Hillstar MGC3130 3D Controlled Sparki Robot (3)

As promised here is my blogpost with the final description of the Hillstar MGC3130 controlled Sparki robot.

Video

First a video showing the robot in action:

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Hillstar MGC3130 3D Controlled Sparki Robot (3)

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Implementation details

First I made a small trolley to carry the electrode:

Next I made proper connections between the two units:

Finally I created software by combining and adapting some demo code:

#include <Sparki.h> // include the sparki library
#include <Wire.h>
#include <Hover.h>


// Pin declarations for Hover
int ts = 0;
int reset = 1;


Hover hover = Hover();
byte event;
String output_string = "";
bool driving_forward = false;


void setup() {
  delay(4000);
  sparki.clearLCD();
  sparki.println("Initializing Hover...please wait.");
  sparki.updateLCD();
  hover.begin(ts, reset);
  sparki.clearLCD();
  sparki.println("Ready for Gestures!.");
  sparki.updateLCD();
}


void loop(void) {

  // Check if Hover is ready to send gesture or touch events
  if (hover.getStatus(ts) == 0) {
   
    //Get the event over i2c and print it
    event = hover.getEvent();
   
   
    //This section can be commented out if you don't want to see the event in text format
    output_string = hover.getEventString(event);
    if (output_string != ""){
      sparki.print(event);
      sparki.println(" = " + output_string);
      sparki.updateLCD();
    }


    switch(event)
    {
      case 40:
        driving_forward = true;
        break;
      case 80:
        sparki.moveBackward();
        break;
      case 36:
        sparki.moveLeft();
        delay(500);
        sparki.moveStop();
        break;
      case 34:
        sparki.moveRight();
        delay(500);
        sparki.moveStop();
        break;
      case 72:
        sparki.gripperOpen();
        break;
      case 66:
        sparki.gripperClose();
        break;
      case 68:
        sparki.servo(80);
        break;
      case 65:
        sparki.servo(-80);
        break;
      case 48:
        driving_forward = false;
        sparki.gripperStop();
        sparki.servo(0);
        break;
    }
   
    if (driving_forward) {
        sparki.moveForward();
    } else {
        sparki.moveStop();
    }
   
    //Reset Hover for next event
    hover.setRelease(ts);

  }
}

Thanks for reading, feel free to submit comments and remarks below.