This animation was made for a master class given by Rui Horta about the body and the performer.
It was projected on a small stage while a performer was dancing.
Aqui vai a tradução à muito esperada deste tutorial, espero que vos seja útil.
Decidi remover a Ponte-H, o motor agora está directamente ligado às pilhas AA e o Arduino é alimentado por uma pilha de 9V. Este pequeno robot apenas anda em frente (para já).
Na 2ª parte vou adiccionar a Ponte-H e dois botões Bump. Assim o nosso pequeno robot poderá evitar obstáculos mudando de direcção.
————————————————————
Olá! E bem-vindos(as) ao tutorial Primeiro Robot com Arduino 1ª Parte !
Convém ler esta informação antes, menciona a importância de documentar o vosso processo criativo, e o processo de construção do vosso robot. Assim vocês poderão um dia mais tarde recordar o que fizeram e outros também podem vir a aprender com a vossa experiência.
Índice:
1 - Introdução
2 – Antes de começar
3 – Lista de componentes
4 – Olá Hardware!
5 – Processo de construção
5.1 – Primeiro carro
5.2 – Segundo carro
5.3 – Motor servo e rodas da frente
5.4 - Baterias
5.5 - O Circuito
5.6 - O servo
5.7 - Sensor LDR (Light Dependant Resistor) - Fotoresistência
6 - Programação
—————————————————
1 - Introdução
Neste tutorial verás que não precisas ser nenhum guru electrónico ou um super engenheiro para fazeres um robot simples e divertido.
Este robot não terá nenhum sensor de ultrasons ou infra-vermelho.
Que vai este robot fazer?.. poderás tu perguntar..
Este robot será um procurador da Luz!!
Se decidires seguir este tutorial, deverás estár mais ou menos familiarizado com uma breadboard, com ferro de soldar e se possível saber usar uma pistola de cola quente.
————————————————–
2 – Antes de começar
————-
Alguma vez usaste uma BREADBOARD, também conhecida como Placa de Ensaios ?
Na secção 4 vou mostrar como se lê entradas analógicas e como trabalhar com um motor servo, mas..
Se não sabes:
- como fazer piscar um LED;
- ler e interpretar uma entrada analógica, por exemplo ligada a um potenciómetro;
- usar o comando Serial;
- entender os principio básicos de OOP (Object Oriented Program).
Dá sempre um passo a seguir ao outro. Sempre que montas algo testa o que fizeste, e se for bem sucessido passa para o próximo passo.
Esta é uma boa prática e faz com que poupes tempo e paciência preciosos.
—————————————————
3 - Lista de componentes:
Componentes gerais:
1 Arduino Diemicila
1 Breadboard (placa de ensaios)
1 Servo
2 LDR (Light Dependant Resistance)
2 Resistências 10k
2 Botões On / off
5 - Resistências de 1 Ohm (isto vai depender da potência do motor do teu carro)
Fios condutores (coloridos se possivel)
Components customizáveis::
Baterias - vai depender das necessidades do teu motor
Eu vou usar:
1 pilha de 9V com ligação ao Arduino
3 AA NiMh para alimentar o motor
————
Escolhi usar brinquedos em vez de components pré-feitas. É mais rápido obtê-los são baratos e é divertido usá-los para fins diferentes dos quais foram concebidos. A outra razão é que aumenta a tua capacidade criativa e habituaste a procurar soluções onde aparentemente não existem.
————
Numa loja de produtos chineses encontram-se imensos brinquedos baratos que esperam por ser vandalizados :]
Este carrinho foi 5€ e vou usá-lo como plataforma e chassis
Este carrinho foi 2€ e vou usar as rodas da frente apenas para a direcção.
Esta parte é para iniciantes em Arduino, vou mostrar sucintamente como se move um motor servo e como se lê entradas analógicas ligadas às fotoresistências (LDR).
This part is for beginners in Arduino, I will show briefly how to move a servo, and read analog inputs through LDR´s.
———–
Ler entrada analógica ligada ao LDR:
O LDR pode ser montado em qualquer direcção, isto significa que não tem polaridade ( + ou - ). O mesmo acontece com as resistências.
Segue esta imagem, e puxa um fio para a entrada analógica no Arduino.
Antes de usares o código para o servo, precisas de instalar a livraria Servotimer1. Do ficheiro ZIP extraí o seu conteúdo para a pasta hardware/libraries dentro da pasta do Arduino. Reinicia o software do Arduino.
Puxa o frio Preto que vem do servo e liga à linha preta na breadboard, o fio Vermelho liga à linha vermelha na breadboard, e o fio Amarelo ao pin digital 9 no Arduino.
Puxa mais dois fios e liga os 5V no Arduino à linha Vermelha na Breadboard, e o GND no Arduino à linha preta na Breadboard.
Agora que estás mais familiarizado com bites e bytes do Arduino, VAMOS DAR INÍCIO À FESTA
———————————————————
5 – Processo de Montagem
5.1 – Primeiro Carro
Desmonta o carro que vai ser a plataforma e chassis aos components e ao sistema de tracção, ou seja, remove todas as partes excepto as rodas de trás e o seu motor.
Solda um fio a cada um dos pins do motor.
Também soldei um fio preto ao Ground e um fio vermelho à botão on/off que liga à caixa das pilhas.
Esta foi a primeira e última vez que viste solda neste tutorial.
———–
5.2 - Segundo Carro
Outro pequeno carrito foi vandalizado, desta vez vou usar as rodas da frente para a direcção.
———–
5.3 - Motor Servo e Rodas da Frente:
Colei as rodas ao Servo, não está um trabalho bonito eu sei.. tenta centrar as rodas o melhor que puderes em relação ao servo.
Depois usei cola quente para colar o servo ao chassis.
ATENÇÃO: Certifica-te que ambas as rodas tocam no chão ou então terás problemas.
A roda da esquerda não toca no chão = PROBLEMA
Ambas as rodas tocam no chão = Problema resolvido : ]
———–
5.4 - Batterias
Tive sorte com este pequeno carrito. A pilha de 9V encaixa perfeitamente dentro do chassis, e posso usar o compatimento das 3 pilhas AA, e assim poupo espaço para a breadboard no topo do chassis.
———–
5.5 - O circuito
O Arduino é alimentado através da pilha de 9V.
Os fios preto e vermelho ligam o Ground e os 5V do Arduino às filas principais da breadboard.
Agora liga o fio vermelho que vem das baterias AA a uma coluna na breadboard.
Agora eu estou a usar cinco resistências de 1 ohm entre o motor e as 3 baterias AA.
Estas resistências são de baixa intensidade mas são suficientes para reduzir a rotação do motor, o suficiente para este não queimar.
Eu podia usar apenas uma resistência de 5 ohm, mas se usar cinco resistências de 1 ohm tenho mais precisão na velocidade do meu motor. Neste caso se eu quizer aumentar ou reduzir a potência só terei que adiccionar ou remover uma resistência.
Assim o motor não queima e consigo obter uma boa relação velocidade / potência
Nota que o fio do Ground está ligado a outra fileira na breadboard.
À fileira do ground ligo um fio que vai para o motor, à fileira da última resistência ligo o outro fio do motor.
Liga o botão on/off das baterias AA e vê se o motor funciona e se tem força suficiente para mover o teu carrito futuro robot.
———–
5.6 - O Servo
Liga o Servo à breadboard.
Pega em dois fios e liga o vermelho e o preto do servo às fileiras principais na breadboard.
Pega noutro fio e liga o amarelo ao pin digital 9 no Arduino.
———–
5.7 - LDR - Fotoresistências
Último passo
Monta o LDR e as resistências, estes não têm + nem -, por isso podes montá-los em qualquer direcção.
Os fios verdes ligam aos pins analógicos no Arduino 4 e 5.
——————
(testa os LDR como fizeste anteriormente)
Este é o aspecto final do circuito.
Ok, todos os passos físicos estão feitos, agora só falta fazer upload da programação para o Arduino.
Ibero American Countries gather to diffuse digital boundaries, and to void digital exclusion.
Astronomy, Robotics, Innovation, Creativity, Modding and Digital Pleasure were the main areas where participants could share their knowledge and experience.
I went into the Robotics area, all the participants were very nice, I´ve meet lots of interesting people from ibero-american countries. And there were Robotics projects really amazing!
One big thanks goes to Leonel Moura, he was the one that send me the link of this event, and another big thanks to Alejandro for inviting me.
I will return to Portugal on Sunday, with a good felling of hope for a better and unified world.
It was a great event!
22 robots, called skybot were built by the participants, one robot for each country and the final result was really amazing! Congratulations to all the participants! It has been a pleasure!
Few days ago I started to wonder how to make a Radar Simulator with Processing.
I have already placed an ultrasound range finder on a servo motor and send its data into the radar program, one video will be posted soon.
Now I want to have my wireless comunication module setup complete and working on a robot, and I can have the sensor data being displayed on a screen as the robots move around the space.
This will be a visual reference of the robot perception, it is also a good exercise of physical computing.
This applet simulates the sensor data through the Y mouse coordinate, have fun :]
I´ve started working with Rui Horta in September ‘ 08 on a play called “Come Together”.
My work consists on the development of visual projections on stage.
I think the most difficult task was to syncronize the animations with the coreography.. yet, the reward was the final result.. amazing!!
My partner Rui Madeira has made a great work programming the application where the videos run.
While coding new interactivity into this robot, and trying to achieve more control on the way it moves, I though it would be cool to see what happens if I mount one little servo to hold a pen, and tell him to write ‘LMR’ - the initials of the website: www.letsmakerobots.com
The idea came from this challenge… and I thought I could give it a shot.
The result was far from what I expected.
The pen is not centered on the chassis.. the correct position for the pen would be exactly between the wheels..
At the same time it was nice to see this little creature drawing lines on its own
This is what could be drawn if the pen were centered.
I have a lot difficult keeping right angles everytime I move on the next letter..
UPDATE: I decided to remove the H-Bridge part, now the motors are directly connected to the AA batteries, and the Arduino is connected to the 9V battery. This little bot will move only forward.
In Part II, I will add an H-Bridge and two SPDT Bump Switches. The robot will move in both directions and void obstacles.
1 - Introduction
2 – Before Start
3 – Parts List
4 – Hello Hardware!
5 – Assemble Process
5.1 – First Car
5.2 – Second Car
5.3 – Servo and front wheels
5.4 - Batteries
5.5 - The Circuit
5.6 - The Servo
5.7 - LDR
6 - Program!!!
—————————————————
1 - Introduction
In this tutorial you will see that you don´t have to be an electronic guru, or a super skilled programmer to make a simple, easy and funny robot.
It won´t have any IR sensor or ultrasonic.
So what will this robot do.. you may ask..
It will be an insane light seeker!!
If you decide to follow this tutorial, at least you should be able to use a breadboard, and if possible to do a little solder, and a bit of hot glue.
In section 4 I will show you how to read analog inputs and how to make one servo move but..
If you don´t know:
- how to blink an LED;
- read a potenciomenter analog input;
- use the Serial command;
- understand the basics of OOP (Object Oriented Program).
NOTE:
Always take one step at the time. Every time you assemble something test it, and if successful, move to the next step.
This is a good practice, and it will make you save precious time and patience.
—————————————————
3 - Parts list:
Generic parts:
1 Arduino Diemicila
1 Breadboard
1 Servo
2 LDR (Light Dependant Resistance)
2 10k resistors
2 On / off switchs
5 - 1 Ohm resistor (this will depend on your motor power)
Prototype Wires (colored if possible)
Customizable parts:
Batteries - it depends on your motors needs
I will use:
1 9V battery with power plug to connect to the Arduino
3 AA NiMh to power the motor
————
I choosed to use toys instead of premade parts. It is faster to get them and they are also cheap, and fun to work with, the other reason is: it enhances your criativity and you get used to be a solution finder.
————
In 1 Euro stores, or chinese stores you can find lots of cheap toys, waiting to be vandalized! : )
This was 5€ and I will use it´s chassis as platform
This little car was 2€ and I will use it´s front wheels for steering.
——————————————————–
4 - Hello Hardware:
LDR - Light Dependant Resistors
This part is for beginners in Arduino, I will show briefly how to move a servo, and read analog inputs through LDR´s.
———–
Reading LDR analog inputs:
The LDR can be placed in either way and also the resistors. This means they don´t have a + or - .
Take one wire and connect into one Arduino Analog Pin of your choice
Before you use the servo code, you must install Servotimer1 library. Unpack it into your hardware/libraries folder to add the library. Then restart the Arduino Software.
Take the black wire that comes from the servo and plug it into the black line on the breadboard, the Red wire into the red line on the breadboard, and the Yellow wire into the Arduino pin 9.
Take two more wires and connect the 5V on the Arduino into the red line on the breadboard and the GND on the Arduino into the black line on the breadboard.
Now that you are more familiar with Arduino bits and bytes, LET THE FUN BEGIN
———————————————————
5 – Assemble Process
5.1 – First Car
Disassemble the car wich will provide platform for components and also traction system, and remove all the parts except the rear wheels and the motor.
Solder two cables to the motor pins.
Also soldered one black wire to the Ground pin on the battery case and one red wire to the power switch.
This was the first and the last time you see solder in this tutorial.
———–
5.2 - Second Car
Another little car was vandalized, this time I will use the front wheels to have the steerings.
———–
5.3 - Servo and Front Wheels:
This is not a very pretty glue work i know.. try to center the wheels the best you can.
Next, I used hot glue to place the servo next to the chassis.
ATTENTION: Certify that both wheels touch the ground when turning, otherwise you might have problems.
Left wheel doens´t touch the ground = PROBLEM
Both wheels touch the ground = Problem solved : ]
———–
5.4 - Batteries
I was lucky with this little car. The 9V battery fits perfectly inside the chassis, and I can use the 3 AA batteries case, and save space to put the breadboard on the top.
———–
5.5 - The Circuit
The Arduino is plugged from the 9V battery.
Red and black wires connect the 5V and Ground from the Arduino to the breadboard main row´s.
Now connect the Red wire from the AA batts into one row of the breadboard
Next, I will use five resistor´s of 1 ohm between the motor and the 3 AA batts.
This is low value resistors, each one of this resistors will make the motor go slower.
I could use only one resistor of 5 ohms, but using five of 1 ohm, I can have more control on the motor power.
If I want less or more motor power, I will remove or add another 1 ohm resistor.
This way the motor won´t burn out and it still have a good speed.
Note the Ground wire is connect to another row.
And this way I connect the motor wires. Turn on the power and see if it moves forward and if has enough power to drive your robot.
———–
5.6 - The Servo
Connect the Servo to the breadboard.
Grab two wires and connect it into the breadboard main row´s 5V and Ground.
Grab another wire and connect the Servo Signal wire into Digital Pin 9 on the Arduino.
———–
5.7 - LDR
Final step:
Place the LDR and resistors, they don´t have + or -. So you can place them in any direction.
The green wires to connect them into the Arduino Analog Input Pins 4 and 5.
——————
( test the LDR as you did before)
This is the final look of our circuit.
Every physical steps are done! So now let´s upload some code into the Arduino.
I vandalized an RC toy and connected the motor wires to Arduino digital pins.
It only gives us 1´s and 0´s wich means low control, but can be handy some day
In this walkthrough I will show one simple way to use L293D H-Bridge, and build a basic Motor Driver for Arduino. I only tried this with Arduino Diecimila and it works well.
There may be other ways to do this, but since this works for me and feeds my needs, I assume this might be useful for more people. NOTES:
- 9V little batteries are good to power the Arduino, LED´s and one or another sensor, but not so good to power DC motors or servos;
- If you want to have more devices, like another motor, servos, sensors, it is better to have a stronger power supply like an RC Car battery pack, or, AA batteries together with 9V battery and in this case you should connect both GROUNDS;
- be very carefull when dealing with power supplies, sometimes small mistakes may cause short circuits and damage your MCU, sensors, motors.. and you don´t want that!
- If you see something wrong with your motor, like stop, stall, or erratic behavior maybe your battery needs to be recharged, or your battery is not supplying enough power to your motors. Always use your batteries fully recharged;
- If you see erratic behavior in your servo, like going into one direction and staying there, or becoming noisy maybe it needs more current to operate, or your battery needs to be recharged.
So let´s start:
L293D gives you the possibility to control two motors in both directions - datasheet
The picture shows:
- one motor connected to IC pins 11 and 14.
- IC pins 10 and 15 connect to the Arduino PWM pins 5 and 6. Using PWM you are able to set different motor speeds.
- The Arduino is being powered from USB. Note the jumper next to the USB plug is set to USB Power mode.
Here we have a different setup:
- Note the jumper next to the USB plug is set to EXTERNAL power supply.
- The batteries pictures are symbolic. You should design your power setup regarding the MCU, motors and servos current needs. Ask in the forum what best fits your hardware.
Breadboard example:
The L293D only drives motors. Servos are driven by the MCU or Servo Drivers.
Below are some examples of custom made motor drivers assembled in prototype boards:
This board can control one motor, supply power for Arduino, and one servo.
This board can control two motors, supply power for Arduino, and two servos.
This board can control two motors, supply power for Arduino, and two servos.
I also added female headers to supply power for other components (ex: sensors, …)
