NanoRover

thingiverse

Perhaps the smallest and cheapest rover you can print. The stepper motors are 4-Wire 2-Phase Mimi stepper motor micro stepper motor D6xH11mm with small Copper gear. Found this datasheet online: http://www.nidec-copal-electronics.com/e/product/files/file/b862724e290bcc90376e42235e959fd090c36ad7.pdf Seems it can pull around 300mA for 3N so try to get better batteries than what you have. I suggest two 3.7V 680mAh lipo batteries tied in series to the Raw pin on the Arduino. Here's what I plan on upgrading to: https://www.amazon.com/gp/product/B00MF3SAF2/ref=ox_sc_act_title_1?ie=UTF8&psc=1&smid=A3EFY0HU0G8BT6 The controller is Estone New Version Pro Mini Module Atmega328 5v 16m for Arduino Compatible: http://www.amazon.com/gp/product/B00GLES8BW? After the 8 DIO required for the steppers, you are left with six digital I/O (DIO) and eight analog I/O (AIO) for any sensing you want to add. Keep the batteries light since the steppers cannot handle too much weight. Print Settings Rafts: Yes Resolution: .1 mm Infill: 100% Notes: This print is tiny, obviously print at 100% and as fine a resolution as possible and very slow. With the wheels, print as is and gently widen the whole with a drill bit until they can wedge onto the stepper gear - be gentle though because you can pop the gear through the stepper case (ruining it). Post-Printing Step 1: Solder wire leads to steppers. Be careful as the stepper pins can burn or pull off. Step 2: Snap in stepper motors. It should be a tight fit – don't snap plastic support. Also, do not push directly on the gears since they can push through - ruining the stepper. I pre-snipped and tinned the wires to make soldering in the Arduino easier. The stepper coil pin pairs are perpendicular to the stepper shaft. Wire accordingly (can fix in code later anyway). Step 3: Solder Arduino to motors. I used DIO 6-9 for the left motor, and 13-10 for the right motor. Step 4: Don't hot glue the pcb to the chassis... makes soldering the header pins a pain. Step 5: wiggle on wheels (will need some fine tuning with a drill bit but do not push too hard on the gears), slap in one or two batteries, and you're ready to code. Custom Section AccelStepper.h To run multiple stepper motors simultaneously, check out AccelStepper library on GitHub. It's simple, lean, and super easy to use. Here's where you can get it: https://github.com/adafruit/AccelStepper