Crawler with Servo Motor

Description

For this mini project, I used one servo motor and tested with different geometries and two different cardboard directions to come up with this mini cardboard crawler. I also played around with different combinations of the paper box and the servo motor to optimize the location of center of gravity to avoid the crawler turning over in the process of crawling

Components

  • 1 Bread Board
  • 1 Arduino Uno
  • 1 Futaba Servo Motor
  • 1 Box
  • 1 Green Wire
  • Transparent Tape
  • Jumper Wires

<strong>Code</strong>
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 &gt; 0 &amp;&amp; val &lt;= 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 &gt;= 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
 }
}

Image & Video

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