Thursday, January 9, 2014

Arduino powered Robo-Raptor

I have been working on rebuilding a Robo Raptor to be controlled by an Arduino.  It is a key project in my latest book "Arduino Robotics Projects" available on Amazon.

Here is a link to the video on YouTube:
http://youtu.be/O8E3QBfjXO0

Here is a picture of the Arduino and motor control shield attached to the robo raptor:

Here is a picture taken from the video of it in demo mode:
After that picture was taken I managed to get it working on its batteries.

Here is the code for the demo.

// Robo-Raptor Demo
// demonstrates several actions the robo raptor can take.
// Written December 2013 by Bob Davis

#include AFMotor.h
#include Servo.h
// create servo object to control a servo 
Servo myservo;
// mororr moves the right leg
// create motor #2, 64KHz pwm
AF_DCMotor motorr(2, MOTOR12_64KHZ);
// motorl moves the left leg
// create motor #4, 64KHz pwm
AF_DCMotor motorl(4, MOTOR12_64KHZ);
// motorw wiggles the tail, head moves too
// create motor #1, 64KHz pwm
AF_DCMotor motorw(1, MOTOR12_64KHZ);
// motorh moves the head up and down
// create motor #3, 64KHz pwm
AF_DCMotor motorh(3, MOTOR12_64KHZ);
char INBYTE;
// Set A6 as an output pin for speaker
int SpkrPin = 19;
int roar;

void setup() {
  motorr.setSpeed(255);     // set the speed to 255/255
  motorl.setSpeed(255);     // set the speed to 255/255
  motorw.setSpeed(255);     // set the speed to 255/255
  motorh.setSpeed(255);     // set the speed to 255/255
  pinMode(SpkrPin, OUTPUT);
  // The servo is on pin 9 
  myservo.attach(9); 
}

void loop() {
  // Sequence of Motor control commands:
  // wait for tail switch to get started
  // wiggle tail back and forth
  // raise and lower head three times
  // take a few steps walking forward
  // make a roaring sound 

  // Wait for tail switch to start demo
  while (analogRead(A0) != '0'){}

  // wiggle tail
  motorw.run(BACKWARD);    // wiggle right
  delay(200);  // pause
  motorw.run(RELEASE);     // stopped
  delay(300);
  motorw.run(FORWARD);     // wiggle left
  delay(200);  // pause
  motorw.run(RELEASE);     // stopped
  delay(300);
  motorw.run(BACKWARD);    // wiggle right
  delay(200);  // pause
  motorw.run(RELEASE);     // stopped
  delay(300);
  motorw.run(FORWARD);     // wiggle left
  delay(200);  // pause
  motorw.run(RELEASE);     // stopped
  delay(300);
  motorw.run(BACKWARD);    // wiggle right
  delay(200);  // pause
  motorw.run(RELEASE);     // stopped
  delay(300);
  motorw.run(FORWARD);     // wiggle left
  delay(200);  // pause
  motorw.run(RELEASE);     // stopped
  delay(300);

  // raise and lower head
  motorh.run(FORWARD);     // raise head
  delay(300);  // pause
  motorh.run(BACKWARD);    // lower head
  delay(300);  // pause
  motorh.run(RELEASE);     // stopped
  delay(500);
  motorh.run(FORWARD);     // raise head
  delay(300);  // pause
  motorh.run(BACKWARD);    // lower head
  delay(300);  // pause
  motorh.run(RELEASE);     // stopped
  delay(500);
  motorh.run(FORWARD);     // raise head
  delay(300);  // pause
  motorh.run(BACKWARD);    // lower head
  delay(300);  // pause
  motorh.run(RELEASE);     // stopped
  delay(500);
   
  // walk straight forward
  motorr.run(FORWARD);     // right foot forward
  delay(300);  // pause
  motorr.run(BACKWARD);    // right foot backward
  delay(300);  // pause
  motorr.run(RELEASE);     // stop right foot
  delay(300);  // pause
  motorl.run(FORWARD);     // left foot forward
  delay(300);  // pause
  motorl.run(BACKWARD);    // left foot backward
  delay(300);  // pause
  motorl.run(RELEASE);     // stop left foot
  delay(300);  // pause
  motorr.run(FORWARD);     // right foot forward
  delay(300);  // pause
  motorr.run(BACKWARD);    // right foot backward
  delay(300);  // pause
  motorr.run(RELEASE);     // stop right foot
  delay(300);  // pause
  motorl.run(FORWARD);     // left foot forward
  delay(300);  // pause
  motorl.run(BACKWARD);    // left foot backward
  delay(300);  // pause
  motorl.run(RELEASE);     // stop left foot
  delay(300);  // pause
  motorr.run(FORWARD);     // right foot forward
  delay(300);  // pause
  motorr.run(BACKWARD);    // right foot backward
  delay(300);  // pause
  motorr.run(RELEASE);     // stop right foot
  delay(300);  // pause
  motorl.run(FORWARD);     // left foot forward
  delay(300);  // pause
  motorl.run(BACKWARD);    // left foot backward
  delay(300);  // pause
  motorl.run(RELEASE);     // stop left foot
  delay(300);  // pause

  //open mouth
  myservo.write(0); 
  delay(300);

  // roar
  for (roar=200; roar > 0; roar--) {
    digitalWrite(SpkrPin, HIGH);   // sets the speaker on
    delay(random(10));        // waits for a fraction of a second
    digitalWrite(SpkrPin, LOW);    // sets the speaker off
    delay(random(10));        // waits for a fraction of a second
  }
  //close mouth
  myservo.write(90); 
  delay(300);


}


2 comments:

cae chirp said...

Hey, cool project, Im working on something similar, but using the IR to control everything instead, instead of tearing apart the robot.

mine should be able to control any of the robosapien robots or the wowwee robots except the robosapien V1, which I have an alternative bit of code to do that with.

Alex Gold said...

Thanks for sharing.Great article very good job .. keep it up..

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