Lab 7 :: Rubik's Crawler
Description
I built a simple crawler using a Rubik's cube attached to a pivot (servo motor) on the lighter end of an eccentrically weighted lever. The cube is dragged forward by a 'head' weight (tennis ball) attached to the other end of the lever that always maintains contact with the ground.
Components
Arduino Uno
Potentiometer
Servo DC Motor
Wires and Cable
For Crawler:
Rubik's Cube
Tennis Ball for Head Weight
Table Knife for Lever
Code
/*
* 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
}
}
.thumbnail.JPG "Circuit")
.thumbnail.JPG "Crawler")
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