The cubot (letsmakerobots.com)
Well,this is the second robo I've built. My first robo was based on the good'ol idea of Obstacle avoidance,this time I've tried something different. All Information is given in the video itself. Whole machine is made out of hard cardboard .Thanks to LMR for inspiring me to jump into robotics. I am happy to be a member of LMR.
There are four servos,two for the arm,one for the platform,and the last for the scanner...
Well the platform motor is dead now,it's brushes are corrupted. I'm searching for a new motor.
In an interval of 10seconds,the scanner scans the presence of a cube,and if it founds one,it starts it's job.
The colours are represented by numbers in the Atemga's programme. there are six numbers starting from 1 to 6,representing six different colours,and I've defined an array like this "fa [face number] [cube number] " to hold the colours for different faces.
Once the colour scanning is complete,the scanner goes to bed !!! Rest emulation of cube is done inside the Atmega.
A main problem I faced while designing this,was the 180degree servo. While solving a cube, sometimes you'll need to turn it more than that,well i overcame that in my coding....yeah !!!!
The sketch size is 20kb (approx). it completely runs on the Atmega itself. USB cable is there just to supply power to the microcontroller. (I was to lazy to bring out another adapter out of my toolbox...).
For the colour sensor,I have used three LDR's wrapped in red,blue,green plastic sheet. There's one LED inside that sensor as the light source. There's also a ambient colur sensor and compensetor inside my code,that reduces errors. However,too much change of light disturbs the sensor.
Insight of the Sensor..
Initially I was using the Atmega168,but I noticed that it was running out of RAM. so,I switched to Atmega328 with twice the RAM.
I had to make the cube smooth enough. For that I took it apart,rubbed the edges with sand paper,put a little silica gel,,and put them back together.
Four 7805s are engaged to supply the four Servos from the 12V 2Amps supply. there was no plan to make this bot permanent,so i made it on a breadboard.
Sorry for the hazy pic
Power supply unit.
Finally,this could have been better,but after completion of this project,i don't think that I will upgrade it,instead,how about building something different?
The Atmega board is an Arduino clone available at my place.
The cubot (without platform...sigh).. I was lucky to get a video captured before the servo went out of order.
I've attached the code for Cubot. (Actually i have three versions of this code,forgot which one works flawlessly,if problem ocurs,tell me,I will upload others too. )Well I am a newbie in robotics,and I love it. Thanks to LMR for inspiring me with the START HERE page.