Difference between revisions of "Raspberry PI Spiderbot"
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= Parts = | = Parts = | ||
| − | + | {| class="wikitable" | |
| − | + | |- | |
| − | + | ! # !! picture !! part !! example sources !! documents !! ~ price | |
| − | + | |- | |
| + | | 1 || [[File:713LX1Z383L. SL1500 .jpg|200px]] || Raspberry PI 3 B+ || [https://www.amazon.de/Raspberry-1373331-Pi-Modell-Mainboard/dp/B07BDR5PDW Raspberry PI 3 B+] || [https://www.raspberrypi.org/documentation/hardware/computemodule/datasheets/rpi_DATA_CM3plus_1p0.pdf en] || 35 € | ||
| + | |- | ||
| + | | 2 || [[File:81UBu4aoQHL. SL1500 .jpg|200px]] || microSD Card || [https://www.amazon.de/dp/B073S9SFK2/ SanDisk 16 GB] || || 7 € | ||
| + | |- | ||
| + | | 3 || [[File:61Z5yEYfnAL. SL1426 .jpg|200px]] || Raspberry PI Camera || [https://www.amazon.de/Raspberry-Pi-V2-1-1080P-Kamera-Modul/dp/B01ER2SKFS 1080 p Camera Module] || || 23 € | ||
| + | |- | ||
| + | | 4 || [[File:41smcErJNjL.jpg|200px]] || DC/DC Converter 12 V-> 5V || [https://www.amazon.de/riorand-Display-Netzteil-Converter-Modul/dp/B00G890MIC 12 V->5 V Converter Module] || || 7 € | ||
| + | |- | ||
| + | | 5 || [[File:31pzC7A3D3L.jpg|200px]] || Micro USB Connector || [https://www.amazon.de/Delock-Stecker-Offene-Kabelenden-schwarz/dp/B01A9GLG6Q Delock USB 2.0 Micro USB] || || 6 € | ||
| + | |- | ||
| + | | 6 || || 3D Printed Parts: Coxa, Tibia, Femur, Hinge || [https://www.thingiverse.com/thing:2204279 parts from regishu's design] || || | ||
| + | |- | ||
| + | | 7 || || Adafruit PCA9685 16 channel PWM controller || {{Link|target=PCA9685}} || || | ||
| + | |- | ||
| + | | 8 || || set of small screws || [https://www.amazon.de/gp/product/B07LFDDXZ2 set of small screws] || || | ||
| + | |- | ||
| + | | 9 || https://images-na.ssl-images-amazon.com/images/I/71a1K3RQuqL._SX679_.jpg || 12 x MG90S || [https://www.amazon.de/gp/product/B07FQMTLD4 12 x MG90s] || || | ||
| + | |- | ||
| + | | || || || ||Total || € | ||
| + | |- | ||
| + | | a | ||
| + | | [[File:71AYEqpWHcL. SL1500 .jpg|200px]] | ||
| + | | Breadbord Kit | ||
| + | | [https://www.amazon.de/gp/product/B01N4VCYUK MB102 Breadbord Kit] | ||
| + | | | ||
| + | | 7 € | ||
| + | |- | ||
| + | | b | ||
| + | | [[File:714Ep9LpwoL. SL1200 .jpg | 200 px]] | ||
| + | | Ulrasound Sensor | ||
| + | | [https://www.amazon.de/gp/product/B01M9CMJ9O 5 x HC-SR04 + Cables] | ||
| + | | | ||
| + | | 10 € | ||
| + | |} | ||
[[File:SpiderBotParts-IMG_0028.jpeg|400px]] | [[File:SpiderBotParts-IMG_0028.jpeg|400px]] | ||
Revision as of 09:51, 25 July 2019
Inspired by the Arduino Project below we'd like to create a Raspberry PI version as in https://github.com/yasaspeiris/aragog
Video
Links
- Spider robot(quad robot, quadruped)-MG90 regishu 2017
- https://www.hackster.io/yasaspeiris/raspberry-pi-powered-quadruped-bbb68b
- https://github.com/yasaspeiris/aragog
Parts
| # | picture | part | example sources | documents | ~ price |
|---|---|---|---|---|---|
| 1 |  |
Raspberry PI 3 B+ | Raspberry PI 3 B+ | en | 35 € |
| 2 |  |
microSD Card | SanDisk 16 GB | 7 € | |
| 3 |  |
Raspberry PI Camera | 1080 p Camera Module | 23 € | |
| 4 |  |
DC/DC Converter 12 V-> 5V | 12 V->5 V Converter Module | 7 € | |
| 5 |  |
Micro USB Connector | Delock USB 2.0 Micro USB | 6 € | |
| 6 | 3D Printed Parts: Coxa, Tibia, Femur, Hinge | parts from regishu's design | |||
| 7 | Adafruit PCA9685 16 channel PWM controller | PCA9685 | |||
| 8 | set of small screws | set of small screws | |||
| 9 |  |
12 x MG90S | 12 x MG90s | ||
| Total | € | ||||
| a | 
|
Breadbord Kit | MB102 Breadbord Kit | 7 € | |
| b | 
|
Ulrasound Sensor | 5 x HC-SR04 + Cables | 10 € |
Assembly
- Legs and hinges are connected with 1.4x5mm screws
- Legs and servos are connected with 1.7x6mm screws
We use the raspberry base from https://github.com/yasaspeiris/aragog/blob/master/3d%20printed%20parts/base.STL
Leg Test
sudo python3 testadafruit.py 0 1 2 3 0
sudo python3 testadafruit.py 0 1 2 3 90
sudo python3 testadafruit.py 0 1 2 3 180
testadafruit.py
# Test Adafruit
# WF 2019-07-09
import sys
import time
from adafruit_servokit import ServoKit
kit = ServoKit(channels=16)
#
# set the given angle for the given servos
#
def setAngle(servos,angle):
print (angle)
for id in servos:
kit.servo[id].angle=angle
time.sleep(0.3)
# Test Servo Software
servos=[]
args=len(sys.argv)
fromangle=0
toangle=180
step=1
if args>1:
for port in range(1,args-1,1):
servos.append(int(sys.argv[port]))
anglestr=sys.argv[args-1]
if "-" in anglestr:
parts=anglestr.split("-")
fromangle=int(parts[0])
toangle=int(parts[1])
else:
fromangle=int(anglestr)
toangle=fromangle
else:
servos.append(0)
servos.append(1)
servos.append(2)
if fromangle!=toangle:
try:
while True:
for setangle in range(fromangle,toangle+step,step):
setAngle(servos,setangle)
except KeyboardInterrupt:
print("Keyboard interrupt")
else:
setAngle(servos,fromangle)