noanastazija / spider_robot

Spider Robot Code

This repository contains the Spider Robot code for Arduino (plus some proof-of-concept code for Raspberry Pi in rpi folder.)

Requirements

1. Arduino Uno
2. Arduino power supply or USB cable if powered over USB
3. Adafruit PCA9685 PWM driver
4. 5 V, 3500 mA power supply
5. HC-06 Bluetooth module
6. Spider Robot

Wiring

Arduino and PCA9685 communicate using I2C.

Arduino Uno	PCA9685
5V	VCC
A4	SDA
A5	SCL
GND	GND

Arduino Uno	HC-06
3.3V	VCC
GND	GND
TX	RXD
RX	TXD

Note: When uploading firmware with PC → USB → Arduino, disconnect HC-06 from Arduino board (TX and RX are sufficient). HC-06 interferes with the programming process otherwise.

Servos need a lot of power. To prevent the PWM driver from overload, PCA9685 has a dedicated power connector.

5 V, 3500 mA power supply	PCA9685 dedicated power connector
+	V+
-	GND

See define servos' ports in spider_robot_main_code.ino, which servo to connect to which PCA9685 PWM port.

Usage

Servo Alignment

1. Unscrew and remove servo arms to make Spider Robot servos rotate freely.
2. Compile Scaling_servos.ino and upload it to Arduino. It will move all servos to 90°.
3. Move each Spider Robot joint to the neutral position as shown on the picture:
4. Reattach servo arms with screws.

Main Code

This code listens for commands over the Blueetooth and executes requested move.

Compile spider_robot_main_code.ino and upload it to Arduino.