DIY

Cheetah with Bluetooth control

Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothThis robotic Cheetah is an improved version of the previous wizard.
3D-printed case
Control by Bluetooth, and offline mode
More powerful battery
An advanced algorithm of the robot
Easy to assemble
These are the main differences of this product from the previous one.
Let’s see a short video.

So, to build roboguard the master used the following
Tools and materials:
1) Arduino nano;
2) Bluetooth Module HC-05;
3) MG90S Servo – 9 PCs;
4) Ultrasonic sensor HC-SR04;
5) 3D printed parts;
6) Mount the ultrasonic sensor;
6) voltage Regulator DC-DC LM2596;
7) Battery 3.7 V 18650 – 2 PCs.;
8) battery Holder 18650 – 2 PCs.;
9) Switch;
10) M2 X 10 mm screw with nut – 32 piece.
11) double-Sided circuit Board;
12) Plugs and connectors;
13) Wire;
14) Soldering accessories;
15) Glue;
16) Screwdriver;
17) Glue gun;
18) Drill;
19) the Computer;
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothFirst step: 3D printing
3D printer master of the house no. He develops the details of the device on the service Tinkercad and sends the print order to the firm dealing with these services.
Download details for printing below.
feet
case
Step two: diagram, installation
According to the design of the robot will have 9 servos. Connect them using the digital pins from 2 to 10.
Arduino TX connects to RX Bluetooth RX and TX, the ultrasonic sensor Echo and Trigger connected to pins A2 and A3, and the power for the Bluetooth and the ultrasonic sensor is supplied from Arduino 5V. Power to the Arduino Vin is supplied directly from the 2 x 3.7 V 18650 battery. For servo power is supplied from the same 18650 battery, but a voltage regulator LM2596.
To build the wizard uses a double-sided printed circuit Board. On the one side of the Board is set to Arduino Nano, and on the opposite side of the Board mounted connectors for connecting components.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothStep three: assembling the legs
Only four feet. In each of these seven parts. With the development of a master mounted the minimum clearance of seats 0.1 mm, so the items sit tight. But they still have to move freely, the seats are polishing it with sandpaper.
Some parts should be glued, but the glue should not get in moving joints.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothStep four: install the parts on the body
When the case was printed, the wizard realized that I forgot to design the mounting holes. However, it is easy to fix.
Places on the body servos, marks the site of attachment. Drills holes.
Another revision of the housing had a groove in the front. Just initially he had planned to install the servo for the head, but in the course of work such an idea arose.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothEstablishes and fixes the servos. Lays wire from them to the Arduino.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothEstablishes Arduino and controller.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothConnect the switch and battery compartment.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothSets the ultrasonic sensor.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothStep five: balancing
Now we need to fix the battery. But not just secure, it need to balance the body.
Said marker the center of the body. Using a screwdriver, lifts the housing along the Central line. Install batteries and finds the position at which the housing is horizontal. Then you need to mark the location of the mounts of the battery compartment.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothWith the help of a cable tie secures the wires. Secures the battery.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothStep six: install the legs
Next you need to install the legs and connect them with the servos.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothThe angles of the servos to install the following:
Leg1F = 80 degrees
Leg1B = 100 degrees
Leg2F = 100 degrees
Leg2B = 80 degrees
Leg3F = 80 degrees
Leg3B = 100 degrees
Leg4F = 100 degrees
Leg4B = 80
Head = 90
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothStep seven: program for Android
For the robot controller must be installed on a smartphone running Android file.
The apk file.
This is a very simple program developed for Android using MIT App Inventor . While for each action, use 21 character. When the Arduino received the character through Bluetooth, it executes the command according to the received symbol.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothThe following:
G Front left
F Front
I Front-Right
L Left
S Stop
R Right
H BAck left
B BAck
J BAck right
U Up
D Down
W Front only down
X Back only down
Y only UP Front
Z Back UP only
O Fullstand
P Fullshit
C Check
V Hai
M Manual
A Auto
Гепард с управлением по BluetoothГепард с управлением по BluetoothTo control roboguards turn on Bluetooth on your smartphone and click the Baby Cheetah V2. Click select and select Bluetooth Arduino Bluetooth HC-05. Opens the control screen. The program has a choice between manual and automatic control modes. In automatic mode the control buttons are not active.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothStep eight code for Arduino
Download the code at this link.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothIn the code, Arduino has a function to hold the body in the same position during walking and turning. For this purpose the angle of movement of a foot is calculated for each height and folds into a multidimensional array. According to the commands received from Android the program checks the array and moves the foot in this direction. Thus, the body is at the same height during walking and turning.
In the previous version control of servos is not provided, so they worked at full speed. In this version of the spelled out command to the speed control servo.
In Autonomous mode, the robot moves automatically by using ultrasonic sensor.
If the distance to the obstacle is greater than 5 cm, then he moves on.
It has four positions up/down. When finding obstacles, he crouches and scans the area for “creeping”. If the obstacle is solid, then again rectified and scans the spaces, trying to get around the obstacle.

Everything is ready. The only not completed item, this cover case. The cover is printed, but not yet delivered to the homebrew.
Гепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по BluetoothГепард с управлением по Bluetooth

Source:

usamodelkina.ru

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