Otto Biped with Arduino MKR1010 and MKR RGB Shield

We will use the Arduino MKR1010 together with MKR RGB Shield with Otto showing his expression with his eyes.

IntermediateFull instructions provided1,004

Otto Biped with Arduino MKR1010 and MKR RGB Shield

Things used in this project

Hardware components

Arduino MKR WiFi 1010

Arduino MKR RGB Shield

SG90 Micro-servo motor

Battery Holder, 18650 x 2

Toggle Switch, (On)-Off-(On)

Baidu Regulator Step Down LM2596

Hand tools and fabrication machines

Plier, Long Nose

Multitool, Screwdriver

3D Printer (generic)

Story

Biped Otto with Arduino

We set up a biped using the open source file Otto DIY programmed on the MKR1010 WiFi card with the MRK RGB Shield to make the eyes blink and angry.

The goal of using the MKR WiFi card is to connect Otto to the Arduino Cloud to send commands remotely over the internet.

I used 6 servo motors and in the programming we created a left step and right step function, the parameters that you will pass in the function must be adjusted according to your assembly, because the weight of the biped and the position of the servo motor are influencing factors in the step.

Presentation of the otto project with arduino

The battery used was the lithium battery removed from notebook, attention to lower the voltage with an LM2560 regulator to 5V because the MKR board only supports up to 5V.

https://www.profsandromesquita.com/

http://www.arduinoceara.com/

Code

Code Otto

#include <ArduinoGraphics.h> // Arduino_MKRRGB depends on ArduinoGraphics
#include <Arduino_MKRRGB.h>
#include <Servo.h>

Servo bracoE, pernaE, peE, bracoD, pernaD, peD;

byte y = 0;

void setup() {
  // initialize the display
  MATRIX.begin();

  // set the brightness, supported values are 0 - 255
  MATRIX.brightness(10);

  bracoE.attach(A1); //Brao esquerdo 170 alto, 80 baixo
  pernaE.attach(A2); //Perna esquerda 170 frente, 80 meio, 0 tras
  peE.attach(A3); //P esquerdo 170 cima, 80 plano, 10 ponta de p
  bracoD.attach(A4); //Brao direito 170 baixo, 80 alto
  pernaD.attach(A5); //Perna direita 170 tras, 80 meio, 10 frente
  peD.attach(A6); ////P direito 0 cima, 80 plano, 160 ponta de p

  posInicial();
  delay(2000);

}
void loop() {
  
  for (byte x = 0; x < 5; x++) {
    // set one pixel GREEN, using the stroke and point methods
    MATRIX.beginDraw();
    MATRIX.clear();
    MATRIX.stroke(0, 0, 255);
    //=======OLHO ABERTO======================
    //Olho esquerdo
    MATRIX.point(2, 1);
    MATRIX.point(1, 2);
    MATRIX.point(2, 2);
    MATRIX.point(3, 2);
    MATRIX.point(0, 3);
    MATRIX.point(1, 3);
    MATRIX.point(2, 3);
    MATRIX.point(3, 3);
    MATRIX.point(1, 4);
    MATRIX.point(2, 4);
    MATRIX.point(3, 4);
    MATRIX.point(2, 5);
    //Olho direito
    MATRIX.point(8, 1);
    MATRIX.point(7, 2);
    MATRIX.point(8, 2);
    MATRIX.point(9, 2);
    MATRIX.point(7, 3);
    MATRIX.point(8, 3);
    MATRIX.point(9, 3);
    MATRIX.point(10, 3);
    MATRIX.point(7, 4);
    MATRIX.point(8, 4);
    MATRIX.point(9, 4);
    MATRIX.point(8, 5);
    MATRIX.endDraw();

    delay(2000);

    MATRIX.clear();

    //=======OLHO NORMAL======================
    //Olho esquerdo
    MATRIX.point(1, 2);
    MATRIX.point(2, 2);
    MATRIX.point(3, 2);
    MATRIX.point(0, 3);
    MATRIX.point(1, 3);
    MATRIX.point(2, 3);
    MATRIX.point(3, 3);
    MATRIX.point(1, 4);
    MATRIX.point(2, 4);
    MATRIX.point(3, 4);
    //Olho direito
    MATRIX.point(7, 2);
    MATRIX.point(8, 2);
    MATRIX.point(9, 2);
    MATRIX.point(7, 3);
    MATRIX.point(8, 3);
    MATRIX.point(9, 3);
    MATRIX.point(10, 3);
    MATRIX.point(7, 4);
    MATRIX.point(8, 4);
    MATRIX.point(9, 4);
    MATRIX.endDraw();

    delay(30);

    MATRIX.clear();

    //=======OLHO FECHANDO======================
    //Olho esquerdo
    MATRIX.point(0, 3);
    MATRIX.point(1, 3);
    MATRIX.point(2, 3);
    MATRIX.point(3, 3);
    MATRIX.point(1, 4);
    MATRIX.point(2, 4);
    MATRIX.point(3, 4);
    //Olho direito
    MATRIX.point(7, 3);
    MATRIX.point(8, 3);
    MATRIX.point(9, 3);
    MATRIX.point(10, 3);
    MATRIX.point(7, 4);
    MATRIX.point(8, 4);
    MATRIX.point(9, 4);
    MATRIX.endDraw();

    delay(30);

    MATRIX.clear();

    //=======OLHO FECHADO======================
    //Olho esquerdo
    MATRIX.point(1, 3);
    MATRIX.point(2, 3);
    MATRIX.point(3, 3);
    MATRIX.point(2, 4);
    //Olho direito
    MATRIX.point(7, 3);
    MATRIX.point(8, 3);
    MATRIX.point(9, 3);
    MATRIX.point(8, 4);
    MATRIX.endDraw();

    delay(30);

    MATRIX.clear();

    //=======OLHO ESPREMIDO======================
    //Olho esquerdo
    MATRIX.point(1, 3);
    MATRIX.point(2, 3);
    MATRIX.point(3, 3);
    //Olho direito
    MATRIX.point(7, 3);
    MATRIX.point(8, 3);
    MATRIX.point(9, 3);
    MATRIX.endDraw();

    delay(130);
    // clear the display
    MATRIX.beginDraw();
    MATRIX.noFill();
    MATRIX.noStroke();
    MATRIX.clear();
    MATRIX.endDraw();
  }
  y=1;
  while (y > 0) {
    passoEsquerdo(60, 60, 50, 1000);
    passoDireito(110, 120, 100, 1000);
    if (y == 4) {
      y = 0;
      posInicial();
      delay(2000);
      //=======OLHO RAIVA======================
      MATRIX.beginDraw();
      MATRIX.clear();
      MATRIX.stroke(255, 0, 0);
      //Olho esquerdo
      MATRIX.point(0, 2);
      MATRIX.point(1, 2);
      MATRIX.point(2, 2);
      MATRIX.point(3, 2);
      MATRIX.point(0, 3);
      MATRIX.point(1, 3);
      MATRIX.point(2, 3);
      MATRIX.point(0, 4);
      MATRIX.point(1, 4);
      //Olho direito
      MATRIX.point(7, 2);
      MATRIX.point(8, 2);
      MATRIX.point(9, 2);
      MATRIX.point(10, 2);
      MATRIX.point(8, 3);
      MATRIX.point(9, 3);
      MATRIX.point(10, 3);
      MATRIX.point(9, 4);
      MATRIX.point(10, 4);
      MATRIX.endDraw();
      malhando();
    }
  }
}

void posInicial() {
  bracoE.write(80);
  pernaE.write(72);
  peE.write(80);
  bracoD.write(170);
  pernaD.write(80);
  peD.write(80);
}

int passoEsquerdo(int levantarCorpo, int enpurrarPeOposto, int girarCorpo, int tempo) {
  peD.write(levantarCorpo);
  peE.write(enpurrarPeOposto);
  delay(tempo);
  pernaD.write(girarCorpo);
  delay(tempo);
  posInicial();
  delay(tempo);
}

int passoDireito(int levantarCorpo, int enpurrarPeOposto, int girarCorpo, int tempo) {
  peD.write(levantarCorpo);
  peE.write(enpurrarPeOposto);
  delay(tempo);
  pernaD.write(girarCorpo);
  delay(tempo);
  posInicial();
  delay(tempo);
  y++;
}

void malhando() {
  bracoE.write(170);
  bracoD.write(80);
  delay(1000);
  bracoE.write(80);
  bracoD.write(170);
  delay(1000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(20);
  peD.write(150);
  delay(2000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(80);
  peD.write(80);
  delay(2000);
  bracoE.write(80);
  bracoD.write(170);
  peE.write(20);
  peD.write(150);
  delay(2000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(80);
  peD.write(80);
  delay(2000);
  bracoE.write(80);
  bracoD.write(170);
  peE.write(20);
  peD.write(150);
  delay(2000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(80);
  peD.write(80);
  delay(2000);
  bracoE.write(80);
  bracoD.write(170);
  peE.write(20);
  peD.write(150);
  delay(2000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(80);
  peD.write(80);
  delay(2000);
  bracoE.write(80);
  bracoD.write(170);
  peE.write(20);
  peD.write(150);
  delay(2000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(80);
  peD.write(80);
  delay(2000);
  posInicial();
  MATRIX.clear();
  delay(2000);
  
}

Credits

SandroMesquita

14 projects • 113 followers

Professor de robótica com Arduino e Raspberry, estudando e aplicando conhecimentos de I.A. usando a Linguagem Python como base.

Bianor

10 projects • 56 followers

Otto Biped with Arduino MKR1010 and MKR RGB Shield