(งาน18)https://www.hackster.io/JulienChateau/spideruino-5915e9

Spideruino

A Lego arachnid controlled by your smartphone.

IntermediateShowcase (no instructions)17,148

Things used in this project

Hardware components
	Arduino Nano R3	×	1
	SparkFun Bluetooth Modem - BlueSMiRF Silver	×	1
	SparkFun Dual H-Bridge motor drivers L298	×	1
	DC motor (generic)	×	2
	C.H.I.P. Approved 3.7 V LiPo Battery Really, a 4S lipo battery.	×	4

Story

I've been exploring the Arduino and makers multiverse for months. But I've been building with Lego for decades. :) I saw a little toy on a chinese website, an arachnid moving with a simple but clever system of gears and a motor. I bought it and immediately after our first test, my daughter noticed how it would be cool if we could radio command it. I tought it would be even cooler with Legos!

So we got my old sets and we started assembling pieces and gears to build a first proof of concept. It was already awesome. Then I ordered the missing blocks on BrickLinks and a week later we assembled it according to our own blueprints. Then I added the two motors, the Arduino setup and I took a night to code a little controlling app for my smartphone.

Hiro was fun and quite easy to do, and even more to watch running across the house. Nice silly toy.

[EDIT : If you wanna do it, you'll have to glue most of the bricks because Spideruino is not moving softly. That's quite the opposite, it's brutal, and without glue it felt apart in 3 meters of walking. :) ]

Schematics

ArduinoSchematic

Connect your Arduino to the Dual Bridge motor controller and to the bluetooth module.

How it walks

How to assemble the Lego bricks and gears in order to create that silly walk. Each motor drives 4 legs.

Inner gears.

The gear in the middle is the one driving the four other gears of the left side (same thing goes on the right side). to connect it to the motor, I had to cut a bit of the piece and glue it to the motor shaft. Then, you connect the legs to the gears, asynchronously (each on a gear hole) and tadam: silly walk.

Code

• Nano Code
• Androidcode

Nano Code

Arduino

Upload it to the Nano, it reads the Android orders incomming by bluetooth.

//ARDUINO Hiro NANO

//RXD to TXO (white)
//TXD to RXO (black)  BT adapter

// motor one
int enA = 11; //gris
int in1 = 10; // bleu
int in2 = 9; //vert
// motor two
int enB = 3; // violet
int in3 = 6; // jaune
int in4 = 5; // orange


char command;
String btdata;
int power;
int dir;
// Variables for the duration and the distance
long duration;
int distance;

void setup() {  
 
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(LED_BUILTIN, OUTPUT);

  Serial.begin(57600); 
  Serial.print("#ihihuuho");
  //MotorsForward();
}


void loop()
{  
  if (Serial.available() > 0)
  {
  }
  while (Serial.available() > 0)
  { command = (Serial.read());
    //Serial.println(" cmdd ");
    //Serial.println(command);

    
    //Serial.println("str: " + btdata);
    if (command == '?')
    {
      //Serial.println();
      //Serial.println("Command: " + btdata);

      delay(1);

     if (btdata.indexOf("forw") >= 0){
        MotorsForward(255);
        }
     if (btdata.indexOf("back") >= 0){
        MotorsBackward(255);
        }
      else{
        Serial.println("Command not recognized: " + btdata);
      }
      

      btdata = "";
      }
    else if (command == '/')
    {
      //Serial.println();
      //Serial.println("Direction: " + btdata);
      dir = btdata.toInt();
      btdata = "";
    }
    else if (command == '%')
    {
      //Serial.println();
      Serial.println("Power: " + btdata);
      power = btdata.toInt();
      btdata = "";
      if ( dir == 1 && power>0) {
        MotorsForward(power);
      }
      else if ( dir == 5 && power>0) {
        MotorsBackward(power);
      }
      else if ( dir == 7 && power>0) {
        MotorsSpinR(power);
      }
      else if ( dir == 3 && power>0) {
        MotorsSpinL(power);
      }
      else if ( dir == 8 && power>0) {
        MotorsFR(power);
      }
      else if ( dir == 2 && power>0) {
        MotorsFL(power);
      }
      else if ( dir == 4 && power>0) {
        MotorsBL(power);
      }
      else if ( dir == 6 && power>0) {
        MotorsBR(power);
      }
      else{
        MotorsStop();
      }
    }
    else{
      btdata = btdata + command;
    }

    
   }
   delay(500);
 }

void LedBlue()
{
  digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
  //delay(1000);                       // wait for a second
}

void LedRed()
{
  digitalWrite(LED_BUILTIN, LOW);   // turn the LED on (HIGH is the voltage level)
}


void MotorsBackward(int powa)
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enA, powa);
  analogWrite(enB, powa);
  
}

void MotorsForward(int powa)
{
  // Serial.println("Forward!");

  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enA, powa);
  analogWrite(enB, powa);
 
}

void MotorsSpinR(int powa)
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enA, powa);
  analogWrite(enB, powa);
  
}
void MotorsSpinL(int powa)
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enA, powa);
  analogWrite(enB, powa);
  
}
void MotorsFL(int powa)
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enA, powa);  
}
void MotorsFR(int powa)
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, powa);  
}
void MotorsBR(int powa)
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enA, powa);  
}
void MotorsBL(int powa)
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enB, powa);  
}

void MotorsStop()
{
  // now turn off motors
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}