Robots 01 & 02

Robots 01

August 18th 2017

Motors

• DC - converts direct current electrical energy into mechanical energy, 2 leads (+/-)

• Servo - DC motor with gears, 3 leads (+/-/signal)

• Stepper - Motor with certain number of steps representing a single revolution, 4 leads

tinkercad.com

All circuits with drawings made using

Simple DC motor

Arduino 5v output and ground

DC motor is always on

What happens when you switch the positive and negative wires?

DC motor with Fade

Arduino digital ~9 (can emulate analog write) and ground

This time we are going to use a breadboard, although this circuit is so simple, you could get away with skipping it

DC motor with Fade

int motor = 9;
int speed = 0;
int fadeAmount = 5;

void setup() {
  pinMode(motor, OUTPUT);
}

void loop() {
  analogWrite(motor, speed);
  speed = speed + fadeAmount;

  if (speed <= 0 || speed >= 255) {
    fadeAmount = -fadeAmount;
  }
  delay(30);
}

Servo motor with Knob

Arduino A0 and D~9, 5V, and ground, and a potentiometer knob

Servo motor with Knob code

#include <Servo.h>

Servo myservo;

int potpin = 0;
int val;

void setup() {
  myservo.attach(9);
}

void loop() {
  val = analogRead(potpin);
  val = map(val, 0, 1023, 0, 180);
  myservo.write(val);
  delay(15);
}

Servo motor with photoresistor

or touch resistor, same potentiometer code

Stepper motor

Also need a "Big Easy Driver"

(no stepper motor or Big Easy Driver in Tinkercad 😭)

int dirPin = 8;
int stepPin = 9;

void setup() {                
  pinMode(8, OUTPUT);
  pinMode(9, OUTPUT);
  digitalWrite(8, LOW);
  digitalWrite(9, LOW);
  Serial.begin(9600);
}

void loop() {
  // Basic
  digitalWrite(9, HIGH);
  delay(1);          
  digitalWrite(9, LOW); 
  delay(1);
}

// add `stepCount = 0;` to setup code block

//STEP AND COUNT
//step in one direction counting down from 0 to 1200.

//  for (int stepCount = 0 ; stepCount <= 1200; stepCount += 1) {
//    digitalWrite(8, LOW);
//    digitalWrite(9, HIGH);
//    delay(1);          
//    digitalWrite(9, LOW); 
//    delay(1);
//  }
//

// add `stepCount = 0;` to setup code block

//STEP AND COUNT

// step in opposite direction counting down from 1200 to 0.

//  for (int stepCount = 1200 ; stepCount >= 0; stepCount -= 1) {
//    digitalWrite(8, HIGH);
//    digitalWrite(9, HIGH);
//    delay(1);          
//    digitalWrite(9, LOW); 
//    delay(1);
//  }

Robots 02

PaperMech.net/learn

We chose one of the following machines:

• up-down crank
• open close & cam
• *rotating and planetary gears*
• flapping and spur gears

Amy chose

Up-Down Crank

Emily chose

Rotate + Planetary Gears

Parts to collect for circuitry

• Servo
• 8 leads
• potentiometer
• Arduino Uno
• breadboard
• usb cable

Wire up circuit

Laser print the machine parts

• papermech.net/rotate-planetary-gears
• Cardboard for all parts excepting gears
  • 3.5 mm thickness
• Matboard for gears
  • 1.5 mm thickness

Assemble the machine

• papermech.net/rotate-planetary-gears
• tools for assebly:
  • glue gun
  • skewers
  • screwdriver for servo screws

OMG we did it!!!

Emily Platzer

• @emilyplatzer
• github.com/craftninja
• emilyplatzer.com