Cyno02 Arduino Robot walker

thingiverse

Cyno02 is a remix of cyno01 (http://www.thingiverse.com/thing:2077834). It's better balanced and faster, using an ultrasonic sensor. I've replaced the Topmodel motors with Futaba models. Its removable head allows for quicker obstacle avoidance in case of detection. On the video, you can see a short demo of the Cynos. After a quick welcome dance, Cyno2 moves while keeping its head aligned with its "sway" axis. In the attached files, I've uploaded four ZIPs: * Arduino-cyno2-v1-0.zip: Main code for the Arduino * arduino_cyno2-tete.zip: Code to adjust the center of the servo Head * arduino-cyno2-centre.zip: Code to adjust the centers of the 4 servos Legs and feet. (The values of the 5 calibrations should be reported in the main code) * freecad-CYNO2.zip: CAO sources under FreeCAD Its nomenclature includes: * 4 x Servo FUTABA S3001 * 1 x SG90 Micro servo * 1 x Inter ref 700092 CONRAD * 1 x Contact pression for coupler ref 624691 CONRAD * 1 x COUPLEUR 6 R6 ref 615587 CONRAD * 6 x pile AA 2300mAh * 1 x ARDUINO UNO * 1 x CAPTEUR Ultrason ref HC-SR04 * 2 x LED bicouleur ref 2285764 (RS) * 6 x Résistance 220R * 1 x régulateur de tension 7806 * 1 x C1 0.33µF * 1 x C2 0.10µF Arduino pinout: * LED BICOULEUR D5mm GAUCHE TETE: PIN 6 (anode rouge) * PIN 5: anode VERT * LED BICOULEUR D5mm DROITE TETE: PIN 10 (anode rouge) * PIN 9: anode vert * 4 LED blanche D5mm on the torso: PIN 3 Servo FUTABA S3001 assignment for legs and feet: * PIN 2: Servo Jambe Gauche * PIN 13: Servo Jambe Droit * PIN 4: Servo Pied Gauche * PIN 7: Servo Pied Droit Micro servo SG90 assignment for head: * PIN 8 Ultrasonic sensor pinout: * PIN = 12: Broche trigger * PIN = 11: Broche ECHO Print Settings: * Printer Brand: Zortrax * Printer: Zortrax M200 * Rafts: Yes * Supports: Yes * Resolution: 0.14 * Infill: Low * Notes: Z-ABS I recommend printing the Clips vertically (axis towards the top). The ideal angle for printing the legs is 87° relative to the print bed plane.