Jorvon Moss
Published © GPL3+

Sun, Space Bound Companion Bot

Hey there, ever wanted a companion bot that looked out of this world? Well, why not an astronaut-based companion bot?

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Sun, Space Bound Companion Bot

Things used in this project

Hardware components

Arduino Nano R3
Arduino Nano R3
×1
Adafruit Pro Trinket – 5V
×1
LED Dot Matrix Display, Red
LED Dot Matrix Display, Red
×2
SG90 Micro-servo motor
SG90 Micro-servo motor
×3
Adafruit Perma Proto Bonnet Mini Kit
Adafruit Perma Proto Bonnet Mini Kit
×1
Rechargeable Battery, Lithium Ion
Rechargeable Battery, Lithium Ion
×2
Clear Plastic Acrylic Bath Bomb Mold Shells
×1
foam sheet
×1

Hand tools and fabrication machines

Hot glue gun (generic)
Hot glue gun (generic)
3D Printer (generic)
3D Printer (generic)

Story

Read more

Custom parts and enclosures

Suns Boots

Suns little cute feet

Sun go pro holder

the go pro holder sun sits on so he can be placed on my shoulder.

Sun Part

Suns head

Suns PLate

the plate in the head that hold up the eyes

sun body

I put together the torso in one file to make it easier to make.

sun servo holder

the servo holder for suns legs

Suns Led Eye Holder

the eye holder/servo holder for suns eyes

Schematics

eye Diagram

Pro trinket

the servo Pins go into port 3,5 and 6.

Code

Code Sun

Arduino
The code I used for Sun using the Adafruit Pro Trinket
#include <Servo.h> 

#define SERVO_1_PIN 3
#define SERVO_2_PIN 5
#define SERVO_3_PIN 6

#define RND_SEED 0

#define wait 2000

Servo s1;
Servo s2;
Servo s3;


void setup() 
{  
  Serial.begin(9600);

  s1.attach(SERVO_1_PIN);
  s2.attach(SERVO_2_PIN);
  s3.attach(SERVO_3_PIN);
  
  randomSeed(analogRead(RND_SEED));

  delay(500);
}

void loop() 
{
  long rand1 = random(1,181);
  long rand2 = random(1,181);
  long rand3 = random(1,181);

  writeServo(s1,rand1);
  writeServo(s2,rand2);
  writeServo(s3,rand3);

  delay(wait);
}


void writeServo(Servo s, int angle)
{
  s.write(angle);
}

Sun eyes.

Arduino
Sun eyes
#include <LedControl.h>

//We always have to include the LedControl library
#include "LedControl.h"

/*
 Create LetControl object, define pin connections
 We have 2 MAX72XX for eyes.
 */
#define PIN_EYES_DIN 12
#define PIN_EYES_CS 11
#define PIN_EYES_CLK 10
LedControl lc = LedControl(PIN_EYES_DIN, PIN_EYES_CLK, PIN_EYES_CS, 2);

// rotation
bool rotateMatrix0 = false;  // rotate 0 matrix by 180 deg
bool rotateMatrix1 = false;  // rotate 1 matrix by 180 deg

// define eye ball without pupil  
byte eyeBall[8]={
  B00111100,
  B01111110,
  B11111111,
  B11111111,
  B11111111,
  B11111111,
  B01111110,
  B00111100
};

byte eyePupil = B11100111;

// stores current state of LEDs
byte eyeCurrent[8];
int currentX;
int currentY;
int cntLoop = 0;
int cntEffect = 0;

// min and max positions
#define MIN -2
#define MAX  2

// delays
#define DELAY_BLINK 40

// perform an effect every # of loop iterations, 0 to disable
#define EFFECT_ITERATION 4

/*
  Arduino setup
*/
void setup() 
{
  // MAX72XX is in power-saving mode on startup, we have to do a wakeup call
  lc.shutdown(0,false);
  lc.shutdown(1,false);

  // set the brightness to low
  lc.setIntensity(0,1);
  lc.setIntensity(1,1);

  // clear both modules
  lc.clearDisplay(0);
  lc.clearDisplay(1);
 
  // LED test
  // vertical line
  byte b = B10000000;
  for (int c=0; c<=7; c++)
  {
    for (int r=0; r<=7; r++)
    {
      setRow(0, r, b);
      setRow(1, r, b);
    }
    b = b >> 1;
    delay(50);
  }
  // full module
  b = B11111111;
  for (int r=0; r<=7; r++)
  {
    setRow(0, r, b);
    setRow(1, r, b);
  }
  delay(500);
  
   // clear both modules
  lc.clearDisplay(0);
  lc.clearDisplay(1);
  delay(500);

  // random seed
  randomSeed(analogRead(0));
 
  // center eyes, crazy blink
  displayEyes(0, 0);
  delay(2000);
  blinkEyes(true, false);
  blinkEyes(false, true);
  delay(1000);

}

/*
  Arduino loop
*/
void loop() 
{ 
  // move to random position, wait random time
  moveEyes(random(MIN, MAX + 1), random(MIN, MAX + 1), 50);
  delay(random(5, 7) * 500);
  
  // blink time?
  if (random(0, 5) == 0)
  {
    delay(500);
    blinkEyes();
    delay(500);
  }
  
  // effect time?
  if (EFFECT_ITERATION > 0)
  {
    cntLoop++;
    if (cntLoop == EFFECT_ITERATION)
    {
      cntLoop = 0;
      if (cntEffect > 6) cntEffect = 0;
      switch(cntEffect)
      {
        case 0: // cross eyes
          crossEyes();
          delay(1000);
          break;
    
        case 1: // round spin
          roundSpin(2);
          delay(1000);
          break;
        
        case 2: // crazy spin
          crazySpin(2);
          delay(1000);
          break;
        
        case 3: // meth eyes
          methEyes();
          delay(1000);
          break;
                
        case 4: // lazy eye
          lazyEye();
          delay(1000);
          break;
          
        case 5: // crazy blink
          blinkEyes(true, false);
          blinkEyes(false, true);
          delay(1000);
          break;

        case 6: // glow
          glowEyes(3);
          delay(1000);
          break;

        default: 
          break;
      }
      cntEffect++;
    }
  }
}

/*
  This method blinks both eyes
*/
void blinkEyes()
{
  blinkEyes(true, true);
}

/*
  This method blinks eyes as per provided params
*/
void blinkEyes(boolean blinkLeft, boolean blinkRight)
{
  // blink?
  if (!blinkLeft && !blinkRight)
    return;
  
  // close eyelids
  for (int i=0; i<=3; i++)
  {
    if (blinkLeft)
    {
      setRow(0, i, 0);
      setRow(0, 7-i, 0);
    }
    if (blinkRight)
    {
      setRow(1, i, 0);
      setRow(1, 7-i, 0);
    }
    delay(DELAY_BLINK);
  }
  
  // open eyelids
  for (int i=3; i>=0; i--) 
  {
    if (blinkLeft)
    {
      setRow(0, i, eyeCurrent[i]);
      setRow(0, 7-i, eyeCurrent[7-i]);
    }
    if (blinkRight)
    {
      setRow(1, i, eyeCurrent[i]);
      setRow(1, 7-i, eyeCurrent[7-i]);
    }
    delay(DELAY_BLINK);
  }
}

/*
  This methods moves eyes to center position, 
  then moves horizontally with wrapping around edges.
*/
void crazySpin(int times)
{
  if (times == 0)
    return;
  
  moveEyes(0, 0, 50);
  delay(500);
  
  byte row = eyePupil;
  for (int t=0; t<times; t++)
  {
    // spin from center to L
    for (int i=0; i<5; i++)
    {
      row = row >> 1;
      row = row | B10000000;
      setRow(0, 3, row);  setRow(1, 3, row);  
      setRow(0, 4, row);  setRow(1, 4, row);
      delay(50); 
      if (t == 0) 
        delay((5-i)*10); // increase delay on 1st scroll (speed up effect)
    }
    // spin from R to center
    for (int i=0; i<5; i++)
    {
      row = row >> 1;
      if (i>=2) 
        row = row | B10000000;
      setRow(0, 3, row);  setRow(1, 3, row);  
      setRow(0, 4, row);  setRow(1, 4, row);
      delay(50);
      if (t == (times-1)) 
        delay((i+1)*10); // increase delay on last scroll (slow down effect)
    }
  }
}

/*
  This method crosses eyes
*/
void crossEyes()
{
  moveEyes(0, 0, 50);
  delay(500);

  byte pupilR = eyePupil;  
  byte pupilL = eyePupil;
  
  // move pupils together
  for (int i=0; i<2; i++)
  {
    pupilR = pupilR >> 1;
    pupilR = pupilR | B10000000;
    pupilL = pupilL << 1;
    pupilL = pupilL | B1;
    
    setRow(0, 3, pupilR); setRow(1, 3, pupilL);
    setRow(0, 4, pupilR); setRow(1, 4, pupilL);
    
    delay(100);
  }
  
  delay(2000);
  
  // move pupils back to center
  for (int i=0; i<2; i++)
  {
    pupilR = pupilR << 1;
    pupilR = pupilR | B1;
    pupilL = pupilL >> 1;
    pupilL = pupilL | B10000000;
    
    setRow(0, 3, pupilR); setRow(1, 3, pupilL);
    setRow(0, 4, pupilR); setRow(1, 4, pupilL);
    
    delay(100);
  }
}

/*
  This method displays eyeball with pupil offset by X, Y values from center position.
  Valid X and Y range is [MIN,MAX]
  Both LED modules will show identical eyes
*/
void displayEyes(int offsetX, int offsetY) 
{
  // ensure offsets are  in valid ranges
  offsetX = getValidValue(offsetX);
  offsetY = getValidValue(offsetY);
  
  // calculate indexes for pupil rows (perform offset Y)
  int row1 = 3 - offsetY;
  int row2 = 4 - offsetY;

  // define pupil row
  byte pupilRow = eyePupil;

  // perform offset X
  // bit shift and fill in new bit with 1 
  if (offsetX > 0) {
    for (int i=1; i<=offsetX; i++)
    {
      pupilRow = pupilRow >> 1;
      pupilRow = pupilRow | B10000000;
    }
  }
  else if (offsetX < 0) {
    for (int i=-1; i>=offsetX; i--)
    {
      pupilRow = pupilRow << 1;
      pupilRow = pupilRow | B1;
    }
  }

  // pupil row cannot have 1s where eyeBall has 0s
  byte pupilRow1 = pupilRow & eyeBall[row1];
  byte pupilRow2 = pupilRow & eyeBall[row2];
  
  // display on LCD matrix, update to eyeCurrent
  for(int r=0; r<8; r++)
  {
    if (r == row1)
    {
      setRow(0, r, pupilRow1);
      setRow(1, r, pupilRow1);
      eyeCurrent[r] = pupilRow1;
    }
    else if (r == row2)
    {
      setRow(0, r, pupilRow2);
      setRow(1, r, pupilRow2);
      eyeCurrent[r] = pupilRow2;
    }
    else
    {
      setRow(0, r, eyeBall[r]);
      setRow(1, r, eyeBall[r]);
      eyeCurrent[r] = eyeBall[r];
    }
  }
  
  // update current X and Y
  currentX = offsetX;
  currentY = offsetY;
}

/*
  This method corrects provided coordinate value
*/
int getValidValue(int value)
{
  if (value > MAX)
    return MAX;
  else if (value < MIN)
    return MIN;
  else
    return value;
}

/*
  This method pulsates eye (changes LED brightness)
*/
void glowEyes(int times)
{
  for (int t=0; t<times; t++)
  {
    for (int i=2; i<=8; i++)
    {
      lc.setIntensity(0,i);
      lc.setIntensity(1,i);
      delay(50);
    }

    delay(250);

    for (int i=7; i>=1; i--)
    {
      lc.setIntensity(0,i);
      lc.setIntensity(1,i);
      delay(25);
    }

    delay(150);
  }
}

/*
  This method moves eyes to center, out and then back to center
*/
void methEyes()
{
  moveEyes(0, 0, 50);
  delay(500);

  byte pupilR = eyePupil;  
  byte pupilL = eyePupil;

  // move pupils out
  for (int i=0; i<2; i++)
  {
    pupilR = pupilR << 1;
    pupilR = pupilR | B1;
    pupilL = pupilL >> 1;
    pupilL = pupilL | B10000000;
    
    setRow(0, 3, pupilR); setRow(1, 3, pupilL);
    setRow(0, 4, pupilR); setRow(1, 4, pupilL);
    
    delay(100);
  }

  delay(2000);
  
  // move pupils back to center
  for (int i=0; i<2; i++)
  {
    pupilR = pupilR >> 1;
    pupilR = pupilR | B10000000;
    pupilL = pupilL << 1;
    pupilL = pupilL | B1;
    
    setRow(0, 3, pupilR); setRow(1, 3, pupilL);
    setRow(0, 4, pupilR); setRow(1, 4, pupilL);
    
    delay(100);
  }
}

/*
  This method moves both eyes from current position to new position
*/
void moveEyes(int newX, int newY, int stepDelay)
{
  // set current position as start position
  int startX = currentX;
  int startY = currentY;
  
  // fix invalid new X Y values
  newX = getValidValue(newX);
  newY = getValidValue(newY);
  
  // eval steps
  int stepsX = abs(currentX - newX);
  int stepsY = abs(currentY - newY);

  // need to change at least one position
  if ((stepsX == 0) && (stepsY == 0))
    return;
   
  // eval direction of movement, # of steps, change per X Y step, perform move
  int dirX = (newX >= currentX) ? 1 : -1;
  int dirY = (newY >= currentY) ? 1 : -1;
  int steps = (stepsX > stepsY) ? stepsX : stepsY;
  int intX, intY;
  float changeX = (float)stepsX / (float)steps;
  float changeY = (float)stepsY / (float)steps;
  for (int i=1; i<=steps; i++)
  {
    intX = startX + round(changeX * i * dirX);
    intY = startY + round(changeY * i * dirY);
    displayEyes(intX, intY);
    delay(stepDelay);
  }
}

/*
  This method lowers and raises right pupil only
*/
void lazyEye()
{
  moveEyes(0, 1, 50);
  delay(500);
  
  // lower left pupil slowly
  for (int i=0; i<3; i++)
  {
    setRow(1, i+2, eyeBall[i+2]);
    setRow(1, i+3, eyeBall[i+3] & eyePupil);
    setRow(1, i+4, eyeBall[i+4] & eyePupil);
    delay(150);
  }
  
  delay(1000);
  
  // raise left pupil quickly
  for (int i=0; i<3; i++)
  {
    setRow(1, 4-i, eyeBall[4-i] & eyePupil);
    setRow(1, 5-i, eyeBall[5-i] & eyePupil);
    setRow(1, 6-i, eyeBall[6-i]);
    delay(25);
  }  
}

/*
  This method spins pupils clockwise
*/
void roundSpin(int times)
{
  if (times == 0)
    return;
  
  moveEyes(2, 0, 50);
  delay(500);
  
  for (int i=0; i<times; i++)
  {
    displayEyes(2, -1); delay(40); if (i==0) delay(40);
    displayEyes(1, -2); delay(40); if (i==0) delay(30);
    displayEyes(0, -2); delay(40); if (i==0) delay(20);
    displayEyes(-1, -2); delay(40);if (i==0) delay(10);
    displayEyes(-2, -1); delay(40);
    displayEyes(-2, 0); delay(40);
    displayEyes(-2, 1); delay(40);if (i==(times-1)) delay(10);
    displayEyes(-1, 2); delay(40);if (i==(times-1)) delay(20);
    displayEyes(0, 2); delay(40); if (i==(times-1)) delay(30);
    displayEyes(1, 2); delay(40); if (i==(times-1)) delay(40);
    displayEyes(2, 1); delay(40); if (i==(times-1)) delay(50);
    displayEyes(2, 0); delay(40);
  }
}


/*
  This method sets values to matrix row
  Performs 180 rotation if needed
*/
void setRow(int addr, int row, byte rowValue)
{
  if (((addr == 0) && (rotateMatrix0)) || (addr == 1 && rotateMatrix1))
  {
    row = abs(row - 7);
    rowValue = bitswap(rowValue);
  }

  lc.setRow(addr, row, rowValue);
}


/*
  Reverse bits in byte
  http://www.nrtm.org/index.php/2013/07/25/reverse-bits-in-a-byte/
*/
byte bitswap (byte x)
{
  byte result;
 
    asm("mov __tmp_reg__, %[in] \n\t"
      "lsl __tmp_reg__  \n\t"   /* shift out high bit to carry */
      "ror %[out] \n\t"  /* rotate carry __tmp_reg__to low bit (eventually) */
      "lsl __tmp_reg__  \n\t"   /* 2 */
      "ror %[out] \n\t"
      "lsl __tmp_reg__  \n\t"   /* 3 */
      "ror %[out] \n\t"
      "lsl __tmp_reg__  \n\t"   /* 4 */
      "ror %[out] \n\t"
 
      "lsl __tmp_reg__  \n\t"   /* 5 */
      "ror %[out] \n\t"
      "lsl __tmp_reg__  \n\t"   /* 6 */
      "ror %[out] \n\t"
      "lsl __tmp_reg__  \n\t"   /* 7 */
      "ror %[out] \n\t"
      "lsl __tmp_reg__  \n\t"   /* 8 */
      "ror %[out] \n\t"
      : [out] "=r" (result) : [in] "r" (x));
      return(result);
}

Credits

Jorvon Moss

Jorvon Moss

5 projects • 56 followers
Hi, I am odd. Odd Jayy to be precise, I'm a tinker, who is design to make gadgets and robots, big fan on steampunk and cyberpunk

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