Gelstronic
Published © GPL3+

GRawler - The Glass Roof Cleaner

My new created machine to clean glass roofs.

AdvancedFull instructions provided10 hours8,321

Things used in this project

Hardware components

1m Aluminium round metal rod 10mm
×1
piece of Aluminium round metal rod 6mm
×1
2m Aluminium Square Tube 10x10mm
×1
2m Aluminium L profile 45x30mm
×1
Micro Submersible Water Pump
×1
Arduino Micro & Genuino Micro
Arduino Micro & Genuino Micro
×1
NEMA 17 Stepper Motor
OpenBuilds NEMA 17 Stepper Motor
×2
Stepper motor driver board A4988
SparkFun Stepper motor driver board A4988
×2
Arduino relay module
×1
550 Electric Brushed Motor
×1
RobotGeek 180 Degree Robot Servo
RobotGeek 180 Degree Robot Servo
×1
Perma-Proto Breadboard Half Size
Perma-Proto Breadboard Half Size
×1
Male Header 40 Position 1 Row (0.1")
Male Header 40 Position 1 Row (0.1")
×1
Female Header 8 Position 1 Row (0.1")
Female Header 8 Position 1 Row (0.1")
×2
Linear Regulator (7805)
Linear Regulator (7805)
×1
LiPo 3.7V 4000-6000mAh
×1
LiPo 11.1V 2200mAh
×1
Ferrite Core Round Cable
Ferrite Core Round Cable
×1
BT Module HC-05
×1
caps, 3x100µF,10nF,100nF
×1
resistor, 1K,22K,33K,2x4.7K
×1
Fuses. 10A , 5A
×1
plastic box, about 200x100x50mm
×1
Extra Long Radiator Brush (800mm)
×1
plastic canister 2l
×1
1.5m Aquarium/Pond Tubing OD: .375 or 3/8 or 9.5 mm; ID: .250 or 1/4 or 6.4 mm
×1
Caterpillar / plastic track
×1
long wiper blade (min 700mm) from truck
×1
a lot of cable zip ties
×1
insulating tape
×1
shrinking tube
×1
Threaded rods, 3m M8 with lots of nuts and washers
×1
Threaded rod : 1m M6 with nuts and washers
×1
Threaded rod : 1m M5 with nuts and washers
×1
Threaded rod : 0.2 m M3 with nuts and washers
×1
Screws 12x M3x12 (for Motors and gear)
×1
Screws 6x M3x50 (for drive wheels)with nuts
×1
Screws, M4x30 ,M5x30 ,M6x30
×1
Ball Bearing – 625 2RS 5x16x5
OpenBuilds Ball Bearing – 625 2RS 5x16x5
×6

Software apps and online services

Joystick BT commander

Hand tools and fabrication machines

Hot glue gun (generic)
Hot glue gun (generic)
bench drill
drill 1-10mm
3D Printer (generic)
3D Printer (generic)
small wrenches
screwdrivers
soldering station
various pliers
hacksaw

Story

Read more

Custom parts and enclosures

STL files for GRawler

GRawlerAll

Schematics

Eagle schematic

Schematic GRawler

Schematic pbnub9nz9n

Code

GRawler.ino

Arduino
/*
Pin 2  - 
Pin 3  - 
Pin 4  - enable motors
Pin 5  - DIR MOTOR 2
Pin 6  - Servo
Pin 7  - STEP MOTOR 1
Pin 8  - DIR MOTOR 1
Pin 9  - 
Pin 10 - - Micro switch LEFT Roller
Pin 16  - Micro switch RIGHT Roller 
Pin 14  - STEP MOTOR 2
Pin 15  - BrusherMotor
Pin A0  - accu stepper
Pin A1  - accu motor
Pin A2
Pin A3
*/
//Bluetooth input stuff------------------------------------------


#define    STX          0x02
#define    ETX          0x03
#define    ServoDown    40    // between 30-60
#define    ServoUp      50
#define CLR(x,y) (x&=(~(1<<y)))
#define SET(x,y) (x|=(1<<y))

#define ZERO_SPEED 65535

float joyY, joyX;                                         //smartphone joystick input values
int16_t speed_M1, speed_M2;        // Actual speed of motors
int8_t  dir_M1, dir_M2;            // Actual direction of steppers motors
uint8_t cmd[8] = {0, 0, 0, 0, 0, 0, 0, 0};                 // bytes received
uint8_t buttonStatus = 0;                                  // first Byte sent to Android device


//int analogPin = 0;   // potentiometer connected to analog pin 3
int val = 0;         // variable to store the read value
int Brusher = 15;      // relay brusher motor
int LEFTswitch = 10;
int RIGHTswitch = 16;


  // TIMER 1 : STEPPER MOTOR1 SPEED CONTROL
ISR(TIMER1_COMPA_vect)
{
  if (dir_M1 == 0) // If we are not moving we dont generate a pulse
    return;
  // We generate 1us STEP pulse
 
  SET(PORTE, 6); // STEP MOTOR 1               ---------------------------------   D7   ---------------------------------
 delay_1us();
  CLR(PORTE, 6);
}
// TIMER 3 : STEPPER MOTOR2 SPEED CONTROL
ISR(TIMER3_COMPA_vect)
{
  if (dir_M2 == 0) // If we are not moving we dont generate a pulse
    return;
  // We generate 1us STEP pulse
  
  SET(PORTB, 3); // STEP MOTOR 2                                ---------------------------   PORTD6/D12 -> PORTB3/D14    ------------------------
    delay_1us();
  
  CLR(PORTB, 3); //                                            ---------------------------   PORTD6/D12 -> PORTB3/D14    ------------------------
}










  // -------------------------------------------------------------------INITIALIZATION-------------------------------------------------------------------------------------------
void setup()
{

//-------------------- setup timer4 for servo pin6 ----------------------------------------------

    pinMode(6, OUTPUT);
    TCCR4B &= ~(_BV(CS43) | _BV(CS42) | _BV(CS41) | _BV(CS40));
    TCCR4B |= _BV(CS43) | _BV(CS41);
    TCCR4D &= ~(_BV(WGM41) | _BV(WGM40));
    TC4H = 624 >> 8; // B10 0x2
    OCR4C = 624 & 0xff;//B1110000 0x70
    TCCR4C |= (1<<COM4D1)|(1<<PWM4D); 




 
  pinMode(LEFTswitch, INPUT_PULLUP );
  pinMode(RIGHTswitch, INPUT_PULLUP );
  // STEPPER PINS 
  pinMode(4, OUTPUT); // ENABLE MOTORS
  pinMode(7, OUTPUT); // STEP MOTOR 1 PORTE,6
  pinMode(8, OUTPUT); // DIR MOTOR 1  PORTB,4
  pinMode(14, OUTPUT); // STEP MOTOR 2 PORTB,3               //  ---------------------------   PORTD6/D12 -> PORTB3/D14    ------------------------
  pinMode(5, OUTPUT); // DIR MOTOR 2  PORTC,6
  
  pinMode(Brusher, OUTPUT);
  digitalWrite(4, HIGH);  // Disbale motors
  digitalWrite(Brusher, HIGH);


  Serial.begin(115200); // Serial output to console
  Serial1.begin(115200);
delay(2000);



   // STEPPER MOTORS INITIALIZATION
  Serial.println("Steper motors initialization...");
  // MOTOR1 => TIMER1
  TCCR1A = 0;                       // Timer1 CTC mode 4, OCxA,B outputs disconnected
  TCCR1B = (1 << WGM12) | (1 << CS11); // Prescaler=8, => 2Mhz  | (1 << CS10)
  OCR1A = ZERO_SPEED;               // Motor stopped
  dir_M1 = 0;
  TCNT1 = 0;

  // MOTOR2 => TIMER3
  TCCR3A = 0;                       // Timer3 CTC mode 4, OCxA,B outputs disconnected
  TCCR3B = (1 << WGM32) | (1 << CS31); // Prescaler=8, => 2Mhz  | (1 << CS30)
  OCR3A = ZERO_SPEED;   // Motor stopped
  dir_M2 = 0;
  TCNT3 = 0;

 // Enable stepper drivers and TIMER interrupts
 // digitalWrite(4, LOW);   // Enable stepper drivers
  // Enable TIMERs interrupts
  TIMSK1 |= (1 << OCIE1A); // Enable Timer1 interrupt
  TIMSK3 |= (1 << OCIE1A); // Enable Timer1 interrupt




}



void loop()

{

  //val = analogRead(analogPin);   // read 1S Akku

  
bluetooth() ;
delay(10);
 //digitalWrite(4, LOW);  // Motors enable

  if (joyY>0){
    if (digitalRead(LEFTswitch)==LOW)
         {setMotorSpeedM1(joyY*3);
          setMotorSpeedM2(0);}
          
     else if (digitalRead(RIGHTswitch)==LOW)
         {setMotorSpeedM1(0);
          setMotorSpeedM2(joyY*3);}
          
     else {setMotorSpeedM1(joyY*3);
           setMotorSpeedM2(joyY*3);}
 
    
  }



   else if (joyY<0){
    if (digitalRead(LEFTswitch)==LOW)
         {setMotorSpeedM1(0);
          setMotorSpeedM2(joyY*3);}
          
     else if (digitalRead(RIGHTswitch)==LOW)
         {setMotorSpeedM1(joyY*3);
          setMotorSpeedM2(0);}
          
     else {setMotorSpeedM1(joyY*3);
           setMotorSpeedM2(joyY*3);}
 
  }
    else {setMotorSpeedM1(0);
           setMotorSpeedM2(0);}

           
Serial.println(joyY);
    Serial.print(" ");
    Serial.println(joyX);  

}






void bluetooth()
{
  if (Serial1.available())   // data received from smartphone
  {
    cmd[0] =  Serial1.read();
    if (cmd[0] == STX)
    {
      int i = 1;
      while (Serial1.available())
      {
        cmd[i] = Serial1.read();
        if (cmd[i] > 127 || i > 7)                   break; // Communication error
        if ((cmd[i] == ETX) && (i == 2 || i == 7))   break; // Button or Joystick data
        i++;
      }
      if      (i == 2)          getButtonState(cmd[1]);    // 3 Bytes  ex: < STX "C" ETX >
      else if (i == 7)          getJoystickState(cmd);     // 6 Bytes  ex: < STX "200" "180" ETX >
    }
  }
}






void getJoystickState(byte data[8])    {
  joyX = (data[1] - 48) * 100 + (data[2] - 48) * 10 + (data[3] - 48); // obtain the Int from the ASCII representation
  joyY = (data[4] - 48) * 100 + (data[5] - 48) * 10 + (data[6] - 48);
  joyX = joyX - 200;                                                  // Offset to avoid
  joyY = joyY - 200;                                                  // transmitting negative numbers

  if (joyX < -100 || joyX > 100 || joyY < -100 || joyY > 100)     return; // commmunication error
}











void getButtonState(int bStatus)  {
  switch (bStatus) {
    // -----------------  BUTTON #1  -----------------------
    case 'A':
      buttonStatus |= B000001;        // ON

      digitalWrite(Brusher, LOW);

      break;
    case 'B':
      buttonStatus &= B111110;        // OFF

      digitalWrite(Brusher, HIGH);

      break;

    // -----------------  BUTTON #2  -----------------------  enable/disable motors
   case 'C':
      buttonStatus |= B000010;        // ON
       digitalWrite(4, LOW);    
      break;
  case 'D':
     buttonStatus &= B111101;        // OFF
       digitalWrite(4, HIGH);
     break;

  // -----------------  BUTTON #3  -----------------------
    case 'E':
      buttonStatus |= B000100;        // ON

      TC4H = ServoUp >> 8;
      OCR4D = ServoUp & 0xff;

      break;
     case 'F':
      buttonStatus &= B111011;        // OFF

       TC4H = ServoDown >> 8;
       OCR4D = ServoDown & 0xff;

      break;


  }}

// 16 single cycle instructions = 1us at 16Mhz
void delay_1us()
{
  __asm__ __volatile__ (
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop" "\n\t"
    "nop");
}


  // Set speed of Stepper Motor1
// tspeed could be positive or negative (reverse)
void setMotorSpeedM1(int16_t speed)
{
  long timer_period;
  //int16_t speed;

  
  if (speed == 0)
  {
    timer_period = ZERO_SPEED;
    dir_M1 = 0;
  }
  else if (speed > 0)
  {
    timer_period = 2000000 / speed; // 2Mhz timer
    dir_M1 = 1;
    SET(PORTB, 4); // DIR Motor 1 (Forward)                     D4  ---------------------------------
  }
  else
  {
    timer_period = 2000000 / -speed;
    dir_M1 = -1;
    CLR(PORTB, 4); // Dir Motor 1
  }
  if (timer_period > 65535)   // Check for minimun speed (maximun period without overflow)
    timer_period = ZERO_SPEED;

  OCR1A = timer_period;
  // Check  if we need to reset the timer...
  if (TCNT1 > OCR1A)
    TCNT1 = 0;
}

// Set speed of Stepper Motor2
// tspeed could be positive or negative (reverse)
void setMotorSpeedM2(int16_t speed)
{
  long timer_period;
  //int16_t speed;

 

  if (speed == 0)
  {
    timer_period = ZERO_SPEED;
    dir_M2 = 0;
  }
  else if (speed > 0)
  {
    timer_period = 2000000 / speed; // 2Mhz timer
    dir_M2 = 1;
    CLR(PORTC, 6);   // Dir Motor2 (Forward)             D5 -------------------------------------
  }
  else
  {
    timer_period = 2000000 / -speed;
    dir_M2 = -1;
    SET(PORTC, 6);  // DIR Motor 2
  }
  if (timer_period > 65535)   // Check for minimun speed (maximun period without overflow)
    timer_period = ZERO_SPEED;

  OCR3A = timer_period;
  // Check  if we need to reset the timer...
  if (TCNT3 > OCR3A)
    TCNT3 = 0;
}

Credits

Gelstronic

Gelstronic

1 project • 7 followers

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