
int startOffset=0;
ArrayList picNames;
int curLoop=1;
int totalPics=0;
int curPicNum=0;
boolean toggleSend=true;
boolean sendBouncer=true;

//Change maxLoops to a number > 1 if you want the pictures to loop.
int maxLoops=1;


void setup() {
 //The size of the display is critical (must match the OLED)
 size(96, 96);
 //setup Serial
 comPortList = Serial.list(); 
 if(comPortList.length>0){
 //baud rates greater than 28800 may produce unexpected results
 comPort = new Serial(this, comPortList[0], 28800);
 comPort.bufferUntil('\n');
 } else{
 println("NO COM PORTS AVAILABLE");
 }
 
 //Create an Array of pictures
 picNames=new ArrayList();
 picNames.add("Picture1.bmp");
 picNames.add("Picture2.bmp");
 picNames.add("Picture3.bmp");
 picNames.add("Picture4.bmp");
 // for more pictures just keep adding them to the list.
 //The actual pictures must be located in the data folder of this project.
 //Select Sketch/Add File to add the files to this folder.
 //Make sure that the name of pictures match the names above.
 
 //Get the total number of pictures added
 totalPics=picNames.size();
}

void draw(){
 if(toggleSend && sendBouncer){
 
 // Debugging code: print("STARTED:");
 // Debugging code: println(picNames.get(curPicNum));
 
 sendImage((String)picNames.get(curPicNum)); //Send the picture to the OLED
 toggleSend=false; //temporarily stop sending any more pictures until authorised
 curPicNum++; //increment in preparation for the next picture
 
 if(curPicNum==totalPics){
 curPicNum=0; //go back to the first picture
 curLoop++; //increment the loop counter
 }
 if(curLoop>maxLoops){
 sendBouncer=false; //Stop any further looping
 println("ANIMATION COMPLETE");
 }
 }
}


void sendImage(String imgName){
 img = loadImage(imgName);
 image(img,0,0,width,height);
 loadPixels();
 int counter=0; 
 for (int x = 0; x < width; x=x+2) {
 for (int y = 0; y < height; y++) {
 counter++;
 int PixLoc = x + y*height; // this reads down then across2.
 //Left pixel nibble
 int Pix1=(round((red(pixels[PixLoc])*0.222+green(pixels[PixLoc])*0.707+blue(pixels[PixLoc])*0.071)))/16;
 //Right pixel nibble
 int Pix2=(round((red(pixels[PixLoc+1])*0.222+green(pixels[PixLoc+1])*0.707+blue(pixels[PixLoc+1])*0.071)))/16;
 //Shift the byte <<4 for the left pixel nibble
 int PixShift1=Pix1<<4;
 //Combine both nibbles to form a byte
 int PixFin = PixShift1+Pix2;
 byte PixByteFin=byte(PixFin);
 //Assign this byte to the tempGrey array
 tempGrey[counter] = char(PixByteFin);
 }
 }
 sendSerial(tempGrey); //Send the image data through the Serial COM Port/
}


//This function will send the byte/Char array to the Freetronics
//Eleven or Arduino.
void sendSerial(char[] Data){
 for(int i=0; i<4608; i++){
 //Needs an offset to get picture to align to screen properly
 //only needs to do this once.
 if(startOffset==0){
 i=i+6;
 startOffset++;
 }
 //Send the picture data to the Freetronics Eleven / Arduino
 comPort.write(Data[i]);
 }
}


//This function will wait for a response from the Freetronics
//Eleven or Arduino before sending any further pictures.
 void serialEvent (Serial myPort) {
 // get the ASCII string:
 String inString = myPort.readStringUntil('\n');
 if (inString != null) {
 println(inString);
 toggleSend=true; // Allow the next picture to be sent
 }
 }

Nice Grasshopper-to-Arduino plotter hack from FablabTorino maker Pietro Leoni, a collabotator at Carlo Ratti Associati studio in Turin. We’d love to see code & sketches online soon, as much as a second edition of the plotter.

The idea behind this post is to bring together some robot designs and trasform them in a new device with new hardware and standard software (arduino of course) and so easier to use.  These robots have three things in common: a mechanical structure, the hardware and the software. While the mechanical part is necessarily different, we wanted to understand if there was a hardware board that could be common, with a unique development system. The choice, quite obviously, has the Arduino board, which with its development environment is perfect to create similar projects. The first consideration that came to our mind is like the Arduino board can manage a large number of servos, eight in the case of the robot SPIDER. Arduino can be powered through the plug with a voltage between 6 to 12 volts, his voltage regulator provides the 5 V stabilized, necessary for the operation of our shield. We could  power our robot with rechargeable batteries. A standard servo requires a supply voltage of 4.8 to 6 volts, easily obtainable with four batteries in series, at full charge, provide 1.5 x 4 = 6 volts but towards the complete discharge provide just 1.0 x 4 = 4 volts. We are not in optimal conditions for the servos.  Throughout this reasons we decided to create a special shield, already prepared for all these functions, it is easy to install and use.

We see now the considerations that led us to the design of this shield:

        must have a high voltage range

        will provide a stabilized output for the servos

        will provide power to the Arduino

        must be equipped with an obstacle sensor

        must have a receiver for remote control

        must read the battery

We can assume to power our robot with a single battery pack with a voltage between 6 and 12 volts, so for example two cells or 6-8 LiPo NiMh or NiCd cells. The servos works at 5Volt, so we should get this stabilized voltage starting from input voltage of 6-12 volts. The optimal solution is the use of a switching step-down regulator which ensures efficiency exceeding 80% in every situation.

Just the integrated LM2576-5 contains all the elements to build a switching power supply, just add an inductor, a diode and a capacitor. It can deliver a maximum current of 3A and accepts input voltages between 4 and 40volt.

Analysing the wiring diagram you can see the connector BAT which will connect the battery pack to the switch and the voltage regulator LM2576, the resistance R5 and the led LD1 are used only to detect the presence of the voltage. The stabilized voltage output from the LM2576 will be used to power all the servos, while the Arduino is powered directly from the battery pack, taking the tension just after the switch (Vin).

For reading the battery voltage will use an analog input of Arduino (A0). The two resistors R1 and R2 reduce the voltage to a value between 0 and 20 volts to a value of 0-5Volt. We chose these specific values of resistance because, by reading the analog voltage with Arduino, it is sufficient to divide the data acquired by 50 to obtain the value of the voltage in volts.

As obstacle sensor we chose the ultrasonic sensor model SRF05 that, thanks to its shape, recalls two eyes and improves the aesthetic appearance of our robot. To operate, we use a digital line connected to PIN11.

As remote control we opt for a economical infrared system; is sufficient to install an IR receiver compatible with the normal commercial remote controls, such as the integrated PNA4602. It will be sufficient a normal remote control of those used for TVs or VCRs to send commands to our robot in a simple and economic way. The shield provides the Arduino reset button, a button for general use and a LED connected to pin 13 of Arduino.

BOM

The Robot are three, corresponding to the robots Filippo, Bipe and Spider.

Filippo robot

Filippo is a biped robot whose movements are assigned to only two servos, but with this robot you can experiment with robotics without spending large sums. It is able to walk and turn around, then you can direct it in any direction, enabling those who are beginning to become familiar with the servos and how they can interact with mechanical parts. Its assembly is facilitated because all the pieces fit over each other and it is sufficient sorder to fix them permanently, as an alternative you can use the epoxy glue.

After the mechanical assembly, fix the Arduino board, with its shield, on top, the sensor SRF05 must look in front of the robot. The servos have to be wired as indicated in Table.

Connecting servos with Filippo robot

For the power use 6 or 8 NiCd or NiMh rechargeable batteries size AA, they should be entered in two separate holder and connected in series.  The battery holder are positioned one on the right and one on the left of the two servos, for their wiring must use two clips for batteries connected in series to 9 V.

We recommend you to program the Arduino before connecting the servos to prevent any previous program provides the wrong signals to the servos that might go crazy.

Program Arduino with the sketch

// FILIPPO ARDUINO
// by Segatello Mirco per ElettronicaIN 
// compilato con Arduino21

#include <Servo.h> 
#include <IRremote.h> 
#include <EEPROM.h>

#define RECV_PIN 10   // pin per sensore IR
#define PING_PIN 11   // pin per sensore RADAR
#define       P1 12   // pin per pulsante

#define STNB_CODE1 0x81D    // Stop Philips TV remote (AZIONE STOP)
#define STNB_CODE2 0x1D     // Codice alternativo
#define WALK_CODE1 0x81C    // Play Philips TV remote (AZIONE CAMMINA)
#define WALK_CODE2 0x1C     // Codice alternativo
#define SPEEDUP_CODE1 0x820 // Prg+ Philips TV remote (AZIONE PIù VELOCE)
#define SPEEDUP_CODE2 0x20  // Codice alternativo
#define SPEEDDW_CODE1 0x821 // Prg- Philips TV remote (AZIONE PIù LENTA))
#define SPEEDDW_CODE2 0x21  // Codice alternativo
#define LEFT_CODE1    0x2C  // Left Philips remote (RUOTA SX)
#define LEFT_CODE2    0x82C  // Codice alternativo
#define RIGHT_CODE1    0x2B  // Right Philips remote (ROUTA DX)
#define RIGHT_CODE2    0x82B  // Codice alternativo

#define MODE_OFF       0    // Servi OFF
#define MODE_STANDBY   1    // Servi armati in posizione di riposo
#define MODE_INWALK    2    // Assume la posizione di partenza
#define MODE_WALK      3    // Cammina in avanti
#define MODE_INSTANDBY 4    // Assume la posizione di standby
#define MODE_LEFT      5    // Si gira verso sinistra
#define MODE_RIGHT     6    // Si gira a destra
#define MODE_REVWALK   7    // Cammina all'indietro

IRrecv irrecv(RECV_PIN);
decode_results results;

int RobotMode = MODE_OFF;   
int TimeOneStep = 2000;     // Velocità di esecuzione
int AmpPasso = 30;          // Ampiezza del passo (da 5 a 40)
int IncPasso = 15;          // Inlinazione durante la camminata (da 5 a 20)
int AmpRuota = 30;          // Ampiezza delle gambe durante la rotazione (da 5 a 40)
int IncRuota = 18;          // Inclinazione durante la rotazione (da 5 a 20)

Servo servo0, servo1;       // oggetti servo

int leg_ntr[8] = {90, 90};  //posizione neutrale dei servi
int leg_old[8] = {90, 90};  //posizione precedente dei servi
int leg[8];                 //posizione attuale dei servi
int i;

void setup() 
{ 
  Serial.begin(9600);       // Start seriale
  Serial.println("FILIPPO Aduino V1.0");
  irrecv.enableIRIn();      // Start ricevitore IR  
  irrecv.blink13(true);     // Lampeggio LED in ricezione IR attivo
  pinMode(P1, INPUT);       // Pulsante 
  digitalWrite(P1, HIGH);   // Abilita pull-up
  levelBat();               // Verifica stato batteria  
  Serial.println("Livello batteria OK.");  
  Serial.println("Recupero dati posizione neutro servi...");
  readNeutral();
  Serial.println("Inizializzo Servi...");  
  initServo();              // Inizializza servi
  Serial.println("Invia 'obs' per testare il sensore di ostacoli");
  Serial.println("Invia 'lev' per testare il livello della batteria"); 
  inStandby();              // Robot in attesa di comando  
} 

void loop() 
{ 
  if (irrecv.decode(&results)) IRcommand();
  if (RobotMode==MODE_WALK)   walk();
  if (RobotMode==MODE_LEFT)   leftWalk();  
  if (RobotMode==MODE_RIGHT)   rightWalk();

  if (digitalRead(P1)==0) P1Press(); 

  if (RobotMode==MODE_STANDBY) 
  {
    if (Serial.available() > 2 )  ReceiveData();  
  }  
  else 
  {  
    // verifica livello batteria e presenza ostacoli
    levelBat();    
    int obstacle = readDistance();    
    if (obstacle < 20){
      Serial.println("Rilevato ostacolo!");   
      inStandby();  }
  }  
} 

void readNeutral()
{
  // Recupera dalla EEPROM la posizione neutrale dei servi
  byte value;
  Serial.print("Neutro dei Servi: ");      
  for (byte adress=0; adress<2; adress++) 
  {
     value = EEPROM.read(adress);
     if ((80<value) && (value<100))
     {
          leg_ntr[adress] = value;
          Serial.print(value, DEC);
          Serial.print("  ");
     }     
     else     
     {
       leg_ntr[adress] = 90;
     }  
   }
   Serial.println();
}  

void ReceiveData() 
{
    // Arrivati dati dalla USB
    byte startbyte, data_hight, data_low, data;    
    Serial.print("Receive data USB     "); 
    startbyte = Serial.read();
    data_hight = Serial.read();    
    data_low= Serial.read();
    // richiesta livello batteria
    if ( (startbyte=='l') && (data_hight=='e') && (data_low=='v'))
    {
      levelBat();     
      Serial.flush();  // svuota il buffer in ricezione  
      exit;
    }
    // richiesta distanza ostacolo
    if ( (startbyte=='o') && (data_hight=='b') && (data_low=='s'))
    {
      int obstacle = readDistance();
      Serial.print("Ostacolo a ");
      Serial.print(obstacle, DEC);    
      Serial.println(" cm");
      if (obstacle<20)  inStandby();  
      Serial.flush();  // svuota il buffer in ricezione 
      exit;
    }    
    // impostazione neutro servo
    if ((data_hight >= '0') && (data_hight <= '9') && (data_low >= '0') && (data_low <= '9')) {      
      data = (data_hight-48)*10+(data_low-48);
      if ((80 <= data) && (data <= 100)) {
         if (startbyte=='a') {
           leg_ntr[0] = data;
           EEPROM.write(0, data);
           printValue('a', data);
         }  
         if (startbyte=='b') {
           leg_ntr[1] = data;
           EEPROM.write(1, data);
           printValue('b', data);           
         }
      inStandby();         // aggiorna posizione neutro dei servi
      }
    }
    Serial.flush();  // svuota il buffer in ricezione   
}  

void printValue(byte servo, byte dt)
{
  Serial.print ("Set Servo: ");
  Serial.print (servo);
  Serial.print (" to ");
  Serial.println(dt,DEC);        
}  

void IRcommand()
{
    // E' arrivato un comando via IR
    Serial.print("IR code= ");
    Serial.println(results.value, HEX);  // ECO su serial monitor per sapere il codice arrivato

    if (results.value == WALK_CODE1 || results.value == WALK_CODE2)  inWalk();
    else if (results.value == LEFT_CODE1 || results.value == LEFT_CODE2)  inLeft();     
    else if (results.value == RIGHT_CODE1 || results.value == RIGHT_CODE2)  inRight();       
    else if (results.value == STNB_CODE1 || results.value == STNB_CODE2)  inStandby();   

    else if (results.value == SPEEDUP_CODE1 || results.value == SPEEDUP_CODE2) {
      if (TimeOneStep > 1000) TimeOneStep -= 500; }
    else if (results.value == SPEEDDW_CODE1 || results.value == SPEEDDW_CODE2) {
      if (TimeOneStep < 4000) TimeOneStep += 500; }
    Serial.print("TimeOneStep= ");      
    Serial.println(TimeOneStep);
    irrecv.resume(); // Resume decoding   
}  

void P1Press()
{
  // E' stato premuto il pulsante   
  while (digitalRead(P1)==0) delay(100);  
  if (RobotMode==MODE_WALK)  inStandby();            
  else if (RobotMode==MODE_STANDBY) inWalk(); 
}  

void levelBat()
{
  // controllo livello batteria  
  int VbatRAW = analogRead(A0);
  float Vbat = float(VbatRAW)/50;
  Serial.print("Vbat= ");
  Serial.println(Vbat, DEC);     
  if (Vbat<6.0)   {
    Serial.println("Livello batteria basso!");    
    inOff();    
  }  
}

void initServo()  
{
  // posizione iniziale dei servi
  servo0.attach(2);  // connette servo 
  delay(200);
  servo1.attach(3);  // connette servo 
  delay(200);    
  Serial.println("Servi inizializzati.");  
}

void inOff()
{
  // Spegne tutti i servi
  leg[0] = leg_ntr[0];
  leg[1] = leg_ntr[1]; 
  setServo();  
  servo0.detach();  // sconnette servo 
  servo1.detach();  // sconnette servo 
  RobotMode = MODE_OFF;     
  // Da questo modalità si deve spegnere il robot e ricaricare le batterie
}  

void inStandby()
{
  // Posiziono tutti i servi in posizione neutrale
  leg[0] = leg_ntr[0];
  leg[1] = leg_ntr[1];      
  setServo();  
  RobotMode = MODE_STANDBY;  
  Serial.println("Sono in Standby...");  
}  

void inWalk()
{
  // Si porta in posizione di passo partendo da fermo  
  leg[0] = leg_ntr[0]+IncPasso;//inclinazione
  leg[1] = leg_ntr[1];
  setServo();  

  RobotMode = MODE_WALK;
  Serial.println("Walk Mode...");   
}

void walk()
{
  // Coordinate per eseguire un passo  
  leg[0] = leg_ntr[0]+IncPasso;//piede SX in avanti
  leg[1] = leg_ntr[1]+AmpPasso;
  setServo();  

  leg[0] = leg_ntr[0]-IncPasso;//inclinazione
  leg[1] = leg_ntr[1]+AmpPasso;       
  setServo();   

  leg[0] = leg_ntr[0]-IncPasso;//passo DX
  leg[1] = leg_ntr[1]-AmpPasso;  
  setServo();

  leg[0] = leg_ntr[0]+IncPasso;//inclinazione
  leg[1] = leg_ntr[1]-AmpPasso;       
  setServo();         
}

void inLeft()
{
  // Si porta in posizione per ruotare  
  leg[0] = leg_ntr[0]+IncRuota;//inclinazione
  leg[1] = leg_ntr[1];
  setServo();         

  RobotMode = MODE_LEFT;
  Serial.println("Left Mode...");   
}

void leftWalk()
{
      //passo 1      
  leg[0] = leg_ntr[0]+IncRuota;//fa un passo
  leg[1] = leg_ntr[1]-AmpRuota;      
  setServo();        

      //passo 2      
  leg[0] = leg_ntr[0];//piedi paralleli
  leg[1] = leg_ntr[1]-AmpRuota;      
  setServo();   

      //passo 3      
  leg[0] = leg_ntr[0];//sforbiciata
  leg[1] = leg_ntr[1]+AmpRuota;     
  setServo(); 

      //passo 4      
  leg[0] = leg_ntr[0]-IncRuota;//inclinazione
  leg[1] = leg_ntr[1]+AmpRuota;     
  setServo();    

      //passo 5      
  leg[0] = leg_ntr[0]-IncRuota;//passo
  leg[1] = leg_ntr[1]-AmpRuota;     
  setServo();         

       //passo 6      
  leg[0] = leg_ntr[0];//piedi paralleli
  leg[1] = leg_ntr[1]-AmpRuota;     
  setServo();       

      //passo 7      
  leg[0] = leg_ntr[0];//sforbiciata
  leg[1] = leg_ntr[1]+AmpRuota;     
  setServo();      

      //passo 8      
  leg[0] = leg_ntr[0]+IncRuota;//sforbiciata
  leg[1] = leg_ntr[1]+AmpRuota;     
  setServo();     
}

void inRight()
{  
  // Si porta in posizione per ruotare  
      //passo 0  inclinazione
  leg[0] = leg_ntr[0]+IncRuota;
  leg[1] = leg_ntr[1];
  setServo();         

  RobotMode = MODE_RIGHT;
  Serial.println("Right Mode...");   
}

void rightWalk()
{
      //passo 1  passo    
  leg[0] = leg_ntr[0]+IncRuota;
  leg[1] = leg_ntr[1]+AmpRuota;      
  setServo();        

      //passo 2 piedi paralleli     
  leg[0] = leg_ntr[0];
  leg[1] = leg_ntr[1]+AmpRuota;      
  setServo();   

      //passo 3  sforbiciata    
  leg[0] = leg_ntr[0];
  leg[1] = leg_ntr[1]-AmpRuota;     
  setServo();

      //passo 4 inclinazione     
  leg[0] = leg_ntr[0]-IncRuota;
  leg[1] = leg_ntr[1]-AmpRuota;     
  setServo();    

      //passo 5  passo    
  leg[0] = leg_ntr[0]-IncRuota;
  leg[1] = leg_ntr[1]+AmpRuota;     
  setServo();         

       //passo 6 piedi paralleli     
  leg[0] = leg_ntr[0];
  leg[1] = leg_ntr[1]+AmpRuota;     
  setServo();       

      //passo 7 sforbiciata
  leg[0] = leg_ntr[0];
  leg[1] = leg_ntr[1]-AmpRuota;     
  setServo();         

      //passo 8 inclinazione     
  leg[0] = leg_ntr[0]+IncRuota;
  leg[1] = leg_ntr[1]-AmpRuota;     
  setServo();   
} 

void setServo() 
{  
   // Posiziona i servi alle coordinate specificate da leg[]  
   for (i=0; i<18; i++) {
       servo0.write(leg_old[0] + i*(leg[0]-leg_old[0])/18);  
       servo1.write(leg_old[1] + i*(leg[1]-leg_old[1])/18);        
       delay(TimeOneStep/4/18);
    }   
    leg_old[0]=leg[0];
    leg_old[1]=leg[1];       
}

long readDistance()
{
  // Procedura per leggere la presenza di ostacoli
  // Viene generato un PING di 2usec ed atteso l'ECO di risposta
  long duration, cm;
  pinMode(PING_PIN, OUTPUT);
  digitalWrite(PING_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(PING_PIN, HIGH);
  delayMicroseconds(5);
  digitalWrite(PING_PIN, LOW);

  // Lo stesso pin che genera il trigger è usato per la lettura
  // del segnale di ritorno
  pinMode(PING_PIN, INPUT);
  duration = pulseIn(PING_PIN, HIGH);

  // ritorna distanza ostacolo in cm
  return duration / 29 / 2;
}

Send the serial command ‘obs‘ for read the sensor SRF05 and the command ‘lev‘ to check the battery level. Make sure that the voltage read corresponds to the real value of the batteries, simply make a voltage measurement with a multimeter. Now set the neutral of the servos, in fact the robot to function properly must be perfectly centered. To center the servo which acts to tilt the robot you have to send the command ‘axx‘ where xx is the position. This data can assume values between 80 and 100 with the center point 90, if you can not set the servo to remain within these values you have to physically move the servo. You can modify this value if it found a tendency to deviate from the straight line when walking. Now regulate the step servo and sets the neutral with bxx command, where xx is the position to be allocated (value between 80 and 100). You are now ready for test, you can use the remote control to activate functions or use the button on the shield but it will only start the walk.

All functions have a speed of execution that can be changed by remote control with keys prog+ and prog-, many other parameters can be modified to adapt the software to different operating requirements.

The sketch begins by including the libraries dedicated to the use of the servos, the IR control and management of EEPROM:

Code 1

#include <Servo.h>
#include <IRremote.h>
#include <EEPROM.h>

The servo library is already implemented in the IDE of Arduino.

The EEPROM library, also available, provides controls to manage the non-volatile memory, we use it to save the position of the neutral servos so as not having to set each time.

The third library IRremote is used to manage the robot by remote control and must be downloaded from http://github.com/shirriff/Arduino-IRremote, for its operation is sufficient to specify which pin is connected to the sensor receiving IR signals (D10 in our shield). To find out if they arrived from the sensor data must test the status of the variable irrecv.decode (& results), but the code is contained in the variable came results.value.

Just compare the code recived with the reference code for the remote to know which button was pressed, so we specify at the beginning of the sketch of the codes for each button.

Code 2

#define STNB_CODE1 0x81D    // Stop Philips TV remote (STOP)
#define STNB_CODE2 0x1D     // alternative code
#define WALK_CODE1 0x81C    // Play Philips TV remote (WALK)
#define WALK_CODE2 0x1C // alternative code
#define SPEEDUP_CODE1 0x820 // Prg+ Philips TV remote (+ SPEED)
#define SPEEDUP_CODE2 0x20  // alternative code
#define SPEEDDW_CODE1 0x821 // Prg- Philips TV remote (-SPEED)
#define SPEEDDW_CODE2 0x21  // alternative code
#define LEFT_CODE1    0x2C  // Left Philips remote (SX wheel)
#define LEFT_CODE2    0x82C  // alternative code
#define RIGHT_CODE1    0x2B  // Right Philips remote (DX wheel)
#define RIGHT_CODE2    0x82B  // alternative code

As you can see each button is associated with two codes (CODE1 and CODE2) this is because the codes are sent alternately every time you press the button, instead of repeating the same code if the button is pressed. So if you press the play button will send the code 0x81C and so long as the button is pressed, if you release the button and press it sends the code 0x1C, so alternately.

The sketch is intended for use with remote controls which use the encoding Philips, the most commonly used in television. If you use a different remote control the code of the buttons do not match and you have to change the codes listed above.

Now let’s see what parameters can be modified by the program to adapt the movements:

Code 3

int TimeOneStep = 2000;    
int AmpPasso = 30;         
int IncPasso = 15;         
int AmpRuota = 30;       
int IncRuota = 18;

TimeOneStep is the initial value of the time taken to perform a step, can be changed by remote control from a minimum of 1 sec to a maximum of 4 sec.

AmpPasso is the maximum amplitude in degrees of opening of the legs during walking, its value can vary from a minimum of 5 to a maximum of 40.

IncPasso is the maximum inclination of the robot during the walk, its value can vary from a minimum of 5 to a maximum of 20. This value is to ensure the robot to keep balance on one leg while performing a step.

AmpRuota is the maximum amplitude in degrees of opening of the legs during the rotation, its value can change from a minimum of 5 to a maximum of 40.

IncRuota is the maximum inclination of the robot during the rotation, its value can change from a minimum of 5 to a maximum of 20.

ROBOT BIPE

We see now to the second robot, is called BIPE.

The mechanical is made of PCB and assembly is made by soding together the various components to ensure the strength needed to support the weight of the components.

The control board based on Arduino + shield is positioned on the back of the robot while the battery pack, should be placed at the front. Let’s say that for our tests we used a battery composed of two cell 850mAh LiPo which, being small and light, are easily placed and not weigh down the structure. To properly position the sensor SRF05 you must use a small adapter with a strip made of male-female, as those used on the Arduino shield, angled 90 °.

Connecting servos with robot BIPE

For setting follow the same instructions for the robot Filippo, the sketch retains the same structure of the software used with Filippo, with the necessary modifications and add.

// BIPE ARDUINO
// by Segatello Mirco per ElettronicaIN 
// compilato con Arduino21

#include <Servo.h> 
#include <IRremote.h> 
#include <EEPROM.h>

#define RECV_PIN 10   // pin per sensore IR
#define PING_PIN 11   // pin per sensore RADAR
#define       P1 12   // pin per pulsante

#define STNB_CODE1 0x81D    // Stop Philips TV remote
#define STNB_CODE2 0x1D     // Codice alternativo
#define WALK_CODE1 0x81C    // Play Philips TV remote
#define WALK_CODE2 0x1C     // Codice alternativo
#define SPEEDUP_CODE1 0x820 // Prg+ Philips TV remote
#define SPEEDUP_CODE2 0x20  // Codice alternativo
#define SPEEDDW_CODE1 0x821 // Prg- Philips TV remote
#define SPEEDDW_CODE2 0x21  // Codice alternativo
#define LEFT_CODE1    0x2C  // Left Philips remote
#define LEFT_CODE2    0x82C  // Codice alternativo
#define RIGHT_CODE1    0x2B  // Right Philips remote
#define RIGHT_CODE2    0x82B  // Codice alternativo
#define VOLUP_CODE1   0x810 // Volume+
#define VOLUP_CODE2   0x10  // codice alternativo
#define VOLDW_CODE1   0x811 //Volume-
#define VOLDW_CODE2   0x11 //codice alternativo

#define PRG1_CODE1 0x801 // Program 1
#define PRG1_CODE2 0x1 // Program 1
#define PRG2_CODE1 0x802 // Program 2
#define PRG2_CODE2 0x2 // Program 2

#define MODE_OFF       0    // Servi OFF
#define MODE_STANDBY   1    // Servi armati in posizione di riposo
#define MODE_INWALK    2    // Assume la posizione di partenza
#define MODE_WALK      3    // Cammina in avanti
#define MODE_INSTANDBY 4    // Assume la posizione di standby
#define MODE_LEFT      5    // Si gira verso sinistra
#define MODE_RIGHT     6    // Si gira a destra
#define MODE_REVWALK   7    // Cammina all'indietro

IRrecv irrecv(RECV_PIN);
decode_results results;

int RobotMode = MODE_OFF;   
int TimeOneStep = 4000;     // Velocità di esecuzione
int AmpPasso = 10;          // Ampiezza del passo (da 5 a 20)
int AmpRuota = 12;          // Ampiezza durante la rotazione (da 5 a 20)
int IncPasso = 8;           // Inlinazione durante la camminata (da 5 a 10)

Servo servo0, servo1, servo2, servo3,
      servo4, servo5, servo6, servo7;  // oggetti servo
      // Servo 6 e 7 possono essere usati per le braccia!

int leg_ntr[8] = {90, 90, 90, 90, 90, 90, 90, 90}; //posizione neutrale dei servi
int leg_old[8] = {90, 90, 90, 90, 90, 90, 90, 90}; //posizione precedente dei servi
int leg[8];                 //posizione attuale dei servi
int i;

void setup() 
{ 
  Serial.begin(9600);       // Start seriale
  Serial.println("SIDERIN Aduino V1.0");
  irrecv.enableIRIn();      // Start ricevitore IR  
  irrecv.blink13(true);     // Lampeggio LED in ricezione IR attivo
  pinMode(P1, INPUT);       // Pulsante 
  digitalWrite(P1, HIGH);   // Abilita pull-up
  levelBat();               // Verifica stato batteria  
  Serial.println("Livello batteria OK.");  
  Serial.println("Recupero dati posizione neutro servi...");
  readNeutral();
  Serial.println("Inizializzo Servi...");  
  initServo();              // Inizializza servi
  Serial.println("Invia 'obs' per testare il sensore di ostacoli");
  Serial.println("Invia 'lev' per testare il livello della batteria"); 
  inStandby();              // Robot in attesa di comando  
} 

void loop() 
{ 
  if (irrecv.decode(&results)) IRcommand();
  if (RobotMode==MODE_WALK)   walk();
//  if (RobotMode==MODE_REVWALK) walkReverse();
  if (RobotMode==MODE_LEFT)   leftWalk();  
  if (RobotMode==MODE_RIGHT)   rightWalk();

  if (digitalRead(P1)==0) P1Press(); 

  if (RobotMode==MODE_STANDBY) 
  {
    if (Serial.available() > 2 )  ReceiveData();  
  }  
  else 
  {  
    levelBat();    
    int obstacle = readDistance();    
    if (obstacle < 20)  inStandby();  
  }  
} 

void readNeutral()
{
  // Recupera dalla EEPROM la posizione neutrale dei servi
  byte value;
  Serial.print("Neutro dei Servi: ");      
  for (byte adress=0; adress<6; adress++) 
  {
     value = EEPROM.read(adress);
     if ((80<value) && (value<100))
     {
          leg_ntr[adress] = value;
          Serial.print(value, DEC);
          Serial.print("  ");
     }     
     else     
     {
       leg_ntr[adress] = 90;
     }  
   }
   Serial.println();
}  

void ReceiveData() 
{
    // Arrivati dati dalla USB
    byte startbyte, data_hight, data_low, data;    
    Serial.print("Receive data USB     "); 
    startbyte = Serial.read();
    data_hight = Serial.read();    
    data_low= Serial.read();
    // richiesta livello batteria
    if ( (startbyte=='l') && (data_hight=='e') && (data_low=='v'))
    {
      levelBat();     
      Serial.flush();  // svuota il buffer in ricezione  
      exit;
    }
    // richiesta distanza ostacolo
    if ( (startbyte=='o') && (data_hight=='b') && (data_low=='s'))
    {
      int obstacle = readDistance();
      Serial.print("Ostacolo a ");
      Serial.print(obstacle, DEC);    
      Serial.println(" cm");
      if (obstacle<20)  inStandby();  
      Serial.flush();  // svuota il buffer in ricezione 
      exit;
    }    
    // impostazione neutro servo
    if ((data_hight >= '0') && (data_hight <= '9') && (data_low >= '0') && (data_low <= '9')) {      
      data = (data_hight-48)*10+(data_low-48);
      if ((80 <= data) && (data <= 100)) {
         if (startbyte=='a') {
           leg_ntr[0] = data;
           EEPROM.write(0, data);
           printValue('a', data);
         }  
         if (startbyte=='b') {
           leg_ntr[1] = data;
           EEPROM.write(1, data);
           printValue('b', data);           
         }
         if (startbyte=='c') {
           leg_ntr[2] = data;
           EEPROM.write(2, data);
           printValue('c', data);                  
         }  
         if (startbyte=='d') {
           leg_ntr[3] = data;
           EEPROM.write(3, data);
           printValue('d', data);                    
         }  
         if (startbyte=='e') {
           leg_ntr[4] = data;
           EEPROM.write(4, data);
           printValue('e', data);                   
         }
         if (startbyte=='f') {
           leg_ntr[5] = data;
           EEPROM.write(5, data);
           printValue('f', data);                   
         }
      inStandby();         // aggiorna posizione neutro dei servi
      }
    }
    Serial.flush();  // svuota il buffer in ricezione   
}  

void printValue(byte servo, byte dt)
{
  Serial.print ("Set Servo: ");
  Serial.print (servo);
  Serial.print (" to ");
  Serial.println(dt,DEC);        
}  

void IRcommand()
{
    // E' arrivato un comando via IR
    Serial.println(results.value, HEX);  // ECO su serial monitor per sapere il codice arrivato

    if (results.value == WALK_CODE1 || results.value == WALK_CODE2)   inWalk();     
    else if (results.value == LEFT_CODE1 || results.value == LEFT_CODE2)  inLeft();     
    else if (results.value == RIGHT_CODE1 || results.value == RIGHT_CODE2)  inRight();       
    else if (results.value == STNB_CODE1 || results.value == STNB_CODE2)  inStandby();   

    else if (results.value == PRG1_CODE1 || results.value == PRG1_CODE2) {
      if (RobotMode==MODE_STANDBY) kick(); }

    else if (results.value == PRG2_CODE1 || results.value == PRG2_CODE2)  {
       if (RobotMode==MODE_STANDBY)  bow(); }

    else if (results.value == SPEEDUP_CODE1 || results.value == SPEEDUP_CODE2) {
      if (TimeOneStep > 1000) TimeOneStep -= 200; }
    else if (results.value == SPEEDDW_CODE1 || results.value == SPEEDDW_CODE2) {
      if (TimeOneStep < 2000) TimeOneStep += 200; }
    Serial.print("TimeOneStep= ");      
    Serial.println(TimeOneStep);
    irrecv.resume(); // Resume decoding   
}  

void P1Press()
{
  // E' stato premuto il pulsante   
  while (digitalRead(P1)==0) delay(100);  
  if (RobotMode==MODE_WALK)  inStandby();            
  else if (RobotMode==MODE_STANDBY) inWalk(); 
}  

void levelBat()
{
  // controllo livello batteria  
  int VbatRAW = analogRead(A0);
  float Vbat = float(VbatRAW)/50;
  Serial.print("Vbat= ");
  Serial.println(Vbat, DEC);     
  if (Vbat<6.0)   {
    Serial.println("Livello batteria basso!");    
    inOff();    
  }  
}

void initServo()  
{
  // posizione iniziale dei servi
  servo0.attach(2);  // connette servo 
  delay(200);
  servo1.attach(3);  // connette servo 
  delay(200);  
  servo2.attach(4);  // connette servo 
  delay(200);
  servo3.attach(5);  // connette servo 
  delay(200);  
  servo4.attach(6);  // connette servo 
  delay(200);
  servo5.attach(7);  // connette servo 
  delay(200);  
  servo6.attach(8);  // connette servo 
  delay(200);
  servo7.attach(9);  // connette servo 
  delay(200);  
  Serial.println("Servi inizializzati.");  
}

void inOff()
{
  // Spegne tutti i servi
  leg[0] = leg_ntr[0];
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3];
  leg[4] = leg_ntr[4];
  leg[5] = leg_ntr[5];   
  leg[6] = 90;
  leg[7] = 90;    
  setServo();  
  servo0.detach();  // sconnette servo 
  servo1.detach();  // sconnette servo 
  servo2.detach();  // sconnette servo 
  servo3.detach();  // sconnette servo 
  servo4.detach();  // sconnette servo 
  servo5.detach();  // sconnette servo 
  servo6.detach();  // sconnette servo 
  servo7.detach();  // sconnette servo   
  RobotMode = MODE_OFF;     
  // Da questo modalità si deve spegnere il robot e ricaricare le batterie
}  

void inStandby()
{
  // Posiziono tutti i servi in posizione neutrale
  leg[0] = leg_ntr[0];
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3];
  leg[4] = leg_ntr[4];
  leg[5] = leg_ntr[5];
  leg[6] = 90;
  leg[7] = 90;      
  setServo();  
  RobotMode = MODE_STANDBY;  
  Serial.println("Sono in Standby...");  
}  

void inWalk()
{
  // Si porta in posizione di passo partendo da fermo  
  leg[0] = leg_ntr[0];//inclinazione
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3];
  leg[4] = leg_ntr[4];
  leg[5] = leg_ntr[5]-IncPasso*2;  
  setServo();    
  leg[0] = leg_ntr[0]+AmpPasso;//passo DX da fermo
  leg[1] = leg_ntr[1]+AmpPasso;
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3]+AmpPasso;
  leg[4] = leg_ntr[4]+AmpPasso;
  leg[5] = leg_ntr[5]-IncPasso*2;      
  setServo();
  RobotMode = MODE_WALK;
  Serial.println("Walk Mode...");   
}

void setServo() 
{  
   // Posiziona i servi alle coordinate specificate da leg[]  
   for (i=0; i<18; i++) {
       servo0.write(leg_old[0] + i*(leg[0]-leg_old[0])/18);  
       servo1.write(leg_old[1] + i*(leg[1]-leg_old[1])/18);        
       servo2.write(leg_old[2] + i*(leg[2]-leg_old[2])/18);  
       servo3.write(leg_old[3] + i*(leg[3]-leg_old[3])/18);      
       servo4.write(leg_old[4] + i*(leg[4]-leg_old[4])/18);  
       servo5.write(leg_old[5] + i*(leg[5]-leg_old[5])/18);        
       servo6.write(leg_old[6] + i*(leg[6]-leg_old[6])/18);  
       servo7.write(leg_old[7] + i*(leg[7]-leg_old[7])/18);    
       delay(TimeOneStep/4/18);
    }   
    leg_old[0]=leg[0];
    leg_old[1]=leg[1]; 
    leg_old[2]=leg[2];
    leg_old[3]=leg[3];  
    leg_old[4]=leg[4];
    leg_old[5]=leg[5]; 
    leg_old[6]=leg[6];
    leg_old[7]=leg[7];       
}  

void      setServoWalk()
{
};   

void walk()
{
  // Coordinate per eseguire un passo
  leg[0] = leg_ntr[0]+AmpPasso;//inclinazione
  leg[1] = leg_ntr[1]+AmpPasso;
  leg[2] = leg_ntr[2]+IncPasso*2;
  leg[3] = leg_ntr[3]+AmpPasso;
  leg[4] = leg_ntr[4]+AmpPasso;
  leg[5] = leg_ntr[5]+IncPasso;       
  setServo();  
  if (RobotMode!=MODE_WALK) return;  

  leg[0] = leg_ntr[0]-AmpPasso;//passo SX
  leg[1] = leg_ntr[1]-AmpPasso;
  leg[2] = leg_ntr[2]+IncPasso*2;
  leg[3] = leg_ntr[3]-AmpPasso;
  leg[4] = leg_ntr[4]-AmpPasso;
  leg[5] = leg_ntr[5]+IncPasso;  
  setServo();
  if (RobotMode!=MODE_WALK) return;

  leg[0] = leg_ntr[0]-AmpPasso;//inclinazione
  leg[1] = leg_ntr[1]-AmpPasso;
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3]-AmpPasso;
  leg[4] = leg_ntr[4]-AmpPasso;
  leg[5] = leg_ntr[5]-IncPasso*2;  
  setServo();
  if (RobotMode!=MODE_WALK) return;

  leg[0] = leg_ntr[0]+AmpPasso;//passo DX
  leg[1] = leg_ntr[1]+AmpPasso;
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3]+AmpPasso;
  leg[4] = leg_ntr[4]+AmpPasso;
  leg[5] = leg_ntr[5]-IncPasso*2;      
  setServo();        
}

void inLeft()
{
  // Si posiziona pronto per girare a sinistra   
  leg[0] = leg_ntr[0];//inclinazione SX
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3];
  leg[4] = leg_ntr[4];
  leg[5] = leg_ntr[5]-IncPasso*2;    
  setServo();    

  leg[0] = leg_ntr[0];//piede DX avanti
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3]+AmpRuota;
  leg[4] = leg_ntr[4]+AmpRuota;
  leg[5] = leg_ntr[5]-IncPasso*2;       
  setServo(); 

  leg[0] = leg_ntr[0];//inclinazione DX
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2]+IncPasso*2;
  leg[3] = leg_ntr[3]+AmpRuota;
  leg[4] = leg_ntr[4]+AmpRuota;
  leg[5] = leg_ntr[5]+IncPasso;        
  setServo();

  leg[0] = leg_ntr[0]+AmpRuota;//piede SX indietro
  leg[1] = leg_ntr[1]+AmpRuota;
  leg[2] = leg_ntr[2]+IncPasso*2;
  leg[3] = leg_ntr[3]+AmpRuota;
  leg[4] = leg_ntr[4]+AmpRuota;
  leg[5] = leg_ntr[5]+IncPasso;      
  setServo();     

  leg[0] = leg_ntr[0]+AmpRuota;//piedi a terra
  leg[1] = leg_ntr[1]+AmpRuota;
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3]+AmpRuota;
  leg[4] = leg_ntr[4]+AmpRuota;
  leg[5] = leg_ntr[5];      
  setServo();       

  RobotMode = MODE_LEFT;
  Serial.println("Left Mode...");   
}

void leftWalk()
{
      //passo 1      
  leg[0] = leg_ntr[0]-AmpRuota;//sforbiciata
  leg[1] = leg_ntr[1]-AmpRuota;
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3]-AmpRuota;
  leg[4] = leg_ntr[4]-AmpRuota;
  leg[5] = leg_ntr[5];      
  setServo();       
      if (RobotMode!=MODE_LEFT) return;   

      //passo 2      
  leg[0] = leg_ntr[0]-AmpRuota;//inclinazione
  leg[1] = leg_ntr[1]-AmpRuota;
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3]-AmpRuota;
  leg[4] = leg_ntr[4]-AmpRuota;
  leg[5] = leg_ntr[5]-IncPasso*2;      
  setServo();   
      if (RobotMode!=MODE_LEFT) return;

      //passo 3      
  leg[0] = leg_ntr[0]-AmpRuota;//sposta piede DX in avanti
  leg[1] = leg_ntr[1]-AmpRuota;
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3]+AmpRuota;
  leg[4] = leg_ntr[4]+AmpRuota;
  leg[5] = leg_ntr[5]-IncPasso*2;      
  setServo();
      if (RobotMode!=MODE_LEFT) return; 

      //passo 4      
  leg[0] = leg_ntr[0]-AmpRuota;//inclinazione
  leg[1] = leg_ntr[1]-AmpRuota;
  leg[2] = leg_ntr[2]+IncPasso*2;
  leg[3] = leg_ntr[3]+AmpRuota;
  leg[4] = leg_ntr[4]+AmpRuota;
  leg[5] = leg_ntr[5]+IncPasso;      
  setServo();
      if (RobotMode!=MODE_LEFT) return;

      //passo 5      
  leg[0] = leg_ntr[0]+AmpRuota;//sposta SX indietro
  leg[1] = leg_ntr[1]+AmpRuota;
  leg[2] = leg_ntr[2]+IncPasso*2;
  leg[3] = leg_ntr[3]+AmpRuota;
  leg[4] = leg_ntr[4]+AmpRuota;
  leg[5] = leg_ntr[5]+IncPasso;      
  setServo();
      if (RobotMode!=MODE_LEFT) return;

      //passo 6
  leg[0] = leg_ntr[0]+AmpRuota;//piedi a terra
  leg[1] = leg_ntr[1]+AmpRuota;
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3]+AmpRuota;
  leg[4] = leg_ntr[4]+AmpRuota;
  leg[5] = leg_ntr[5];      
  setServo();  
     if (RobotMode!=MODE_LEFT) return;
}

void inRight()
{
  // Si posiziona pronto per girare a sinistra   
  leg[0] = leg_ntr[0];//inclinazione SX
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2]+IncPasso*2;
  leg[3] = leg_ntr[3];
  leg[4] = leg_ntr[4];
  leg[5] = leg_ntr[5]+IncPasso;    
  setServo();    

  leg[0] = leg_ntr[0]-AmpRuota;//piede DX avanti
  leg[1] = leg_ntr[1]-AmpRuota;
  leg[2] = leg_ntr[2]+IncPasso*2;
  leg[3] = leg_ntr[3];
  leg[4] = leg_ntr[4];
  leg[5] = leg_ntr[5]+IncPasso;       
  setServo(); 

  leg[0] = leg_ntr[0]-AmpRuota;//inclinazione DX
  leg[1] = leg_ntr[1]-AmpRuota;
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3];
  leg[4] = leg_ntr[4];
  leg[5] = leg_ntr[5]-IncPasso*2;        
  setServo();

  leg[0] = leg_ntr[0]-AmpRuota;//piede SX indietro
  leg[1] = leg_ntr[1]-AmpRuota;
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3]-AmpRuota;
  leg[4] = leg_ntr[4]-AmpRuota;
  leg[5] = leg_ntr[5]-IncPasso*2;      
  setServo();     

  leg[0] = leg_ntr[0]-AmpRuota;//piedi a terra
  leg[1] = leg_ntr[1]-AmpRuota;
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3]-AmpRuota;
  leg[4] = leg_ntr[4]-AmpRuota;
  leg[5] = leg_ntr[5];      
  setServo();       

  RobotMode = MODE_RIGHT;
  Serial.println("Right Mode...");   
}

void rightWalk()
{
      //passo 1      
  leg[0] = leg_ntr[0]+AmpRuota;//sforbiciata
  leg[1] = leg_ntr[1]+AmpRuota;
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3]+AmpRuota;
  leg[4] = leg_ntr[4]+AmpRuota;
  leg[5] = leg_ntr[5];      
  setServo();       
      if (RobotMode!=MODE_RIGHT) return;   

      //passo 2      
  leg[0] = leg_ntr[0]+AmpRuota;//inclinazione
  leg[1] = leg_ntr[1]+AmpRuota;
  leg[2] = leg_ntr[2]+IncPasso*2;
  leg[3] = leg_ntr[3]+AmpRuota;
  leg[4] = leg_ntr[4]+AmpRuota;
  leg[5] = leg_ntr[5]+IncPasso;      
  setServo();   
      if (RobotMode!=MODE_RIGHT) return;

      //passo 3      
  leg[0] = leg_ntr[0]+AmpRuota;//sposta piede DX in avanti
  leg[1] = leg_ntr[1]+AmpRuota;
  leg[2] = leg_ntr[2]+IncPasso*2;
  leg[3] = leg_ntr[3]-AmpRuota;
  leg[4] = leg_ntr[4]-AmpRuota;
  leg[5] = leg_ntr[5]+IncPasso;      
  setServo();
      if (RobotMode!=MODE_RIGHT) return; 

      //passo 4      
  leg[0] = leg_ntr[0]+AmpRuota;//inclinazione
  leg[1] = leg_ntr[1]+AmpRuota;
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3]-AmpRuota;
  leg[4] = leg_ntr[4]-AmpRuota;
  leg[5] = leg_ntr[5]-IncPasso*2;      
  setServo();
      if (RobotMode!=MODE_RIGHT) return;

      //passo 5      
  leg[0] = leg_ntr[0]-AmpRuota;//sposta SX indietro
  leg[1] = leg_ntr[1]-AmpRuota;
  leg[2] = leg_ntr[2]-IncPasso;
  leg[3] = leg_ntr[3]-AmpRuota;
  leg[4] = leg_ntr[4]-AmpRuota;
  leg[5] = leg_ntr[5]-IncPasso*2;      
  setServo();
      if (RobotMode!=MODE_RIGHT) return;

      //passo 6
  leg[0] = leg_ntr[0]-AmpRuota;//piedi a terra
  leg[1] = leg_ntr[1]-AmpRuota;
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3]-AmpRuota;
  leg[4] = leg_ntr[4]-AmpRuota;
  leg[5] = leg_ntr[5];      
  setServo();         
      if (RobotMode!=MODE_RIGHT) return;  
} 

void bow()
{
  //inchino
  leg[0] = leg_ntr[0]-60;
  leg[1] = leg_ntr[1]-10;
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3]+60;
  leg[4] = leg_ntr[4]+10;
  leg[5] = leg_ntr[5];  
  setServo();    
  delay(1000);
  leg[0] = leg_ntr[0];//passo DX da fermo
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3];
  leg[4] = leg_ntr[4];
  leg[5] = leg_ntr[5];      
  setServo();    
}  

void kick()
{
   //calcio 
  leg[0] = leg_ntr[0];//inclinazione
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2]-12;//regolare questo valore per bilanciare
  leg[3] = leg_ntr[3];
  leg[4] = leg_ntr[4];
  leg[5] = leg_ntr[5]-24;  
  setServo();    
  leg[0] = leg_ntr[0];//piede indietro
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2]-12;//regolare questo valore per bilanciare
  leg[3] = leg_ntr[3]-AmpPasso;
  leg[4] = leg_ntr[4]+AmpPasso;
  leg[5] = leg_ntr[5];  
  setServo();       
  //calcia 

       leg_old[3]=leg_ntr[3]+AmpPasso; 
       servo3.write(leg_old[3]);      
       leg_old[4]=leg_ntr[4]-AmpPasso;        
       servo4.write(leg_old[4]);  

  leg[0] = leg_ntr[0];//ritorna in posizione
  leg[1] = leg_ntr[1];
  leg[2] = leg_ntr[2];
  leg[3] = leg_ntr[3];
  leg[4] = leg_ntr[4];
  leg[5] = leg_ntr[5];      
  setServo();  

}  

long readDistance()
{
  // Procedura per leggere la presenza di ostacoli
  // Viene generato un PING di 2usec ed atteso l'ECO di risposta
  long duration, cm;
  pinMode(PING_PIN, OUTPUT);
  digitalWrite(PING_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(PING_PIN, HIGH);
  delayMicroseconds(5);
  digitalWrite(PING_PIN, LOW);

  // Lo stesso pin che genera il trigger è usato per la lettura
  // del segnale di ritorno
  pinMode(PING_PIN, INPUT);
  duration = pulseIn(PING_PIN, HIGH);

  // ritorna distanza ostacolo in cm
  return duration / 29 / 2;
}

For this robot is important to the calibration of the neutral of the servos that occurs as previously described.  Servo0 corresponds to the letter ‘a‘ – Servo5 corresponds to the letter ‘f‘. If the command is ok will receive confirmation of Serial Monitor, for example: “set servo: a to 90“.

This robot have additional functions such as the bow and football features that are not implemented on Filippo.

Code 4

#define PRG1_CODE1 0x801 // Program 1
#define PRG1_CODE2 0x1 // Program 1
#define PRG2_CODE1 0x802 // Program 2
#define PRG2_CODE2 0x2 // Program 2

To the button ’1 ‘corresponds to the function of football with which the robot can hit, for example a ball, to the button ’2′ corresponds to the bow that is always of great effect.

The parameters can be set by the program are similar to those of robot Filippo:

Code 5

int TimeOneStep = 4000;  
int AmpPasso = 10;         
int AmpRuota = 12;         
int IncPasso = 8;

SPIDER ROBOT

With this robot we wanted to replicate the appearance and movements of a spider with all the limitations derived from a simplified mechanics and a limited cost.  The choice has been the use of two servos for paw for a total of four legs, which, however, ensure a final result very attractive. The largest number of servos relative to the robot BIPE should not scare because, at the end, this robot is the most simple to make and having regard to the intrinsic stability, does not present serious problems even in the operation. For this robot we have not even provided the adjustment of the neutral servos because of some inaccuracies should not be to influence the operation.The only care is to fix the battery pack in the center so the robots present the center of gravity exactly in the center. During the movement three legs always remain in contact with the ground while one moves, rising, thereby ensuring a good stability.

The mechanical is made by PCB, the same material used for printed electronic and suggest paint it black to improve the aesthetic appearance. No soldering required, and each piece is simply screwed to the servos that make up the mechanics.

How practical advice suggest to program the Arduino board with this program and then electrically connecting the servos, doing so will all be positioned exactly in the middle.Then you connect the mechanical servos in their proper locations.

// SPIDER ARDUINO
// by Segatello Mirco for ElettronicaIN 
// Compilato con Arduino21

#include <Servo.h> 
#include <IRremote.h> 

#define RECV_PIN 10   // pin per sensore IR
#define PING_PIN 11   // pin per sensore RADAR
#define       P1 12   // pin per pulsante

#define STNB_CODE1 0x81D    // Stop Philips TV remote
#define STNB_CODE2 0x1D     // Codice alternativo
#define WALK_CODE1 0x81C    // Play Philips TV remote
#define WALK_CODE2 0x1C     // Codice alternativo
#define SPEEDUP_CODE1 0x820 // Prg+ Philips TV remote
#define SPEEDUP_CODE2 0x20  // Codice alternativo
#define SPEEDDW_CODE1 0x821 // Prg- Philips TV remote
#define SPEEDDW_CODE2 0x21  // Codice alternativo
#define LEFT_CODE1    0x2C  // Left Philips remote
#define LEFT_CODE2    0x82C  // Codice alternativo
#define RIGHT_CODE1    0x2B  // Left Philips remote
#define RIGHT_CODE2    0x82B  // Codice alternativo

#define MODE_OFF       0    // Servi OFF
#define MODE_STANDBY   1    // Servi armati in posizione di riposo
#define MODE_INWALK    2    // Assume la posizione di partenza
#define MODE_WALK      3    // Cammina in avanti
#define MODE_INSTANDBY 4    // Assume la posizione di standby
#define MODE_LEFT      5    // Si gira verso sinistra
#define MODE_RIGHT     6    // Si gira a destra
#define MODE_REVWALK   7    // Cammina all'indietro

IRrecv irrecv(RECV_PIN);
decode_results results;

int RobotMode = MODE_OFF;   
int TimeOneStep = 6000;     // Tempo in msec per eseguire un passo completo

Servo servo0, servo1, servo2, servo3,
      servo4, servo5, servo6, servo7;  // oggetti servo

int leg_old[8] = {90, 90, 90, 90, 90, 90, 90, 90}; //posizione precedente dei servi
int leg[8];                 //posizione attuale dei servi
int i;

void setup() 
{ 
  Serial.begin(9600);       // Start seriale
  Serial.println("BIPE Aduino V1.0");
  irrecv.enableIRIn();      // Start ricevitore IR  
  irrecv.blink13(true);     // Lampeggio LED in ricezione IR attivo
  pinMode(P1, INPUT);       // Pulsante 
  digitalWrite(P1, HIGH);   // Abilita pull-up
  levelBat();               // Verifica stato batteria  
  Serial.println("Livello batteria OK.");  
  Serial.println("Inizializzo Servi...");  
  initServo();              // Inizializza servi
  Serial.println("Servi inizializzati.");
  inStandby();              // Robot in attesa di comando
} 

void loop() 
{ 
  if (irrecv.decode(&results)) IRcommand();
  if (RobotMode==MODE_WALK)   walk();
  if (RobotMode==MODE_REVWALK) walkReverse();
  if (RobotMode==MODE_LEFT)   leftWalk();  
  if (RobotMode==MODE_RIGHT)   rightWalk();
  levelBat();  
  if (RobotMode==MODE_STANDBY) delay(100); 
  if (digitalRead(P1)==0) P1Press();  

  int obstacle = readDistance();
  Serial.print("Ostacolo: ");
  Serial.println(obstacle, DEC);    
  if (obstacle<20)  inStandby();    

  // Ricezione seriale per setup servi
  if (Serial.available()) SerialSet();  
} 

void SerialSet()
{
   // E' arrivato un comando dalla seriale
  byte c;
  byte srv;

  while(Serial.available())     // finchè ci sono dati 
  {
      c = Serial.read();    // legge i dati e li salva in una variabile
      if ( 97 <= c <= 102)   Serial.print(c);
 }  
}

void IRcommand()
{
    // E' arrivato un comando via IR
    Serial.println(results.value, HEX);  // ECO su serial monitor per sapere il codice arrivato

    if (results.value == WALK_CODE1 || results.value == WALK_CODE2)   inWalk();     
    else if (results.value == LEFT_CODE1 || results.value == LEFT_CODE2)  inLeft();     
    else if (results.value == RIGHT_CODE1 || results.value == RIGHT_CODE2)  inRight();       
    else if (results.value == STNB_CODE1 || results.value == STNB_CODE2)  inStandby();            
    else if (results.value == SPEEDUP_CODE1 || results.value == SPEEDUP_CODE2) {
      if (TimeOneStep > 1000) TimeOneStep -= 500; }
    else if (results.value == SPEEDDW_CODE1 || results.value == SPEEDDW_CODE2) {
      if (TimeOneStep < 6000) TimeOneStep += 500; }
    Serial.print("TimeOneStep= ");      
    Serial.println(TimeOneStep);
    irrecv.resume(); // Resume decoding   
}  

void P1Press()
{
  // E' stato premuto il pulsante   
  while (digitalRead(P1)==0) delay(100);  
  if (RobotMode==MODE_WALK)  inStandby();            
  else if (RobotMode==MODE_STANDBY) inWalk(); 
}  

void levelBat()
{
  // controlla livello batteria  
  int VbatRAW = analogRead(A0);
  float Vbat = float(VbatRAW)/50;
  Serial.print("Vbat= ");
  Serial.println(Vbat, DEC);     
  if (Vbat<6.0)   {
    Serial.println("Livello batteria basso!");    
    inOff();    
  }  
}

void initServo()  
{
  // posizione iniziale dei servi
  servo0.attach(2);  // connette servo 
  delay(300);
  servo1.attach(3);  // connette servo 
  delay(300);  
  servo2.attach(4);  // connette servo 
  delay(300);
  servo3.attach(5);  // connette servo 
  delay(300);  
  servo4.attach(6);  // connette servo 
  delay(300);
  servo5.attach(7);  // connette servo 
  delay(300);  
  servo6.attach(8);  // connette servo 
  delay(300);
  servo7.attach(9);  // connette servo 
  delay(300);     
}

void inOff()
{
  // Spegne tutti i servi
  leg[0] = 90;
  leg[1] = 90;
  leg[2] = 90;
  leg[3] = 90;
  leg[4] = 90;
  leg[5] = 90;
  leg[6] = 90;
  leg[7] = 90;      
  setServo();  
  servo0.detach();  // connette servo 
  servo1.detach();  // connette servo 
  servo2.detach();  // connette servo 
  servo3.detach();  // connette servo 
  servo4.detach();  // connette servo 
  servo5.detach();  // connette servo 
  servo6.detach();  // connette servo 
  servo7.detach();  // connette servo 
  RobotMode = MODE_OFF;     
  // Da questo modalità si deve spegnere il robot e ricaricare le batterie
}  

void inStandby()
{
  // Posiziono tutti i servi al centro
  leg[0] = 90;
  leg[1] = 90;
  leg[2] = 90;
  leg[3] = 90;
  leg[4] = 90;
  leg[5] = 90;
  leg[6] = 90;
  leg[7] = 90;      
  setServo();  
  RobotMode = MODE_STANDBY;  
  Serial.println("Sono in Standby...");  
}  

void inWalk()
{
  // Si alza pronto per partire   
  leg[0] = 99;
  leg[1] = 126;
  leg[2] = 117;
  leg[3] = 54;
  leg[4] = 99;
  leg[5] = 126;
  leg[6] = 117;
  leg[7] = 54;      
  setServo();  
  RobotMode = MODE_WALK;
  Serial.println("Walk Mode...");   
}

void setServo() 
{  
   // Posiziona i servi alle cordinate specificate da leg[]  
   for (i=0; i<18; i++) {
       servo0.write(leg_old[0] + i*(leg[0]-leg_old[0])/18);  
       servo1.write(leg_old[1] + i*(leg[1]-leg_old[1])/18);        
       servo2.write(leg_old[2] + i*(leg[2]-leg_old[2])/18);  
       servo3.write(leg_old[3] + i*(leg[3]-leg_old[3])/18);      
       servo4.write(leg_old[4] + i*(leg[4]-leg_old[4])/18);  
       servo5.write(leg_old[5] + i*(leg[5]-leg_old[5])/18);        
       servo6.write(leg_old[6] + i*(leg[6]-leg_old[6])/18);  
       servo7.write(leg_old[7] + i*(leg[7]-leg_old[7])/18);    
       delay(TimeOneStep/4/18);
    }   
    leg_old[0]=leg[0];
    leg_old[1]=leg[1]; 
    leg_old[2]=leg[2];
    leg_old[3]=leg[3];  
    leg_old[4]=leg[4];
    leg_old[5]=leg[5]; 
    leg_old[6]=leg[6];
    leg_old[7]=leg[7];       
}  

void setServoWalk() 
{     
   // Posiziona i servi durante la camminata 
   for (i=1; i<=18; i++) {
       servo0.write(leg_old[0] + i*(leg[0]-leg_old[0])/18);          
       servo2.write(leg_old[2] + i*(leg[2]-leg_old[2])/18);       
       servo4.write(leg_old[4] + i*(leg[4]-leg_old[4])/18);       
       servo6.write(leg_old[6] + i*(leg[6]-leg_old[6])/18);  

      // servi delle zampe
         if ( i <= 9 ) 
           servo1.write(leg_old[1] + i*(leg[1]-leg_old[1])/9);         
         else  
           servo1.write(leg_old[1] + (18-i)*(leg[1]-leg_old[1])/9);      

         if ( i <= 9 ) 
           servo3.write(leg_old[3] + i*(leg[3]-leg_old[3])/9);                   
         else    
           servo3.write(leg_old[3] + (18-i)*(leg[3]-leg_old[3])/9); 

         if ( i <= 9 ) 
           servo5.write(leg_old[5] + i*(leg[5]-leg_old[5])/9);         
         else  
           servo5.write(leg_old[5] + (18-i)*(leg[5]-leg_old[5])/9);    

         if ( i <= 9 ) 
           servo7.write(leg_old[7] + i*(leg[7]-leg_old[7])/9);         
         else  
           servo7.write(leg_old[7] + (18-i)*(leg[7]-leg_old[7])/9);       

       delay(TimeOneStep/4/18);
    }   
    leg_old[0]=leg[0];
    leg_old[1]=126;//leg[1]; 
    leg_old[2]=leg[2];
    leg_old[3]=54;//leg[3];  
    leg_old[4]=leg[4];
    leg_old[5]=126;//leg[5]; 
    leg_old[6]=leg[6];
    leg_old[7]=54; //leg[7];  
    if (digitalRead(P1)==0) P1Press();  
    if (irrecv.decode(&results)) IRcommand();    
}  

void walk()
{
      // Coordinate per eseguire un passo

      //passo 1      
      leg[0] = 117;
      leg[1] = 126;
      leg[2] = 63;
      leg[3] = 90;   //posizione zampa alzata
      leg[4] = 81;
      leg[5] = 126;
      leg[6] = 99;
      leg[7] = 54;  
      setServoWalk();      
      if (RobotMode!=MODE_WALK) return;

      //passo 2      
      leg[0] = 63;
      leg[1] = 90;   // posizione zampa alzata
      leg[2] = 81;
      leg[3] = 54;
      leg[4] = 63;
      leg[5] = 126;
      leg[6] = 81;
      leg[7] = 54;  
      setServoWalk();
      if (RobotMode!=MODE_WALK) return;

      //passo 3      
      leg[0] = 81;
      leg[1] = 126;
      leg[2] = 99;
      leg[3] = 54;
      leg[4] = 117;
      leg[5] = 90;    // posizione zampa alzata
      leg[6] = 63;
      leg[7] = 54;  
      setServoWalk();
      if (RobotMode!=MODE_WALK) return; 

      //passo 4      
      leg[0] = 99;
      leg[1] = 126;
      leg[2] = 117;
      leg[3] = 54;
      leg[4] = 99;
      leg[5] = 126;
      leg[6] = 117;
      leg[7] = 90;    // posizione zampa alzata
      setServoWalk();       
}

void walkReverse()
{
      //passo 1      
      leg[0] = 63;
      leg[1] = 126;
      leg[2] = 117;
      leg[3] = 90;  // si alza
      leg[4] = 99;
      leg[5] = 126;
      leg[6] = 81;
      leg[7] = 54;  
      setServoWalk();      
      if (RobotMode!=MODE_WALK) return;   

      //passo 2      
      leg[0] = 117;
      leg[1] = 126;
      leg[2] = 99;
      leg[3] = 54;
      leg[4] = 117;
      leg[5] = 90;  // si alza
      leg[6] = 99;
      leg[7] = 54;  
      setServoWalk();
      if (RobotMode!=MODE_WALK) return;

      //passo 3      
      leg[0] = 99;
      leg[1] = 126;
      leg[2] = 81;
      leg[3] = 54;
      leg[4] = 63;
      leg[5] = 126;
      leg[6] = 117;
      leg[7] = 90;  // si alza  
      setServoWalk();
      if (RobotMode!=MODE_WALK) return; 

      //passo 4      
      leg[0] = 81;
      leg[1] = 90; // si alza
      leg[2] = 63;
      leg[3] = 54;
      leg[4] = 81;
      leg[5] = 126;
      leg[6] = 63;
      leg[7] = 54;  
      setServoWalk();       
}

void inLeft()
{
  // Si alza pronto per girare a sinistra   
  leg[0] = 63;
  leg[1] = 126;
  leg[2] = 81;
  leg[3] = 54;
  leg[4] = 99;
  leg[5] = 126;
  leg[6] = 117;
  leg[7] = 54;      
  setServo();  
  RobotMode = MODE_LEFT;
  Serial.println("Left Mode...");   
}

void leftWalk()
{
      //passo 1      
      leg[0] = 81;
      leg[1] = 126;
      leg[2] = 99;
      leg[3] = 54;  
      leg[4] = 117;
      leg[5] = 126;
      leg[6] = 63;
      leg[7] = 90;//*  
      setServoWalk();      
      if (RobotMode!=MODE_LEFT) return;   

      //passo 2      
      leg[0] = 99;
      leg[1] = 126;
      leg[2] = 117;
      leg[3] = 54;
      leg[4] = 63;
      leg[5] = 90;//*
      leg[6] = 99;
      leg[7] = 54;  
      setServoWalk();
      if (RobotMode!=MODE_LEFT) return;

      //passo 3      
      leg[0] = 117;
      leg[1] = 126;
      leg[2] = 63;
      leg[3] = 90;//*
      leg[4] = 81;
      leg[5] = 126;
      leg[6] = 99;
      leg[7] = 54;   
      setServoWalk();
      if (RobotMode!=MODE_LEFT) return; 

      //passo 4      
      leg[0] = 63;
      leg[1] = 90;//*
      leg[2] = 81;
      leg[3] = 54;
      leg[4] = 99;
      leg[5] = 126;
      leg[6] = 117;
      leg[7] = 54;  
      setServoWalk();         
}

void inRight()
{
  // Si alza pronto per girare a destra   
  leg[0] = 99;
  leg[1] = 126;
  leg[2] = 117;
  leg[3] = 54;
  leg[4] = 63;
  leg[5] = 126;
  leg[6] = 81;
  leg[7] = 54;      
  setServo();  
  RobotMode = MODE_RIGHT;
  Serial.println("Right Mode...");   
}

void rightWalk()
{
      //passo 1      
      leg[0] = 81;
      leg[1] = 126;
      leg[2] = 99;
      leg[3] = 54;  
      leg[4] = 117;
      leg[5] = 90;//*
      leg[6] = 63;
      leg[7] = 54;  
      setServoWalk();      
      if (RobotMode!=MODE_RIGHT) return;   

      //passo 2      
      leg[0] = 63;
      leg[1] = 126;
      leg[2] = 81;
      leg[3] = 54;
      leg[4] = 99;
      leg[5] = 126;
      leg[6] = 117;
      leg[7] = 90;//*  
      setServoWalk();
      if (RobotMode!=MODE_RIGHT) return;

      //passo 3      
      leg[0] = 117;
      leg[1] = 90;//*
      leg[2] = 63;
      leg[3] = 54;
      leg[4] = 81;
      leg[5] = 126;
      leg[6] = 99;
      leg[7] = 54;   
      setServoWalk();
      if (RobotMode!=MODE_RIGHT) return; 

      //passo 4      
      leg[0] = 99;
      leg[1] = 126;
      leg[2] = 117;
      leg[3] = 90;//*
      leg[4] = 63;
      leg[5] = 126;
      leg[6] = 81;
      leg[7] = 54;  
      setServoWalk();           
} 

long readDistance()
{
  // Procedura per leggere la presenza di ostacoli
  // Viene generato un PING di 2usec ed atteso l'ECO di risposta
  long duration, cm;
  pinMode(PING_PIN, OUTPUT);
  digitalWrite(PING_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(PING_PIN, HIGH);
  delayMicroseconds(5);
  digitalWrite(PING_PIN, LOW);

  // Lo stesso pin che genera il trigger è usato per la lettura
  // del segnale di ritorno
  pinMode(PING_PIN, INPUT);
  duration = pulseIn(PING_PIN, HIGH);

  // ritorna distanza ostacolo in cm
  return duration / 29 / 2;
}

Make sure that the servos are aligned and that the legs are neither too open nor too closed, taking as reference the pictures posted here .

Connect the servos to the robot Spider

Turning on after 1 second (after the warm-up switching power supply) all the servos will be placed in the neutral point. It may happen that some servos vibrate slightly, this is due to the internal mechanism that has yet to find the center point, sometimes just a small blow to the servant to fix things.

For this robot we never anticipated that you can edit parameters, movements are many and complex and there are too many variables to set, we preferred to find a setup that could offer the best performance in every situation. For our prototype LiPo battery that powers it has been established under the structure, right through to the servos, ensuring, in addition to the centering of weight, a low center of gravity.

Let us see now the analysis of the firmware describing those functions that are common to all the robots such as the procedure that reads the distance from obstacles by means of the sensor SRF05:

Code 6

long readDistance()
{
  long duration, cm;
  pinMode(PING_PIN, OUTPUT);
  digitalWrite(PING_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(PING_PIN, HIGH);
  delayMicroseconds(5);
  digitalWrite(PING_PIN, LOW);
  pinMode(PING_PIN, INPUT);
  duration = pulseIn(PING_PIN, HIGH);
  // ritorna distanza ostacolo in cm
  return duration / 29 / 2;
}

The procedure foresees to send a pulse duration of 2usec to the sensor, which, proceeds generating a series of ultrasound to the outside. The same pin is subsequently used as input for reading, via the function PulseIn, the time taken by the sound to reach the obstacle, bounce and return to the sensor, the period during which the sensor maintains a high level of the line. The time taken by the ultrasound to go and return to the sensor is proportional to the distance of the object.

Here also the procedure for reading the voltage on the battery:

Code 7

void levelBat()
{
  int VbatRAW = analogRead(A0);
  float Vbat = float(VbatRAW)/50;
  Serial.print("Vbat= ");
  Serial.println(Vbat, DEC);    
  if (Vbat<6.0)   {
    Serial.println("Livello batteria basso!");   
    inOff();   
  } 
}

The procedure is simple, plan to read the analog channel A0 of Arduino and save the result into a variable VbatRAW. As explained above, by dividing this value by 50, is obtained by the voltage in volts of the battery. Since excessively discharge the battery can damage it, we expected an alarm to the level below which the robot is immediately stopped and all the servos are disabled.  The threshold value is defined in 6.0 V ideal for use with a battery pack consisting of two cell LiPo or six if you use NiMh or NiCd cells, eight cells used instead if you can increase this value up to 8.0 volts or, one volt per used cell.

Another common procedure is called to all the robots initServo () to initialize the servos:

Code 8

void initServo() 
{
  // posizione iniziale dei servi
  servo0.attach(2);  // connette servo
  delay(300);
........
  servo7.attach(9);  // connette servo
  delay(300);    
}

The function Servo.attach() associates each object provides the respective servo output, from this moment the servant reaches the PWM signal.

The procedure inOff () performs the opposite function by removing the pin from their association with the servos and leaving them with no control.

Code 9

void inOff()
{
  leg[0] = 90;
.....
  leg[7] = 90;     
  setServo(); 
  servo0.detach();  // connette servo
....
  servo7.detach();  // connette servo
  RobotMode = MODE_OFF;    
}

The function to put in sleep mode the robot is called Standby() and simply place all the servos in the central position. In the case of the robot Filippo and BIPE the servos are positioned in their respective neutral points whose values are contained in the vector named leg_ntr [].

Code 10

void inStandby()
{
  leg[0] = 90;
....
  leg[7] = 90;     
  setServo(); 
  RobotMode = MODE_STANDBY; 
  Serial.println("Sono in Standby..."); 
}

A very important procedure is to ensure that the servos have to place to desired coordinates:

Code 11

void setServo()
{ 
   for (i=0; i<18; i++) {
       servo0.write(leg_old[0] + i*(leg[0]-leg_old[0])/18); 
       servo1.write(leg_old[1] + i*(leg[1]-leg_old[1])/18);       
       servo2.write(leg_old[2] + i*(leg[2]-leg_old[2])/18); 
       servo3.write(leg_old[3] + i*(leg[3]-leg_old[3])/18);     
       servo4.write(leg_old[4] + i*(leg[4]-leg_old[4])/18); 
       servo5.write(leg_old[5] + i*(leg[5]-leg_old[5])/18);       
       servo6.write(leg_old[6] + i*(leg[6]-leg_old[6])/18); 
       servo7.write(leg_old[7] + i*(leg[7]-leg_old[7])/18);   
       delay(TimeOneStep/4/18);
    }  
    leg_old[0]=leg[0];
    leg_old[1]=leg[1];
    leg_old[2]=leg[2];
    leg_old[3]=leg[3]; 
    leg_old[4]=leg[4];
    leg_old[5]=leg[5];
    leg_old[6]=leg[6];
    leg_old[7]=leg[7];      
}

If we set directly the servo, it was a sudden movement and the robot would move in spurts. He prefers, instead, gradually controlling the servo to bring it to the desired position in a defined time. To do this you must define a vector leg[] that contains the coordinates to be achieved by each servo and a vector leg_old[] that contains the actual coordinates. The procedure controls the servos by sending them all coordinated by the intermediate value at the target value in a time defined by the variable TimeOneStep. This system allows us to obtain fluid movements.

Only the robot spider there is a procedure called setServoWalk() because it is necessary that some servos are moving at different speeds than the other. During the walk the three legs in contact with the floor moving slowly, the fourth foot must lift and move fast in the opposite direction to progress.

Download

	Gerber for Shield
	Gerber for Filippo
	Gerber for Bipe
	Gerber for Spider

[digitaltrails] wanted the data on a few old IBM 80-column punch cards he had lying around, but didn’t have decades old computer hardware in his garage. He decided to build his own out of LEGO, an Arduino, a digital camera, and a bit of Python.

The hardware portion of [digitaltrails] build includes a crank-operated feed mechanism made entirely out of LEGO. For each turn of the crank, the feed mechanism sends one card down a chute where a photodetector wired into an Arduino tells a camera to take a picture. After that, a servo is activated, sending the card into the ‘already scanned’ bin.

On the software side of the build, [digitatrails] used the Python Imaging Library to scan one row of pixels where each column is expected to be. The software outputs the code and data contained on the 80-column card as well as a very cool ASCII art version of each card.

Considering you just can’t go down to Fry’s and buy an IBM 80-column punch card reader, we’re loving [digitatrails]‘ clever way of getting data off an otherwise unreadable storage medium. Check out the video of the card reader in action after the break.

Primary image

     This is a copy of the RFID bear on Make. I have however added a few new features in the code like a ram check, a random file player and a sound response. The random file player I adds another dimension to the character. If you would like to make you own it is very easy.

read more

Obstacle avoiding vehicle, continue in “3D Laser Range Finder” series ( project 1, project 2). The basic idea is the same, measuring distance using red laser pointers, CCD analog camera and Arduino UNO.  Modification was made in geometry.  Two lasers were set for “far field” obstacle detection, few meters in front of vehicle on left or right side. Primary mission is to trigger left / right turn before a car get too close to the “continuous” but not necessarily “high”  object, for example, sidewalk stone. Of course, this distance depends on the vehicle speed, and “alert” should be dispatched in right time “window”, or there would be no space left to making a turn ( proportional speed adaptation is not implemented yet). Low height of such road infrastructure is making useless ultrasound based range finder.

Two additional lasers were set in “cross” configuration, in order to detect any object that comes dangerously close to the front of vehicle. “Near field” obstacle detection or “head on collision” avoidance. Theirs two beams form reflective “trip-wires” and able to detect as narrow object as leg of a chair or desk, open door frame, anything that at least 1 mm wide.  One laser, pointed to the left, is also works as sidewalk / wall follow navigation system, keeping this distance constant.

Now couple words on “autopilot” algorithm. Three main feature of the project:

1. wall / sidewalk following;
2. “far field” obstacle avoidance;
3. “near field” head on collision avoidance.

were classified in 3 priority levels: 1 – warning, 2 – major, 3 – critical.

0 – clear level, corresponds to normal  R/C radio control, or by  ”man / operator”  navigation via  remote R/C module. Operator is also has “authority” to decline warning class navigator status. But it’s not the case when navigator’s “autopilot” subroutine performs class 2 or 3 maneuver, with status “major” and “critical”. When vehicle performs maneuver 2, “left / right” command from R/C remote module are ignored, the same with “forward / backward” command in status “3 – critical”, making algorithm completely “fool – proof”.

More video will be posted, Link to Arduino UNO sketch: Visual_Navigator.

 5 August 2012.

I’d like to publish more pictures from “inside”, which show interface between arduino and R/C receiver module in the car. Well, not quite arduino, I build a “clone” using pre-programmed AtMega328. As you can see, the receiver was left almost intact, what I did, is just identified two on-board H-bridges which supply power to steering control motor and main vehicles motor-driver. Than, remove 4 resistors in series with controls lines, and routed 8 wires to the arduino ( 4 inputs from R/C receiver and 4 outputs to H-bridges ). Here you are, now arduino could intercept any command coming from R/C transmitter, and based on data from the sensors, make a decision if it makes sense to follow them. Also, “autopilot” function could “directly” address two motors in order to execute “obstacle avoiding” maneuver not asking anyone’s permission!.  What more, arduino control a power delivered to motors via software PWM,  making 7! different speed level available like in real vehicle. Unfortunately, the model I “hack” doesn’t use proportional steering control, but still PWM power management helpful to save a battery energy, limiting unnecessary current delivered to motor.

Maker Faire Detroit is almost upon us, kicking off tomorrow, July 28, at 9:30, and running through the weekend! The excitement is building as makers are putting the finishing touches on their projects and preparing for showtime. To wrap up our series of interviews with Detroit makers, we chat with Matt Oehrlein, president of i3 Detroit hackerspace, and co-creator of the red-hot Mind Flame project.

1. Describe the project you’re bringing to Maker Faire Detroit this year. What are the components and how does it work?
The piece is a brainwave-activated flame effects display called “Mind Flame.” Two participants wear EEG headsets that read electronic pulses from their brains. They measure your intensity of concentration, and when it is at a certain level, the display erupts with huge jets of flame. The EEG headsets are off-the-shelf headsets from a company called NeuroSky. They measure small electrical pulses that originate from neurons “firing” in your brain, and translate those pulses into measurements like “concentration” or “attention,” which can be read wirelessly from your computer, or an Arduino.

The flame effect part involves some propane tanks for the fuel, some empty tanks as a gas accumulator, an electronic solenoid valve, and a hot carbide igniter similar to something you’d find in a gas clothes dryer. The electronic valve is opened by a relay controlled by a microcontroller, the propane gas whooshes out of the accumulator, past the red hot igniter, and creates a pretty satisfying fireball or flame jet.

2. What inspired you to make it and how long did it take from concept to creation?
After seeing all the awesome flame effects pieces at Maker Faire Detroit 2011, I wanted to do a flame effects piece for 2012. I really like to do projects that participants can interact with, so brainwave activation was my choice for implementing that in a you-don’t-see-that-every-day fashion. I had the opportunity to get help from Josh “Bacon” McAninch, who does the flame effects work for the very popular Gon KiRin fire-breathing dragon, and my friend and fellow i3 member, Ed Platt, who is a smart software whiz in general. It took around a month to go from concept to creation. Maybe 40 hours total. A huge chunk of time was just spent on me getting educated on how to safely do flame effects, and shopping for those hard-to-find plumbing parts.

3. Does your project work off the combined electronic pulses from the two headsets, or can you host dueling headsets?
The project supports dueling headsets. Actually, the entire project is two mostly independent flame effect systems sitting right next to each other. I thought it would add an interesting element of competition to have people try to out-concentrate the other participant. The end game is to have a duel of some kind where the participants try to burn down the opposing player’s little wooden house, or wooden stick figure, or pop a balloon, or something like that. We are still experimenting on what is the most fun and still cost effective for a large event, but just sending huge fireballs through the air is still pretty satisfying.

4. Do you have any records set yet by concentration ninjas?
I’m not sure. Ed is definitely better than me at controlling his brainwaves, but not a lot of people have tried it yet. I have a feeling people who meditate regularly will do well at this game. We are still tuning the rules of the concentration portion of the game, so no one has really gotten a chance to really hone their tactics yet.

3. Have you exhibited at Maker Faire previously?
I haven’t! I am actually fairly new to the Maker Faire/maker scene. It’s been a little over a year now since I joined a hackerspace and really dove in. I volunteered last year just to help out i3 Detroit (hackerspace) members and get a feel for the event.

Matt Oehrlein (left) and Ed Platt (right) and their Mind Flame device.

4. Tell us about yourself. How did you get started making things and who are your inspirations?
I’m a 20-something-year-old engineer. As a kid, I didn’t really fit that common narrative of taking apart everything I could get my hands on. I definitely built a lot of things, but my weapon of choice was definitely my K’Nex set over Legos or dismantled toys. I was into computers throughout high school, but I think a major milestone in my life was my first microcontrollers class in college. Being able to program something that I could attach sensors or motors to and have it interact with the physical world was huge for me. I felt like I could give little bits of intelligence to things that would ordinarily behave very predictably, or not move at all. By the end of that class, I had stocked up on electronics, a soldering iron, and other tools, and had my own little electronics lab setup in my bedroom.

As far as inspirations go, I generally don’t have role models that I want to emulate as a whole, but I do find specific characteristics in people that I admire. Right now, a characteristic I am trying to get better at is just raw, unrestricted creativity. I believe thinking creatively is one of the most important skills for success, and I see a lot of people at hackerspaces that are able to just generate a lot of really great, attention-grabbing, wacky ideas that have the potential to make you go, “Huh… It never even crossed my mind to do something like that, but that’s really cool!” I think getting a degree in science or engineering can kill creativity in people because students (especially undergraduate) are taught to find the one right answer following a very concrete process, and not to think of multiple solutions or how to reframe a problem. You could say I have some un-learning to do.

5. You’re the president of i3 Detroit hackerspace. What makes i3 distinctly Detroit?
Manufacturing. There is so much infrastructure and community here to support the automotive and manufacturing industry. Because of this, there are abundant resources for people who want to weld or machine parts. It’s so awesome to be able to have members who can teach you how to build something out of steel or brass, and actually be able to just walk down the street to one of many industrial equipment or materials suppliers to buy everything you need. I have yet to visit a hackerspace with a better-equipped machine shop than ours. The economic struggles of the Detroit area are, overall, a benefit for a hackerspace. Our rent is comparatively low, and we can pick up high quality used equipment for a huge discount from local companies that are liquidating.

6. What’s your favorite tool at the hackerspace?
I’m mostly an electronics guy, and am most comfortable around a soldering iron, wire strippers, and multimeter. However, I think it’s pretty hard to beat a good laser cutter. Cutting things with light is tough to trump for the coolness factor. I could watch that thing go for hours.

7. What’s your day job?
I am an R&D Control Theory Engineer for Eaton Corporation. The group I work in does all kinds of cool simulation, modeling, and optimization of complex systems. Things like how to use machine learning to optimize hydraulic controls in construction equipment for better fuel economy, or how to predict and prevent data center outages using statistical modeling. It’s a great gig and I love it.

8. What do you love most about Detroit?
The people. I’m not a Detroit native, but people here are the most down-to-earth people in the world. People from Detroit leave their egos at the door. They won’t talk at you about their new mobile/web/social media startup flavor of the week they are working on and how they will be the next Facebook if they could just get some venture capital. They don’t look down on anyone for being from the wrong type of family, tax bracket, or neighborhood. They are humble, sympathetic, and real. They can recognize their strengths and their faults, and are amazing friends.

To test your concentration ninja skills and check out a plethora of other creative maker-made projects, come join us at Maker Faire Detroit this weekend!

There are plenty of drawbot projects out there, many of which come with their own special software in tow. While some of these packages are easier to use than others, [Dan Royer] is pretty sure he can do it better.

Looking for a fun and engaging way to teach STEM subjects in schools across the country, [Dan] developed a relatively simple drawbot which can be constructed by a wide range of age groups. While he is trying to get schools to purchase his robot kits, we’re guessing that our readers would be more inclined to build their own.

So what does [Dan] have to offer that might interest you? Well, he says he has developed some drawbot software that’s pretty darn easy to use. Rather than multiple applications generating machine-specific code, his software will transform your picture into a line drawing in one easy step. The app uses a traveling-salesman algorithm to generate drawings with nary a crossed line in sight before outputting the resultant machine instructions in easy-to-use GCode.

We don’t have a drawbot of our own handy to test his software out, so if you do happen to give it a shot, let us know how it worked for you in the comments.