Crawler (in circles) bot

Description

So my bot crawls, though mainly in circles (I believe the legs aren’t quite even). I tried to model my bot after knees, which are rigid in one direction (providing push) but bend in the other direction (to avoid undoing forward motion). I used binder clips to stabilize the bot’s base (the servo box) and prop the servo motor at a helpful angle.

Components

  • Arduino UNO
  • Servo motor
  • hookup wires
  • binder clips (1 very large, 1 small)
  • cardboard, popsicle sticks, wood glue, tape, pipecleaners

Code

/* Sweep
by BARRAGAN <http://barraganstudio.com>
This example code is in the public domain.

modified 8 Nov 2013
by Scott Fitzgerald
http://www.arduino.cc/en/Tutorial/Sweep
*/

#include <Servo.h>;

Servo myservo; // create servo object to control a servo
// twelve servo objects can be created on most boards

int pos = 0; // variable to store the servo position

void setup() {
myservo.attach(7); // attaches the servo on pin 9 to the servo object
}

void loop() {
for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(4); // waits 15ms for the servo to reach the position
}
delay(200);
for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(4); // waits 15ms for the servo to reach the position
}
delay(200);
}

Images/Video

knees   overview-shot  prop-detailcrawler-bot-video

Leave a Reply