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
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