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);

}