Well this is "Wall-E", I created Wall-E with the Parallax Robotics Shield Kit for Arduino, even though the Ping))) sensor wasn't in the package this one can be bought aswell from Parallax.
So what can Wall-E do? He is a robot that can drive around on his own, with his Ping))) sensors he can see whenever he is gonna collide with something and he changes course before colliding.
Movie about how he works:
In this blogpost I am going to explain how you can build your own "Wall-E".
Well to create your own "Wall-E" you are going to need the Parallax Robotics Shield Kit for Arduino, Ping))) sensor, Bluetooth but this is optional if you want to control him with your smartphone (only android will be explained in this guide) and ofcourse an Arduino. All these components can be found at several online webshops, like Antratek.
How to physically build your "Wall-E"
When you bought the Parallax Robotics Shield kit you simply need to follow the guide you get with it. The only thing you need to build is actually the servo motors on the bottom and plugging in the arduino. Pay attention to wich ports u use on the shield. For the servo motors, make sure you plug in the left motor in the port 13 and the Right motor in port 12. The ping))) his servo motor should be plugged in into port 10 and from port 11 to the ping))) you need to make a connection with the delivered cable that comes with the Ping))) extension for the Robotics Shield Kit. For the bluetooth-module you need to connect the bluetooth his RXD to port 2 on your board, TXD to port 1 on your board, GND to the GND and the VCC to your power input most likely to be 5V. See picture below for more a little bit more information. It will be become clear when you build him. The red board on top is an Imp shield you don't need this one. Just ignore it. The Yellow cable that you see from the red board is plugged in the 5V this is used to power the bluetooth.
Programming your "Wall-E"
First of all download and install the Arduino IDE if you don't have it yet. If you don't want to program it yourself my code can be found on Github or below. The comments are explaining everything in the code.
This is the code you need to create for Arduino:
Everything is explained in the comments (made them in Italics for better readability) of the code.
/* Author: Kevin Clerix Used technologies: Bluetooth, Ping))) sensor, servo motors */ #include <Servo.h> // Include servo library Servo servoLeft; // Declare left servo signal Servo servoRight; // Declare right servo signal String sign = ""; // variable to receive data from the serial port const int pingPin = 11; const int dangerThresh = 15; //threshold for obstacles (in cm) int leftDistance, rightDistance, frontDistance=30; //distances on either side Servo panMotor; //ping his servo motor long duration; //time it takes to recieve PING))) signal void setup() // Built in initialization block { Serial.begin(9600); // Set data rate to 9600 bps servoLeft.attach(13); // Attach left signal to P13 servoRight.attach(12); panMotor.attach(10); //attach motors to proper pins panMotor.write(90); //set PING))) pan to center } void loop() // Main loop auto-repeats { sign = Serial.readString(); //reads a String when send in the serial (used for bluetooth communication) //sends out a ping to determine the distance int distanceFwd = ping(); //if the distance between the object and the "Wall-E" //is still big enough then he will move forward if (distanceFwd>dangerThresh) { servoLeft.writeMicroseconds(1700); servoRight.writeMicroseconds(1300); panMotor.write(60); delay(200); rightDistance = ping(); //scan to the right //If the rightdistance is less than 20 //then he will turn left if(rightDistance<20){ servoLeft.writeMicroseconds(1460); servoRight.writeMicroseconds(1460); //turn left delay(200); } panMotor.write(120); delay(300); leftDistance = ping(); //scan to the left //if the leftdistance if less then 20 //then he will turn right if(leftDistance<20){ servoLeft.writeMicroseconds(1540); servoRight.writeMicroseconds(1540); //turn left delay(200); } panMotor.write(90); //return to center delay(100); } else //if path is blocked { servoLeft.writeMicroseconds(1500); servoRight.writeMicroseconds(1500); panMotor.write(0); delay(500); rightDistance = ping(); //scan to the right delay(500); panMotor.write(180); delay(700); leftDistance = ping(); //scan to the left delay(500); panMotor.write(90); //return to center delay(100); compareDistance(); } //HERE STARTS THE SECTION THAT YOU ONLY NEED //WHEN USING BLUETOOTH CONNECTION if(sign.equals("z")){ servoLeft.writeMicroseconds(1700); servoRight.writeMicroseconds(1300); } if(sign.equals("q")){ servoLeft.writeMicroseconds(1450); servoRight.writeMicroseconds(1450); } if(sign.equals("s")){ servoLeft.writeMicroseconds(1300); servoRight.writeMicroseconds(1700); } if(sign.equals("d")){ servoLeft.writeMicroseconds(1550); servoRight.writeMicroseconds(1550); } if(sign.equals("a")){ servoLeft.writeMicroseconds(1500); servoRight.writeMicroseconds(1500); } //HERE THE SECTION FOR BLUETOOTH STOPS } //This function will compare the distance between Right and Left //then he will see which side is best to ride to. void compareDistance() { if (leftDistance>rightDistance) //if left is less obstructed { servoLeft.writeMicroseconds(1460); servoRight.writeMicroseconds(1460); //turn left delay(200); } else if (rightDistance>leftDistance) //if right is less obstructed { servoLeft.write(180); servoRight.write(180); //turn right delay(200); } else //if they are equally obstructed { servoLeft.writeMicroseconds(1300); servoRight.writeMicroseconds(1300); //turn 180 degrees delay(200); } } //This function will send out a ultrasonic signal //when it collides with an object it will return //the ping))) sensor will catch it and after that //this function will determine the distance between //himself and the object. long ping() { // Send out PING))) signal pulse pinMode(pingPin, OUTPUT); digitalWrite(pingPin, LOW); delayMicroseconds(2); digitalWrite(pingPin, HIGH); delayMicroseconds(5); digitalWrite(pingPin, LOW); //Get duration it takes to receive echo pinMode(pingPin, INPUT); duration = pulseIn(pingPin, HIGH); //Convert duration into distance return duration / 29 / 2; }
Using the bluetooth Module with android app
For this one you need Android studio because I made the application in android studio. Code can be found on Github aswell. unfortunately I didn't placed the app on the google play store but I will do it in the nearby future.
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