Arduino-Controlled Robotic Drum

For years I have been telling anyone who listens that I was going to build a robotic drum. Most people kind of shrugged indifferently. Even as I built it, most people kind of glanced over at it and conveyed doubtfulness. It seemed like no one but myself was convinced of just how awesome it was going to be.

I received a lot of snarky comments about how I was making a strange annoying noise maker. When I finally go it set up for the trial run, I quickly silenced the naysayers. This robotic drum blew everyone away. I was finally able to convey my vision and explain why someone would ever want to build a robotic drum.

The reason to build a robotic drum is because it is plain super-awesome. It keeps a beat like clockwork. You can slow down and speed up any drum beat with precision and ease. It can even play things a real human drummer could never do.

I intend to use mine for rocking out. The current plan is to program it with different drum beats and play guitar along with it.

I decided to use linear actuators (car door lock motors to be exact), and Arduinos with motor controller shields simply for ease of use and duplication. I am sure there are other more elegant ways to interface with the motors, but this is by far the easiest.

You will need:

(x1) Drum set
(x12) Drum sticks
(x2) Cymbal stands
(x12) Car door lock actuator motor
(x6) Arduino Uno
(x6) Arduino Motor Shield
(x1) 7" x 5" x 3" project enclosure
(x1) Terminal strip
(x2) 18 AWG speaker wire
(x3) Panel mount power socket
(x1) 1/4" mono jack
(x1) 1/4" mono plug
(x1) 4" zip tie
(x1) Stranded 22 AWG red and black wire spools
(x1) Assorted shrink tube
(x3) 9V 2A power adapters
(x1) Power strip
(x1) 7 port USB hub
(x6) 6' USB A to B cable
(x1) 4' x 8' x 1/4" plywood sheet
(x4) 1/2" pipe mounting flange
(x1) 24" x 1/2" threaded pipe
(x1) 18" x 1/2" threaded pipe
(x8) 1/2" pipe L-bracket
(x2) 1/2" pipe T-bracket
(x2) 1" x 1/2" threaded pipe
(x4) 2" x 1/2" threaded pipe
(x4) 2-1/2" x 1/2" threaded pipe
(x2) 3" x 1/2" threaded pipe
(x3) 3/4" x 10' 22 gauge steel hanger strap
(x16) 8 - 1/2" wood screws
(x20) 1/4 x 5" bolts
(x4) 1/4 x 2" bolts
(x1) Box of 1/4 nuts
(x22) 6-32 x 2" nuts and bolts
(x4) 6-32 x 1" nuts and bolts
(x11) 1-1/2" binding posts
(x20) 1-1/2" (1/4" i.d.) spacers
(x18) 4-40 x 1-1.2" nuts and bolts
(x18) 1/4" (1/8" i.d.) spacers

You will also need to download the attached files and laser cut (or cut the old fashioned way) the following:

(x16) Drum brackets
(x6) Cymbal brackets
(x4) Cymbal bracket circle spacers
(x2) Kick drum brackets

Please note that some of the links on this page contain Amazon affiliate links. This does not change the price of any of the items for sale. However, I earn a small commission if you click on any of those links and buy anything. I reinvest this money into materials and tools for future projects. If you would like an alternate suggestion for a supplier of any of the parts, please let me know.

Take two of the pieces of the standard drum bracket (without Arduino mounting holes) and sandwich a motor in-between. Fasten it through the center mounting holes using 6-32 nuts and bolts.

/*
 This is code for a robotic drum created by Randy Sarafan.

 For more information, visit:
 https://www.instructables.com/id/Arduino-Controlled-Robotic-Drum/ 
 
 This example code is in the public domain.
 */

int event = 0;

int strikelegnth = 80;

int incomingByte = 0;


void setup() {
  
  //establish motor direction toggle pins
  pinMode(12, OUTPUT); //CH A -- HIGH = forwards and LOW = backwards???
  pinMode(13, OUTPUT); //CH B -- HIGH = forwards and LOW = backwards???
  
  //establish motor brake pins
  pinMode(9, OUTPUT); //brake (disable) CH A
  pinMode(8, OUTPUT); //brake (disable) CH B

  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B  
  
  
  Serial.begin(57600);

 cli();//stop interrupts

  //set timer2 interrupt every 128us
  TCCR2A = 0;// set entire TCCR2A register to 0
  TCCR2B = 0;// same for TCCR2B
  TCNT2  = 0;//initialize counter value to 0
  // set compare match register for 7.8khz increments
  OCR2A = 255;// = (16*10^6) / (7812.5*8) - 1 (must be <256)
  // turn on CTC mode
  TCCR2A |= (1 << WGM21);
  // Set CS11 bit for 8 prescaler
  TCCR2B |= (1 << CS11);   
  // enable timer compare interrupt
  TIMSK2 |= (1 << OCIE2A);
  
  sei();//allow interrupts

}

void loop() {
 
 if(event == 1){

   if (incomingByte == 129) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   
   if (incomingByte == 130) {
       //start down
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   if (incomingByte == 144) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
 }
}



ISR(TIMER2_COMPA_vect) {
  do{
    if (Serial.available()){
      incomingByte = Serial.read();
      event = 1;
    }//end if serial available
  }//end do
 while (Serial.available() > 8);
}    

/*
 This is code for a robotic drum created by Randy Sarafan.

 For more information, visit:
 https://www.instructables.com/id/Arduino-Controlled-Robotic-Drum/ 
 
 This example code is in the public domain.
 */

int event = 0;

int strikelegnth = 80;

int incomingByte = 0;


void setup() {
  
  //establish motor direction toggle pins
  pinMode(12, OUTPUT); //CH A -- HIGH = forwards and LOW = backwards???
  pinMode(13, OUTPUT); //CH B -- HIGH = forwards and LOW = backwards???
  
  //establish motor brake pins
  pinMode(9, OUTPUT); //brake (disable) CH A
  pinMode(8, OUTPUT); //brake (disable) CH B

  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B  
  
  
  Serial.begin(57600);

 cli();//stop interrupts

  //set timer2 interrupt every 128us
  TCCR2A = 0;// set entire TCCR2A register to 0
  TCCR2B = 0;// same for TCCR2B
  TCNT2  = 0;//initialize counter value to 0
  // set compare match register for 7.8khz increments
  OCR2A = 255;// = (16*10^6) / (7812.5*8) - 1 (must be <256)
  // turn on CTC mode
  TCCR2A |= (1 << WGM21);
  // Set CS11 bit for 8 prescaler
  TCCR2B |= (1 << CS11);   
  // enable timer compare interrupt
  TIMSK2 |= (1 << OCIE2A);
  
  sei();//allow interrupts

}

void loop() {
 
 if(event == 1){

   if (incomingByte == 131) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   
   if (incomingByte == 132) {
       //start down
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   if (incomingByte == 160) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
 }
}



ISR(TIMER2_COMPA_vect) {
  do{
    if (Serial.available()){
      incomingByte = Serial.read();
      event = 1;
    }//end if serial available
  }//end do
 while (Serial.available() > 8);
}    

/*
 This is code for a robotic drum created by Randy Sarafan.

 For more information, visit:
 https://www.instructables.com/id/Arduino-Controlled-Robotic-Drum/ 
 
 This example code is in the public domain.
 */

int event = 0;

int strikelegnth = 80;

int incomingByte = 0;


void setup() {
  
  //establish motor direction toggle pins
  pinMode(12, OUTPUT); //CH A -- HIGH = forwards and LOW = backwards???
  pinMode(13, OUTPUT); //CH B -- HIGH = forwards and LOW = backwards???
  
  //establish motor brake pins
  pinMode(9, OUTPUT); //brake (disable) CH A
  pinMode(8, OUTPUT); //brake (disable) CH B

  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B  
  
  
  Serial.begin(57600);

 cli();//stop interrupts

  //set timer2 interrupt every 128us
  TCCR2A = 0;// set entire TCCR2A register to 0
  TCCR2B = 0;// same for TCCR2B
  TCNT2  = 0;//initialize counter value to 0
  // set compare match register for 7.8khz increments
  OCR2A = 255;// = (16*10^6) / (7812.5*8) - 1 (must be <256)
  // turn on CTC mode
  TCCR2A |= (1 << WGM21);
  // Set CS11 bit for 8 prescaler
  TCCR2B |= (1 << CS11);   
  // enable timer compare interrupt
  TIMSK2 |= (1 << OCIE2A);
  
  sei();//allow interrupts

}

void loop() {
 
 if(event == 1){

   if (incomingByte == 133) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   
   if (incomingByte == 134) {
       //start down
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   if (incomingByte == 176) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
 }
}



ISR(TIMER2_COMPA_vect) {
  do{
    if (Serial.available()){
      incomingByte = Serial.read();
      event = 1;
    }//end if serial available
  }//end do
 while (Serial.available() > 8);
}    

/*
 This is code for a robotic drum created by Randy Sarafan.

 For more information, visit:
 https://www.instructables.com/id/Arduino-Controlled-Robotic-Drum/ 
 
 This example code is in the public domain.
 */

int event = 0;

int strikelegnth = 80;

int incomingByte = 0;


void setup() {
  
  //establish motor direction toggle pins
  pinMode(12, OUTPUT); //CH A -- HIGH = forwards and LOW = backwards???
  pinMode(13, OUTPUT); //CH B -- HIGH = forwards and LOW = backwards???
  
  //establish motor brake pins
  pinMode(9, OUTPUT); //brake (disable) CH A
  pinMode(8, OUTPUT); //brake (disable) CH B

  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B  
  
  
  Serial.begin(57600);

 cli();//stop interrupts

  //set timer2 interrupt every 128us
  TCCR2A = 0;// set entire TCCR2A register to 0
  TCCR2B = 0;// same for TCCR2B
  TCNT2  = 0;//initialize counter value to 0
  // set compare match register for 7.8khz increments
  OCR2A = 255;// = (16*10^6) / (7812.5*8) - 1 (must be <256)
  // turn on CTC mode
  TCCR2A |= (1 << WGM21);
  // Set CS11 bit for 8 prescaler
  TCCR2B |= (1 << CS11);   
  // enable timer compare interrupt
  TIMSK2 |= (1 << OCIE2A);
  
  sei();//allow interrupts

}

void loop() {
 
 if(event == 1){

   if (incomingByte == 135) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   
   if (incomingByte == 136) {
       //start down
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   if (incomingByte == 192) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
 }
}



ISR(TIMER2_COMPA_vect) {
  do{
    if (Serial.available()){
      incomingByte = Serial.read();
      event = 1;
    }//end if serial available
  }//end do
 while (Serial.available() > 8);
}    

/*
 This is code for a robotic drum created by Randy Sarafan.

 For more information, visit:
 https://www.instructables.com/id/Arduino-Controlled-Robotic-Drum/ 
 
 This example code is in the public domain.
 */

int event = 0;

int strikelegnth = 80;

int incomingByte = 0;


void setup() {
  
  //establish motor direction toggle pins
  pinMode(12, OUTPUT); //CH A -- HIGH = forwards and LOW = backwards???
  pinMode(13, OUTPUT); //CH B -- HIGH = forwards and LOW = backwards???
  
  //establish motor brake pins
  pinMode(9, OUTPUT); //brake (disable) CH A
  pinMode(8, OUTPUT); //brake (disable) CH B

  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B  
  
  
  Serial.begin(57600);

 cli();//stop interrupts

  //set timer2 interrupt every 128us
  TCCR2A = 0;// set entire TCCR2A register to 0
  TCCR2B = 0;// same for TCCR2B
  TCNT2  = 0;//initialize counter value to 0
  // set compare match register for 7.8khz increments
  OCR2A = 255;// = (16*10^6) / (7812.5*8) - 1 (must be <256)
  // turn on CTC mode
  TCCR2A |= (1 << WGM21);
  // Set CS11 bit for 8 prescaler
  TCCR2B |= (1 << CS11);   
  // enable timer compare interrupt
  TIMSK2 |= (1 << OCIE2A);
  
  sei();//allow interrupts

}

void loop() {
 
 if(event == 1){

   if (incomingByte == 137) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   
   if (incomingByte == 138) {
       //start down
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   if (incomingByte == 208) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
 }
}



ISR(TIMER2_COMPA_vect) {
  do{
    if (Serial.available()){
      incomingByte = Serial.read();
      event = 1;
    }//end if serial available
  }//end do
 while (Serial.available() > 8);
}    

/*
 This is code for a robotic drum created by Randy Sarafan.

 For more information, visit:
 https://www.instructables.com/id/Arduino-Controlled-Robotic-Drum/ 
 
 This example code is in the public domain.
 */

int event = 0;

int strikelegnth = 80;

int incomingByte = 0;


void setup() {
  
  //establish motor direction toggle pins
  pinMode(12, OUTPUT); //CH A -- HIGH = forwards and LOW = backwards???
  pinMode(13, OUTPUT); //CH B -- HIGH = forwards and LOW = backwards???
  
  //establish motor brake pins
  pinMode(9, OUTPUT); //brake (disable) CH A
  pinMode(8, OUTPUT); //brake (disable) CH B

  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B  
  
  
  Serial.begin(57600);

 cli();//stop interrupts

  //set timer2 interrupt every 128us
  TCCR2A = 0;// set entire TCCR2A register to 0
  TCCR2B = 0;// same for TCCR2B
  TCNT2  = 0;//initialize counter value to 0
  // set compare match register for 7.8khz increments
  OCR2A = 255;// = (16*10^6) / (7812.5*8) - 1 (must be <256)
  // turn on CTC mode
  TCCR2A |= (1 << WGM21);
  // Set CS11 bit for 8 prescaler
  TCCR2B |= (1 << CS11);   
  // enable timer compare interrupt
  TIMSK2 |= (1 << OCIE2A);
  
  sei();//allow interrupts

}

void loop() {
 
 if(event == 1){

   if (incomingByte == 139) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   
   if (incomingByte == 140) {
       //start down
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
   
   if (incomingByte == 224) {
       //start down
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, LOW);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, LOW);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //strike time
       delay(strikelegnth);
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       delay(10);
       
       //go back
       digitalWrite(9, LOW); //Disengage the Brake for Channel A
       digitalWrite(12, HIGH);   //Sets direction of CH A
       analogWrite(3, 255);   //Moves CH A
       
       digitalWrite(8, LOW); //Disengage the Brake for Channel A
       digitalWrite(13, HIGH);   //Sets direction of CH A
       analogWrite(11, 255);   //Moves CH A
       
       //recoil time
       delay(40);    
       
       //stop
       digitalWrite(8, HIGH); //Engage the Brake for Channel A
       digitalWrite(9, HIGH); //Engage the Brake for Channel A
       
       event = 0; 
   }  
 }
}



ISR(TIMER2_COMPA_vect) {
  do{
    if (Serial.available()){
      incomingByte = Serial.read();
      event = 1;
    }//end if serial available
  }//end do
 while (Serial.available() > 8);
}    

To use the drum kit, first connect the USB hub to your computer and make sure the power strip is powered on.

Next, visit the Max MSP site and download Max5 Runtime (Mac / Windows).

Download the attached zip file with the "robo drums sequencer57600" Max patch.

Run "robo drums sequencer57600.maxpat" using Max5 Runtime.

This Max patch was created by the amazing Amanda Ghassaei - Max MSP Ninja and loosely certified Instructables Genius. This project would have taken much longer, and probably have not been quite as awesome, without her world class Max MSP skills.