CD Cart
@ June 1, 2008
avoid obsticles
Time to build:
1 hour
- Actuators / output devices: Pololu dual serial motor controller, Solarbotics GM10
- CPU: Arduino Decimila
- Power source: one 9V battery for MCU and IR
- Sensors / input devices: Sharp GP2Y0A21YK0F IR sensor
- Target environment: indoor flat surfaces
Parts list:
* Arduino Diecimila* Sharp GP2Y0A21YK0F Distance Sensor
Pin 1 => Analog 2
Pin 2 => Gnd
Pin 3 => +5V
* 1K 5% resistor (Brown Black Red Gold)
* T-1 3/4 5mm Full Color LED (Radio Shack part #276-028)
Pin 1 => Digital 9
Pin 2 => 1K resistor => +5V
Pin 3 => Digital 10
Pin 4 => Digital 11
* Pololu dual serial motor controller
Pin 1 => +9V
Pin 2 => GND
Pin 3 => +5V
Pin 4 => Digital 2
Pin 5 => Digital 7
Pin 6 => Left motor +
Pin 7 => Left motor -
Pin 8 => Right motor -
Pin 9 => Right motor +
* GWS mini servo
* Old CD
* Double sided foam tape
* 9V battery + case
This is just a simple obsticle avoiding robot. I used a CD as the base. Components are attached with double sided foam tape. Seems to work well enough.
Very nice and quite
@ Sun, 2008-06-01 11:15
Balance!
God created the integers; all else is the work of man - Leopold Kronecker
@ Sun, 2008-06-01 11:18
That is a no-go, no can do:
That is a no-go, no can do:
These pager motors are fast and strong compared to size.. But no way strong enough to prevent a tilt.
The sensors are no way precise enough; They change the input depending on the surface, angle, and ambient light.
Also a small bump on the surface - where the sensor points, would make it tilt etc.
/ Fritsl
@ Mon, 2008-06-02 05:06
It's a tail dragger...
It doesn't balance, it drags the back end. I just ramp down speed as quick as possible to prevent tippping forward.
//Decelerate
int decelerateControl(int) {
for(int motorSpeed; motorSpeed >= 0; motorSpeed -= 50)
{
mc_send_command(LEFT_MOTOR, FORWARD, motorSpeed);
mc_send_command(RIGHT_MOTOR, FORWARD, motorSpeed);
delay(10);
}
}
You can speed up deceleration by either lowering delay or increasing the step size.
@ Sun, 2008-06-01 12:05
True
Yes. Never thought of that. Let's hear it for BIG MOTORS!! YAY!
How do you get so little space at the bottom of your messages? Every time I post there appears to be an indeterminate number of blank lines at the bottom of my message!
@ Sun, 2008-06-01 20:29
That may be your auto
That may be your auto signature that has some returns left in it?
Perhaps I should edit mine as well, it is quite obvious that this is written by..
/ Fritsl
@ Sun, 2008-06-01 09:14
Hey cool - I bet it is
Hey cool - I bet it is actually pretty fast with these motors.. And turn pretty fast as well!?
On a video I am sure it would look cool if you made it sop that whenever it SHOULD turn LEFT, it turned RIGHT - a complete spin, until it is where it would have ben if it was turning in the right direction.. If you know what I mean..
I think it is a little spinning devil! :D But is it?
Wow just saw that you are using 9V for all these things.. must run out pretty fast, no?
/ Fritsl
@ Mon, 2008-06-02 05:10
That would be cool! I will
It is fairly fast. The spinning would be cool! I will work on it!
Yea, batteries drain pretty fast, maybe 15 minutes of running. Hooray for rechargables!
@ Sun, 2008-06-01 04:01
You should add a caster, it
@ Sun, 2008-06-01 04:15
It's just what I had on