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  • Author Author: dubbie
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Walking Robots #4 : I have complete control!

dubbie

I have now connected both of the motors within Tobbie to the Arduino that I have used to replace the provided control PCB, The DRV8833 PCB that I am using has two H bridge drivers so I just connected the second motor for rotating the head, to the second channel. No other additional connections ere necessary. I then set it to walk for one second, rotate clockwise for one second and then repeat this process. This was just an initial trial programme to ensure that everything was working correctly but it was interesting to see how the steering works.

the steering mechanical parts are obviously independent of the orientation of the legs which is good to know as I want to try and design my own walking mechanism. Whichever direction the head is pointing in that is then the direction that Tobbie takes.

 

 

My next step will be to add a Bluetooth link for serial communications so that I can control Tobbie directly and then maybe think about some sensors and make it look a bit tidier.

 

Dubbie

  • in reply to jw0752

    John,

     

    Thanks for the support. I hope to make it better as I have just managed to ge the Bluetooth comms link working.

     

    Dubbie

  • Very nice project and well executed.

     

    John

  • in reply to genebren

    Gene,

     

    I wasn't really thinking of trying to process the image from the camera but to just use the image for teleremote operation. I've always wanted to have a go at this so see what it is like.

     

    I've done a little bit of image processing and I wouldn't want to try and implement any form of image processing myself. I could use the Pixy camera - which I have used before, as this can be setup to do much of any image processing needed, within controlled environments. I just thought I would see about using a camera for teleremote operation. I could use some form of distance sensor for teleremote operation as well. That would be simpler and cheaper.

     

    Dubbie

  • in reply to dubbie

    Dubbie,

     

    Cameras get tricky, as you have to make sense of what you are seeing (i.e. lots of processing).  It's possible, but very complex (I developed cell counting/classifying software in the past).  I like the ultrasonic sensors, which you could combine with GPS or accelerometers to map out paths, while avoiding obstacles.

     

    Gene

  • in reply to genebren

    Gene,

     

    Yes, I think I will be able to control Tobbie directly myself, once I have implemented a communication link. The next step will be then to add some sensors and make it semi-autonomous. I have been thinking of a low resolution camera and transmitting the image over the comms link. You used to be able to get RS232C webcam type cameras, but they seem to have fallen out of favour now. I might just have to resort to lasers or ultrasonics.

     

    Dubbie