Published July 4, 2019 © 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?

AdvancedFull instructions provided7,471

Things used in this project

Hardware components

Arduino Nano R3

LED Dot Matrix Display, Red

SG90 Micro-servo motor

Adafruit Perma Proto Bonnet Mini Kit

Rechargeable Battery, Lithium Ion

Clear Plastic Acrylic Bath Bomb Mold Shells

foam sheet

Hand tools and fabrication machines

Hot glue gun (generic)

3D Printer (generic)

Story

Once upon a time, in a galaxy FAR, FAR AWAY, I decided to make a space companion bot. This project was inspired of course by Alex Glow and Sophy Wong at Maker Faire Bay Area 2019. I was inspired by the idea of more companion bots and seeing Sophy's talk about her amazing space suit made me excited to try and make a space theme bot.

Assembly

Well step number one is to print the parts. There are a few parts to make Sun, around 7 inches tall. I tried to edit them the best I could to make them easily to reproduce.

I started with the base.

The ideas was simple. I was gonna make the a skeleton with 3D-printed parts, and cover it in fabric for the space look. After making the base, I went on and printed the Sun's head, which I tried to make a space helmet to be the head.

It fit on top pretty well, but I did hot glue it on to make it more stable. Next, knowing I wanted to use an LED matrix for eyes, I made an LED matrix eye holder with a servo placement holder so the eyes could look back and forth. I also printed a plate to fit inside the head and used screws to attached a servo arm to the plate.

It worked well!

Next, I took a moment to focus on the head a bit more. I used an old acrylic transparent sphere I had from Christmas and cut it in half until it looked like a visor. Then I used a technique I learned from Estefannie Explains It All to tint the clear acrylic, and for an added touch, I cut up and glued some foam to the bottom of the visor.

My next step was the legs. I CADed up some space boots and made a special holder for the servos so the legs can kick back and forth.I then hot glued the servo holders to the base that sticks out. I updated the file I am sharing with you so it should be a bit easier for you then it was for me.

Next was the circuit. It is a simple circuit, which uses an Adafruit Trinket Pro 5V to move three servos at random. I used an Arduino Nano as well for the eyes. At first I had a HUGE problem making them both work at the same time on a single power source, but once I made the circuit be powered by two different lithium-ion batteries, the problem solved itself.

I wired it all together perma board it and made a switch for it. I then used some fabric to cover the body best I could, I admit I am not must of a fabric user so it came out a bit weird but I think it was OK for my first go.

Next, I stuffed the circuit into the body.

I wired it with a switch so on and off will be easily done.

Lastly, I added a GoPro seat for him so he could sit on my shoulder using my bag. I always use a GoPro design for my bots recently, hahaha.

And that is it! I hope this tutorial made you smile a bit or inspired you to give it a try. I am linking all the people who help inspire this little guy below. Have an outer world day!

Alex Glow: https://www.instagram.com/glowascii

Sophy Wong: https://www.instagram.com/sophywongmakes

Estefannie Explains it All: https://www.instagram.com/estefanniegg

Schematics

Code

#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);
}

#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

9 projects • 243 followers

Hi Odd Jayy Here I'm a tinker, who is design to make gadgets and robots, support me http://ko-fi.com/odd_jayy http://patreon.com/Odd_Jayy

Sun, Space Bound Companion Bot

Things used in this project

Hardware components

Hand tools and fabrication machines

Story

Story

Assembly

Custom parts and enclosures

Suns Boots

Sun go pro holder

Sun Part

Suns PLate

sun body

sun servo holder

Suns Led Eye Holder

Schematics

eye Diagram

Pro trinket

Code

Code Sun

Sun eyes.

Credits

Jorvon Moss

Comments

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Sun, Space Bound Companion Bot

Sun, Space Bound Companion Bot

Things used in this project

Hardware components

Hand tools and fabrication machines

Story

Story

Assembly

Custom parts and enclosures

Suns Boots

Sun go pro holder

Sun Part

Suns PLate

sun body

sun servo holder

Suns Led Eye Holder

Schematics

eye Diagram

Pro trinket

Code

Code Sun

Sun eyes.

Credits

Jorvon Moss

Comments

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