Let's Make Robots!

Cerberus v2

Auto Navigate using SRF05 Sensors
Cerberus.pde4.03 KB

Parts List

2 x 15cm 5mm Perspex Circles

2 x 100:1 MFA Como Drills 3-9V Motors

1 x Arduino Mega

2 x SRF05

1 x PP3 Battery Holder and Battery  to power the Arduino

1 x 3xAA Battery Holder and Batteries to power the motors through Motor Driver Shield (using PWM)

2 x Mecano Wheels

1 x Piezo Transducer

2 x LED

Various Nuts and Bolts.

Any Comments Welcome.



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I realise this is an old page, but I started to watch the video and it says "This video does not exist" Did the link change or is it gone totally?


The robot acts very clever. May I ask where you ordered? Technobotsonline.com? N

The bot chassis was designed yb myself as was the code in arduino. It is attached as a file if you wish to use it.

SRF05's in a cross-fire pattern. Perfect. Best set-up for small robots, in my opinion. Quality.

Yep it works perfect, I would have stayed with that idea on my new bot but wanted to experiment with a servo to pan the SRF05, so far it is proving alot harder!

Small update:

Spent a few hours optimizing the script today to iron out a few issues, all is now well, and quicker I must say!

Added a Piezo for audio output at start up and when an object is detected.

Balanced the wheels better to stop the slight left drift.

What next.....?

This looks great! Are you using an arduino motor shield? I'm curious about your motor pins. You've got 2 pins per motor but you only define one per motor. Then I notice you're using a digitalWrite to the defined pins and an analogWrite to the undefined pins. Clearly this is working but I don't understand why. I'm new to C, though. Can you explain that to me? 




Morning DDibling,

Yes, I am using a Motor Shield from DFRobot, the shield uses an external 3 x AA battery pack to power the motor's and takes its power for the other components from VIN.

The reason there are 2 pins per motor is to facilitate PWM, the digitalWrite to M1/2 sets the pin to be high (+v) and the analogWrite to E1/2 specifies the speed that the motor should rotate.

New video of robot in action uploaded.

Thanks for posting the video. Looks like pretty solid navigation. I was surprised by the orientation of your SRF05s. What made you decide to have them pointed across each other's path? I assume based on your results that there is no interference between them.

Also, nice socks. ; j