Let's Make Robots!

YAABR - Yet another Arduino based robot

Line following, can be remote controlled via Bluettooth

YAABR is my first Arduino based robot. The name is an abbreviation for yet another Arduino based robot. It is a multipurpose platform for experimentation. With its Bluettoth Interface it can be controlled remotely from a PC oder a PDA,  it it also possible to reprogram the main controller over Bluettoth, no cable needed.

Construction Update!

For the first time I am creating a robot with a CAD program. I use Google SketchUp for this. OK, some changes were made during design, but the main construction is the same.



For processing it has an Arduino BT as main controller and an Baby Orangutan B-168 as motor controller. The motor controller is programmed as a I2C Slave device. All coding has been done in Arduino C/C++.


At the moment:

  • Sharp GP2D12 IR range detector
  • a linefollower sensor build from 2 CNY70  IR reflex optocouplers.

later on:

  • wheel encoders will be added to the motor controller. 
  • a pan/tilt camera head with a wireless camera 
yaabr front view


The GM9 motors build the base driving system.

In its finished state the robot will have 4 servos. At the moment there is only one servo for the Sharp IR sensor. The other servo were planned for a pan/tilt camera head and a pen up/down holder.

A BlinkM "smart LED" will illuminate the robots underground.  

Proto Shield

The Protoboard shield on the Arduino BT has a seperate power  supply input (4,8V) for the servo motors. Standard 3 pin Headers (Signal VCC, GND) are available for all digital and analog ports. Two I2C headers and a spare 8pin DIP for a I2C EEPROM are also available.

proto shield



Sorry folks, no video available at the moment. I just started beginning programming. 

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can you put the schematic of how you wired the arduino protoshield to give external power to the servos? I am planning to run 8 servos with an arduino. I dont think I can power them all from the arduino, I would rather user external power.

Here is a schematic for the servo protoshield. A jumper has been used to select between external/internal power for the digital inputs. Hope this helps.

Nice set up - and with Bluetooth Arduino WoW- (i would kill for one)

My only concern is that using only 2 Sensors will limit the forward speed and accuracy - you may need 4 sensors.

The distance between your sensors look very close together - i am very interested to see it running on video.

I am currently writing some arduino code for line following using 4 sensors plus a center position sensor.


Tahnk you. I agree with you with the limation of 2 sensors , but this is only one of my options for the line sensors. There are some other:

  • there is place for 2 more CNY70 sensors, but than I am running out of analog inputs
  • for replacement I have a QTR-8RC sensor array. This work with digital inputs and can be split into a 2x and a 6x sensor array. Btw. nice trick they do, to get a digital value out of a analog sensor
  • I can replace the analog Sharp IR Sensor with an Ultrasonic sensor SRF05 or Maxbotix MaxSonar with digital IO.
  • Use a PCF8591 I2C A/D converter to get more analog inputs.
So I will see whitch configuration will be the best.

Yes you can also wire the CNY70 as digital signal (i think this is best) - as you only need to know if its black or white for line follow.

I am using QRD1113 sensors for my project wired for digital. (its a slow project for me though)

That is a very neat little robot. Considering the construction material, have you considered a name like pinocchio?
Haha, pinocchio sounds good, but the construction material for the chassis is not wood, except the 2 frames on the back . It is Resopal, dont know the english name for it. It is a compound material of paper and resin, very robuts, easy to cut and drill. The material is normally used for breakfast boards.
nice base

nice servo chip thingy. its from parallax rite? because for some cpu of the parallax there colored blue.


The blue board is just a Arduino prototype shield with the connectors for servos and sensors. It is stacked on the Arduino BT board. I need to make more pictures.