Make an Arduino-Controlled Robot.pdf

Make an Arduino-

Controlled Robot

Michael Margolis

Make an Arduino-Controlled Robot

by Michael Margolis

Printed in the United States of America.

Published by O’Reilly Media, Inc., 1005 Gravenstein Highway North, Sebastopol, CA 95472.

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Editor: Brian Jepson

Production Editor: Rachel Steely

Interior Designers: Nellie McKesson and Edie

Freedman

October 2012: First Edition

Revision History for the First Edition:

2012-09-12

First release

2012-10-03 Second release

See http://oreilly.com/catalog/errata.csp?isbn=9781449344375 for release details.

While every precaution has been taken in the preparation of this book, the publisher and authors assume

no responsibility for errors or omissions, or for damages resulting from the use of the information contained

herein.

ISBN: 978-1-449-34437-5

[LSI]

Table of Contents

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

1. Introduction to Robot Building . . . . . . . . . . . . . . . . . 1

Why Build a Robot? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

How Robots Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2. Building the Electronics . . . . . . . . . . . . . . . . . . . . . . . . 9

Hardware Required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Construction Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Building the Motor Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Soldering the Reflectance Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Making a Line Sensor Mount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Next Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3. Building the Two-Wheeled Mobile Platform . . 21

Hardware Required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Mechanical Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Lay Out the Chassis Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Motor Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Assemble the Chassis Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Attaching the Control Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Mounting the IR sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Mounting the IR Sensors for Edge Detection . . . . . . . . . . . . . . . . . . . 39

Mounting the IR Sensors for Line Following . . . . . . . . . . . . . . . . . . . . 41

iii

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