Phoebe the Photophillic Robot
by TechMartian in Circuits > Robots
1284 Views, 9 Favorites, 0 Comments
Phoebe the Photophillic Robot
This is a photophillic --- light-following --- robot. That is, it uses a photosensor to detect the lighting levels on the environment and moves towards the light source. It behaves similarly to your cat when it follows a laser pointer.
BoM
* Arduino
* Motor Driver Board
* Photoresistor
* Motors
* Wheels
* Castor Wheel -- pivot type
* Foam Board
* Breadboard
Chassis
* Cut the foam board to a small square shape piece.
* Glue the two motors to both sides of the foam board.
Attach Wheels
* Attach the wheels to the motors, it should fit in snugly.
* Glue a pivot castor when to the tip of the robot.
Motor Driver Connections
- Connect the first motor's pins to pins 4 and 5 of the motor driver board.
- Connect the second motor's pins to pins 6 and 7 of the motor driver board.
- Connect the motor driver board's pin 1 to the red power rail and pin 5 to the black power rail.
- Connect the Arduino's pins 8 to 12 to the motor driver board's pins 11 to 15.
- Connect the Arduino's pin 5 to the motor driver boards's pin 10. Connect the Arduino's pin 3 to the motor driver board's pin 16.
LDR Wiring
* Connect one of the pins to the ground pin on the Arduino
* Connect the other pin to both a 10k Ω resistor and to 3.3V in parallel.
* Glue it to the tip of the robot.
Code
//motor A connected between A01 and A02
//motor B connected between B01 and B02 int STBY = 10; //standby //Motor A int PWMA = 3; //Speed control int AIN1 = 9; //Direction int AIN2 = 8; //Direction //Motor B int PWMB = 5; //Speed control int BIN1 = 11; //Direction int BIN2 = 12; //Direction void setup(){ pinMode(STBY, OUTPUT); pinMode(PWMA, OUTPUT); pinMode(AIN1, OUTPUT); pinMode(AIN2, OUTPUT); pinMode(PWMB, OUTPUT); pinMode(BIN1, OUTPUT); pinMode(BIN2, OUTPUT); } void loop(){ move(1, 255, 1); //motor 1, full speed, left move(2, 255, 1); //motor 2, full speed, left delay(1000); //go for 1 second stop(); //stop delay(250); //hold for 250ms until move again move(1, 128, 0); //motor 1, half speed, right move(2, 128, 0); //motor 2, half speed, right delay(1000); stop(); delay(250); } void move(int motor, int speed, int direction){ //Move specific motor at speed and direction //motor: 0 for B 1 for A //speed: 0 is off, and 255 is full speed //direction: 0 clockwise, 1 counter-clockwise digitalWrite(STBY, HIGH); //disable standby boolean inPin1 = LOW; boolean inPin2 = HIGH; if(direction == 1){ inPin1 = HIGH; inPin2 = LOW; } if(motor == 1){ digitalWrite(AIN1, inPin1); digitalWrite(AIN2, inPin2); analogWrite(PWMA, speed); }else{ digitalWrite(BIN1, inPin1); digitalWrite(BIN2, inPin2); analogWrite(PWMB, speed); } } void stop(){ //enable standby digitalWrite(STBY, LOW); }
Enjoy!
Plug in the remaining batteries and let it run!