André Nakonz
Published © CC BY-NC-SA

CableRobot - CaRo

CaRo is a cable robot that enables easy and cost-effective entry into programming and robotics.

EasyFull instructions provided2 hours323

Things used in this project

Hardware components

Continuous Rotation Servomotor (FeeTech FS5103R)
×1
Adafruit Crickit for Feather
×1
Adafruit Feather 32u4 BLE
×1

Software apps and online services

Blynk
Blynk

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)
3D Printer (generic)
3D Printer (generic)

Story

Read more

Custom parts and enclosures

CaRo Frame

Only a servo with these dimensions fit into the frame!
37mm x 54mm x 20mm / 1.5" x 2.1" x 0.8"
(Continuous Rotation Servo - FeeTech FS5103R)

CaRo Cable Reel

CaRo Housing Top

CaRo Housing Bttm

Code

Code CaRo V0.1

Arduino
Install the libraries and insert your token.
/*************************************************************
* Project: CaRo V0.1
* CARO is a rope robot that enables easy and cost-effective entry into programming and robotics.
* Author: Andre Nakonz
* Date: 2019/02/15
*
* For this example you need to install some libraries:
* 
* Adafruit nRF51 BLE Library
* Adafruit seesaw Library
* Blynk Library
*
* CREDITS
* Code snippets are from Adafruit. 
*
**************************************************************/
#include <Wire.h>

// BLYNK /////////////////////////////////////////
#define BLYNK_USE_DIRECT_CONNECT
#define BLYNK_PRINT Serial
#include <BlynkSimpleSerialBLE.h>
// You should get Auth Token in the Blynk App.
// Go to the Project Settings (nut icon).
char auth[] = "YourToken";


// Bluetooth LE /////////////////////////////////////////
#include <Adafruit_BLE.h>
#include <Adafruit_BluefruitLE_SPI.h>
#include <SPI.h>
// SHARED SPI SETTINGS (see adafruit webpages for details)
#define BLUEFRUIT_SPI_CS               8
#define BLUEFRUIT_SPI_IRQ              7
#define BLUEFRUIT_SPI_RST              -1    // Optional but recommended, set to -1 if unused
#define BLUEFRUIT_VERBOSE_MODE         true
// Create ble instance, see pinouts above
Adafruit_BluefruitLE_SPI ble(BLUEFRUIT_SPI_CS, BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);


// Crickit and Servos /////////////////////////////////////////
#include "Adafruit_Crickit.h"
#include "seesaw_servo.h"
Adafruit_Crickit crickit;
#define NUM_SERVOS 3
//create an array of 4 servos with our crickit object
seesaw_Servo servos[] = { seesaw_Servo(&crickit),
                          seesaw_Servo(&crickit), 
                          seesaw_Servo(&crickit) };
//these are the pins they will be attached to
int servoPins[] = { CRICKIT_SERVO1, CRICKIT_SERVO2, CRICKIT_SERVO3 };




void setup() {
  Serial.begin(115200);

  //bluetooth settings
  ble.begin(BLUEFRUIT_VERBOSE_MODE);
  ble.factoryReset(); // Optional
  ble.setMode(BLUEFRUIT_MODE_DATA);

  //Blynk
  Blynk.begin(auth, ble);

  //begin the crickit
  if(!crickit.begin()){
    Serial.println("ERROR!");
    while(1);
   }
  else Serial.println("Crickit started");

  //attach the servos to their pins
  for(int i=0; i<NUM_SERVOS; i++)
    servos[i].attach(servoPins[i]);  // attaches the servo to the pin
}

void loop(){ 
Blynk.run(); 
} 


/* How does the joystick work?
 * A continuously rotating servo hold its position at signal value 90. 
 * At a signal of 85, the servo slowly rotates to the left, 
 * at 0 it rotates to the left at full speed. 
 * At signal 180 it rotates with full speed to the right.
 * 
 * The values of the joystick could be used directly as the speed for the servos.
 * Example:
 * BLYNK_WRITE(V1){                  //Joystick #2
      int x = param[0].asInt(); 
      int y = param[1].asInt();  
      if(y<90){                       //up
      servos[0].write(y);
      servos[1].write(y);
      servos[2].write(y);
 * 
 * For higher precision, it is better if the motors rotating slower.
 * So that the motors do not move unintentionally, the y / x value is very small. 
 * Only when the joystick clearly points in one direction, the motors react.
 */
 
BLYNK_WRITE(V0){                  //Joystick #1
int x = param[0].asInt(); 
int y = param[1].asInt();  
  if(y<20){                       //forward
      servos[0].write(95);
      servos[1].write(80);
      servos[2].write(95);
} else if(y>160){                 //backward
      servos[0].write(85);
      servos[1].write(100);
      servos[2].write(85);
}  else if(x<20){                 //right 
      servos[0].write(95);
      servos[1].write(90);
      servos[2].write(85);
}else if(x>160){                  //left
      servos[0].write(85);
      servos[1].write(90);
      servos[2].write(95);
} else {                          //hold position
      servos[0].write(90);
      servos[1].write(90);
      servos[2].write(90);
 } 
} 

BLYNK_WRITE(V1){                  //Joystick #2
int x = param[0].asInt(); 
int y = param[1].asInt();  
  if(y<20){                       //up
      servos[0].write(85);
      servos[1].write(85);
      servos[2].write(85);
}else if(y>160){                  //down
      servos[0].write(95);
      servos[1].write(95);
      servos[2].write(95);
} else {                          //hold position
      servos[0].write(90);
      servos[1].write(90);
      servos[2].write(90);
 } 
} 

Credits

André Nakonz

André Nakonz

4 projects • 2 followers
Hello I am André, not a developer but a designer. Lets make awesome projcts!

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