Akash Ravichandran
Published © GPL3+

Blynk Controlled BIPED

A biped controlled by using Blynk app.

AdvancedFull instructions providedOver 1 day1,149

Things used in this project

Hardware components

Servos (Tower Pro MG996R)
×6
Jumper wires (generic)
Jumper wires (generic)
×14
9V battery (generic)
9V battery (generic)
×1
Servo Shield
×1
Double Side Tape
×1

Software apps and online services

Arduino IDE
Arduino IDE
Fusion 360
Autodesk Fusion 360

Hand tools and fabrication machines

Driller

Story

Read more

Custom parts and enclosures

CAD Design

The Design which we implemented.

Schematics

Servo Connection

Servo are Connected in this manner, based on which servo is assigned which pin on the shield. It is clearly mentioned on the program.

Code

Arduino Code

C/C++
This code is the final that gets uploaded to the arduino.
#include <Servo.h>
Servo a1,a2,b1,b2,c1;
int x[20];
String z;
char y; 
int d=90;
int h=90;
int s=0,i=0,j=90,t=90;
int k=0,a=0,l=0,p=0,f=1,q=0,o=0;
long duration, distance;

void setup() 
{
  Serial.begin(9600);
a1.attach(11);
a2.attach(10);
b1.attach(9);
b2.attach(5); 
c1.attach(3);
 a1.write(90);
 a2.write(90);
 b1.write(90);
 b2.write(90);
 c1.write(95);
  pinMode(12, OUTPUT);
 pinMode(8, INPUT); 
  pinMode(2,OUTPUT);
 digitalWrite(2,HIGH); 
}

void loop()
{
  if(Serial.available()>0)
  {
     z=Serial.readStringUntil('#');
  y= z[z.length()-1]; 
  }
  digitalWrite(12, LOW); 
 delayMicroseconds(2); 

 digitalWrite(12, HIGH);
 delayMicroseconds(10); 
 
 digitalWrite(12, LOW);
 duration = pulseIn(8, HIGH);
 distance = duration/58.2;
  if(distance>=25||distance==0)
  {
    y=y; 
  }
  else
  {
    y='s';
  }
  if(y=='f')
  {
  if(s==0)
  {
     // delay(5000);
  c1.write(105);
  delay(600);
  while(k==0)
 {
  c1.write(105);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 c1.write(95);
 delay(100);
 k=0;
  } 
for(i=90;i<=105;i+=1)
{ 
    a1.write(i);
    delay(30);
  a2.write(j);
    j=j-1;
  delay(30);
}
delay(100);
for(i=90;i<=105;i+=1)
  {
    b1.write(i);
    delay(30);
     b2.write(t);
          t=t-1;
    delay(30); 
  }
 delay(100);
c1.write(83);
delay(800);
while(k==0)
 {
  c1.write(83);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 c1.write(95);
 delay(200);
 k=0;

c1.write(83);
delay(800);
while(k==0)
 {
  c1.write(83);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 c1.write(95);
 delay(100);
 k=0;
 x[0]=a1.read();
x[1]=a2.read();
x[2]=b1.read();
x[3]=b2.read();
for(i=x[0];i>=90;i-=1)
{
  a1.write(i);
  delay(30);
  a2.write(x[1]);
  x[1]=x[1]+1;
  delay(30);
}
delay(100);
for(i=x[2];i>=90;i-=1)
{
  b1.write(i);
  delay(30);
  b2.write(x[3]);
  x[3]=x[3]+1;
  delay(30);
  
}
delay(100);
for(i=90;i>=75;i-=1)
{ 
    b1.write(i);
    delay(30);
  b2.write(d);
    d=d+1;
  delay(30);
}
delay(100);
for(i=90;i>=75;i-=1)
{ 
    a1.write(i);
    delay(30);
  a2.write(h);
    h=h+1;
  delay(30);
}
c1.write(105);
delay(400);
while(k==0)
 {
  c1.write(105);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 k=0;
 c1.write(95);
 delay(200);
 c1.write(105);
delay(400);
while(k==0)
 {
  c1.write(105);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 k=0;
 c1.write(95);
 delay(100);
 x[4]=a1.read();
x[5]=a2.read();
x[6]=b1.read();
x[7]=b2.read();
for(i=x[6];i<=90;i++)
{
  b1.write(i);
  delay(30);
  b2.write(x[7]);
  x[7]=x[7]-1;
  delay(30);
}
delay(100);
for(i=x[4];i<=90;i++)
{
  a1.write(i);
  delay(30);
  a2.write(x[5]);
  x[5]=x[5]-1;
  delay(30);
}
delay(100);
/*c1.write(83);
delay(400);
while(k==0)
 {
  c1.write(83);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 c1.write(95);
 delay(100);*/
 k=0;
d=90;
h=90;
t=90;
j=90;
s=1;
l=1;
f=0;
q=1;
  }
  //delay(50);
  else if(y=='s')
  {
    if(l==1)
    {
      delay(100);
    c1.write(83);
delay(800);
while(k==0)
 {
  c1.write(83);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 c1.write(95);
 delay(100);
 k=0;
}
f=1;
p=0;
s=0;
l=0;
o=0;
q=0;
  }
 else if(y=='k')
 {
if(f==1)
{
  k=0;
   c1.write(105);
delay(400);
while(k==0)
 {
  c1.write(105);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 k=0;
 c1.write(95);
 delay(200); 
}
f=0;

  if(p==0)
  {
     /*c1.write(83);
delay(800);
while(k==0)
 {
  c1.write(83);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 c1.write(95);
 delay(100);
 k=0;*/
x[0]=a1.read();
x[1]=a2.read();
for(i=x[0];i<=145;i++)
{
   a1.write(i);
    delay(30);
  a2.write(x[1]);
    x[1]=x[1]-1;
  delay(30);
}
delay(100);
//
x[0]=a1.read();
x[1]=a2.read();
for(i=x[1];i>=30;i--)
{
  a2.write(i);
  delay(30);
}

delay(100);
x[0]=a1.read();
x[1]=a2.read();

for(i=x[0];i>=100;i--)
{
  a1.write(i);
  delay(30);
}
delay(100);
x[2]=b1.read();
x[3]=b2.read();
for(i=x[2];i<=105;i++)
{
  b1.write(i);
  delay(60);
  b2.write(x[3]);
  x[3]=x[3]-1;
  delay(60);
}
delay(100);
x[2]=b1.read();
x[3]=b2.read();
x[0]=a1.read();
x[1]=a2.read();
for(i=x[0];i>=55;i--)
{
  a1.write(i);
  delay(30);
}
delay(100);
x[0]=a1.read();
x[1]=a2.read();
for(i=x[0];i<=100;i++)
{
  a1.write(i);
  delay(30);
}
delay(100);
for(i=x[2];i>=90;i--)
{
  b1.write(i);
  delay(60);
  b2.write(x[3]);
  x[3]=x[3]+1;
  delay(60);
}
x[0]=a1.read();
x[1]=a2.read();
delay(200);
for(i=x[0];i<=145;i++)
{
  a1.write(i);
  delay(30);
}

delay(100);
x[0]=a1.read();
x[1]=a2.read();
for(i=x[1];i<=35;i++)
{
  a2.write(i);
  delay(30);
}
delay(100);
x[0]=a1.read();
x[1]=a2.read();
for(i=x[0];i>=90;i-=1)
{
  a1.write(i);
  delay(30);
  a2.write(x[1]);
  x[1]=x[1]+1;
  delay(30);
}
delay(100);
//
c1.write(83);
  delay(800);
  while(k==0)
 {
  c1.write(83);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 c1.write(95);
 delay(100);
 k=0;
 p=1;
 l=0;
delay(50);
}
 }
else if(y=='l')
 {
  if(q==1)
  {
   c1.write(83);
  delay(800);
  while(k==0)
 {
  c1.write(83);
  a=digitalRead(7);
  if(a==0)
  {
    k=1;
  }
 }
 c1.write(95);
 delay(100);
 k=0; 
  } 
  q=0;
  delay(100);
  if(o==0)
  {
  x[2]=b1.read();
 x[3]=b2.read();   
for(i=x[2];i<=105;i+=1)
  {
    b1.write(i);
    delay(30);
     b2.write(x[3]);
          x[3]=x[3]-1;
    delay(30); 
  }
 delay(3000);  
 x[2]=b1.read();
 x[3]=b2.read();
 for(i=x[2];i>=90;i--)
{
  b1.write(i);
  delay(30);
  b2.write(x[3]);
  delay(30);
  x[3]=x[3]+1;
}
delay(100);
  }
  o=1;
 }
}

Credits

Akash Ravichandran

Akash Ravichandran

12 projects • 64 followers
Developer and a Learner

Comments