Lab 7: Orange Crawler

Submitted by shaohan on Tue, 03/19/2013 - 20:44

Description:

I used an orange to push(?) the "object (motor + a paper roll + a small plastic bottle + a hair rubber band) and make it crawl. I first tried to use a plastic board by drilling two holes on it then connect it to the motor, but later realized that the paper was too light-weighted that the "object" just stayed at the same place and didn't move at all. I then tried to find something which is heavier and easy to drill and found that orange might be a good candidate for this. It works!

 

Components:

1 - Arduino Uno

1 - Breadboard

1- Potentiometer

1 - Paper roll

1 - Plastic bottle

1 - Hair rubber band

1 - Orange

2 - Toothpicks

Some paper tapes and cables

 

Codes: 

 

/*
 * Servo with Potentiometer control
 * Theory and Practice of Tangible User Interfaces
 * October 11 2007
 */
 
int servoPin = 7;      // Control pin for servo motor
int potPin   = 0;      // select the input pin for the potentiometer
 
int pulseWidth = 0;    // Amount to pulse the servo
long lastPulse = 0;    // the time in millisecs of the last pulse
int refreshTime = 20;  // the time in millisecs needed in between pulses
int val;               // variable used to store data from potentiometer
 
int minPulse = 500;   // minimum pulse width
 
void setup() {
  pinMode(servoPin, OUTPUT);  // Set servo pin as an output pin
  pulseWidth = minPulse;      // Set the motor position to the minimum
  Serial.begin(9600);         // connect to the serial port
  Serial.println("servo_serial_better ready");
}
 
void loop() {
  val = analogRead(potPin);    // read the value from the sensor, between 0 - 1024
  
  if (val > 0 && val <= 999 ) {
    pulseWidth = val*2 + minPulse;  // convert angle to microseconds
    
    Serial.print("moving servo to ");
    Serial.println(pulseWidth,DEC);
  
  }
  updateServo();   // update servo position
}
 
// called every loop(). 
void updateServo() {
  // pulse the servo again if the refresh time (20 ms) has passed:
  if (millis() - lastPulse >= refreshTime) {
    digitalWrite(servoPin, HIGH);   // Turn the motor on
    delayMicroseconds(pulseWidth);  // Length of the pulse sets the motor position
    digitalWrite(servoPin, LOW);    // Turn the motor off
    lastPulse = millis();           // save the time of the last pulse
  }
}
 
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