jegatheesan
Published © CERN-OHL

Trash Built BT Line Drawing Bot - My Bot

Till the completion of Cute Drawing Buddy V1, SCARA Robot - Arduino I plan for a another drawing bot, main aim is to cover a large space.

IntermediateFull instructions provided2 days256
Trash Built BT Line Drawing Bot - My Bot

Things used in this project

Hardware components

Arduino Nano R3
Arduino Nano R3
×1
Stepper Motor
Digilent Stepper Motor
×1
Stepper motor driver board A4988
SparkFun Stepper motor driver board A4988
×1
SG90 Micro-servo motor
SG90 Micro-servo motor
×1
HC-05 Bluetooth Module
HC-05 Bluetooth Module
×1
9V battery (generic)
9V battery (generic)
×1
powerbank
×1

Software apps and online services

Arduino IDE
Arduino IDE
VisualStudio 2010

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)
Hack Saw
Multitool, Screwdriver
Multitool, Screwdriver

Story

Read more

Schematics

Circuit Diagram

Code

Check.ino

Arduino
char command = 'S';

boolean Direction1 = false;
boolean Direction2 = true;

int steps = 0;
int Steps1 = 0;
int Steps2 = 0;

//Stepper1
#define IN11  6
#define IN12  7
#define IN13  8
#define IN14  9

//Stepper2
#define IN21  2
#define IN22  3
#define IN23  4
#define IN24  5

void setup()
{      
  Serial.begin(9600); 

  pinMode(IN11, OUTPUT); 
  pinMode(IN12, OUTPUT); 
  pinMode(IN13, OUTPUT); 
  pinMode(IN14, OUTPUT); 
  pinMode(IN21, OUTPUT); 
  pinMode(IN22, OUTPUT); 
  pinMode(IN23, OUTPUT); 
  pinMode(IN24, OUTPUT); 
}

void loop(){
  if(Serial.available() > 0){
    command = Serial.read();    
   }

  if(command=="F")
  {
    Direction1=1;
    Direction2=0;
  }
  else if(command=="B")
  {
    Direction1=0;
    Direction2=1;
  } 
  else if(command=="L")
  {
    Direction1=0;
    Direction2=0;
  }    
  else if(command=="R")
  {
    Direction1=1;
    Direction2=1;
  }  
  if (command != "S")  
  {
    SetDirection1();
    SetDirection2();    
  }
  delay(10);
}


void stepper1(){
switch(Steps1){
   case 0:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, HIGH);
   break; 
   case 1:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, HIGH);
     digitalWrite(IN14, HIGH);
   break; 
   case 2:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, HIGH);
     digitalWrite(IN14, LOW);
   break; 
   case 3:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, HIGH);
     digitalWrite(IN13, HIGH);
     digitalWrite(IN14, LOW);
   break; 
   case 4:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, HIGH);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, LOW);
   break; 
   case 5:
     digitalWrite(IN11, HIGH); 
     digitalWrite(IN12, HIGH);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, LOW);
   break; 
     case 6:
     digitalWrite(IN11, HIGH); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, LOW);
   break; 
   case 7:
     digitalWrite(IN11, HIGH); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, HIGH);
   break; 
   default:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, LOW);
   break; 
}
} 

void stepper2(){
switch(Steps2){
   case 0:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, HIGH);
   break; 
   case 1:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, HIGH);
     digitalWrite(IN24, HIGH);
   break; 
   case 2:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, HIGH);
     digitalWrite(IN24, LOW);
   break; 
   case 3:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, HIGH);
     digitalWrite(IN23, HIGH);
     digitalWrite(IN24, LOW);
   break; 
   case 4:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, HIGH);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, LOW);
   break; 
   case 5:
     digitalWrite(IN21, HIGH); 
     digitalWrite(IN22, HIGH);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, LOW);
   break; 
     case 6:
     digitalWrite(IN21, HIGH); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, LOW);
   break; 
   case 7:
     digitalWrite(IN21, HIGH); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, HIGH);
   break; 
   default:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, LOW);
   break; 
}
}

void SetDirection1(){
if(Direction1==1){ Steps1++;}
if(Direction1==0){ Steps1--; }
if(Steps1>7){Steps1=0;}
if(Steps1<0){Steps1=7; }
stepper1();
}
void SetDirection2(){
if(Direction2==1){ Steps2++;}
if(Direction2==0){ Steps2--; }
if(Steps2>7){Steps2=0;}
if(Steps2<0){Steps2=7; }
stepper2();
}

Mybotvector.ino

Arduino
#include <Servo.h>
#include <EEPROM.h>
//Stepper1
#define IN11  6
#define IN12  7
#define IN13  8
#define IN14  9

//Stepper2
#define IN21  2
#define IN22  3
#define IN23  4
#define IN24  5

Servo servopen;  
int steps = 0;
int Steps1 = 0;
int Steps2 = 0;
int movealternate=0;
double perdegree=15.95; //5750
double perstep=12; //4096
int rotatesteps;
int movesteps;
int recsteps;

int uppos = 25;
int downpos = 1;
String penstatus="U";
int movepen;
int servodelay=500;

boolean Direction1 = false;
boolean Direction2 = true;
//dir1=1 dir2=0 goes backwards
//dir1=1 dir2=1 turns right
//dir1=0 dir2=0 turns left
//dir1=0 dir2=1 goes forward

unsigned long last_time;
unsigned long currentMillis ;
long time;

String recstr = "";
String laststr = "";
String movec = "F";
String inputString;

char Incomvalue;
boolean stringComplete = false;

String S1;
String S2;
String Splitstr;
int Sstr1;
int Sstr2;
int findcomma;
int previouscomma;
boolean comp = true;

void setup()
{
  Serial.begin(9600);
  pinMode(IN11, OUTPUT); 
  pinMode(IN12, OUTPUT); 
  pinMode(IN13, OUTPUT); 
  pinMode(IN14, OUTPUT); 
  pinMode(IN21, OUTPUT); 
  pinMode(IN22, OUTPUT); 
  pinMode(IN23, OUTPUT); 
  pinMode(IN24, OUTPUT); 

  servopen.attach(10);
  penstatus="D";  
//  Serial.println("START");
  if (penstatus=="D")
  {
    delay(servodelay);
    servopen.write(uppos); 
    delay(servodelay);
//    for(movepen=downpos;movepen<=uppos;movepen++)
//    {
//      servopen.write(movepen); 
//      delay(10);       
//    }
    penstatus="U";
  }
  
  laststr="S";
}
void loop()
{
    if(stringComplete == true && comp == false)
    {
      do {
        findcomma=0;
        findcomma=S2.indexOf(",",findcomma);    
        if (findcomma<0)
        {
          recstr=S2;
          executecmd();
          sendcomp();
          comp=true;
        }
        else
        {
            int strl = S2.length();
            Splitstr=S2.substring(0,findcomma);          
            previouscomma=findcomma+1;
            S2 = S2.substring(previouscomma);     
            recstr=Splitstr;
            executecmd();
            delay(10);
        }
      }    
      while (comp==false);
      recstr="";
    }
    delay(1);
}

void executecmd()
{
      if(recstr.substring(0,1)=="U")
      {
        if (penstatus=="D")
        {
          delay(servodelay);
          servopen.write(uppos); 
          delay(servodelay);          
          penstatus="U";
        }
        delay(100);
      }          
      else if(recstr.substring(0,1)=="D")
      {
        if (penstatus=="U")
        {
          delay(servodelay);
          servopen.write(downpos); 
          delay(servodelay);          
          penstatus="D";
        }        
        delay(100);
      }
      else if(recstr.substring(0,1)=="F")
      {
        Direction1=1;
        Direction2=0;
        getsteps();
        steps=1;
        movesteps=perstep*recsteps;
        while(steps<movesteps){
            SetDirection1();
            SetDirection2();
            steps++;
            delay(1);
        }
      }
      else if(recstr.substring(0,1)=="B")
      {
        Direction1=0;
        Direction2=1;
        getsteps();
        steps=1;
        movesteps=perstep*recsteps;
        while(steps<movesteps){
            SetDirection1();
            SetDirection2();
            steps++;
            delay(1);
        }
      }
      else if(recstr.substring(0,1)=="L")
      {
        Direction1=0;
        Direction2=0;
        steps=1;
        getsteps();
        rotatesteps=perdegree*recsteps;
        while(steps<rotatesteps){
            SetDirection1();
            SetDirection2();
            steps++;
            delay(1);
        }         
      }    
      else if(recstr.substring(0,1)=="R")
      {
        Direction1=1;
        Direction2=1;
        steps=1;
        getsteps();
        rotatesteps=perdegree*recsteps;
        while(steps<rotatesteps){
            SetDirection1();
            SetDirection2();
            steps++;
            delay(1);
        }         
      } 
      else if(recstr!="")
      { 
        Serial.print("ERROR");           
        delay(50);
      }
}

void getsteps() 
{
  recsteps=recstr.substring(1).toInt();
  delay(50);
}

void sendcomp()
{
  Serial.print("@");
  delay(50);
  stringComplete = false;
}

void stepper1(){
switch(Steps1){
   case 0:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, HIGH);
   break; 
   case 1:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, HIGH);
     digitalWrite(IN14, HIGH);
   break; 
   case 2:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, HIGH);
     digitalWrite(IN14, LOW);
   break; 
   case 3:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, HIGH);
     digitalWrite(IN13, HIGH);
     digitalWrite(IN14, LOW);
   break; 
   case 4:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, HIGH);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, LOW);
   break; 
   case 5:
     digitalWrite(IN11, HIGH); 
     digitalWrite(IN12, HIGH);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, LOW);
   break; 
     case 6:
     digitalWrite(IN11, HIGH); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, LOW);
   break; 
   case 7:
     digitalWrite(IN11, HIGH); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, HIGH);
   break; 
   default:
     digitalWrite(IN11, LOW); 
     digitalWrite(IN12, LOW);
     digitalWrite(IN13, LOW);
     digitalWrite(IN14, LOW);
   break; 
}
} 

void stepper2(){
switch(Steps2){
   case 0:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, HIGH);
   break; 
   case 1:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, HIGH);
     digitalWrite(IN24, HIGH);
   break; 
   case 2:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, HIGH);
     digitalWrite(IN24, LOW);
   break; 
   case 3:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, HIGH);
     digitalWrite(IN23, HIGH);
     digitalWrite(IN24, LOW);
   break; 
   case 4:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, HIGH);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, LOW);
   break; 
   case 5:
     digitalWrite(IN21, HIGH); 
     digitalWrite(IN22, HIGH);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, LOW);
   break; 
     case 6:
     digitalWrite(IN21, HIGH); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, LOW);
   break; 
   case 7:
     digitalWrite(IN21, HIGH); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, HIGH);
   break; 
   default:
     digitalWrite(IN21, LOW); 
     digitalWrite(IN22, LOW);
     digitalWrite(IN23, LOW);
     digitalWrite(IN24, LOW);
   break; 
}
}


void SetDirection1(){
if(Direction1==1){ Steps1++;}
if(Direction1==0){ Steps1--; }
if(Steps1>7){Steps1=0;}
if(Steps1<0){Steps1=7; }
stepper1();
}
void SetDirection2(){
if(Direction2==1){ Steps2++;}
if(Direction2==0){ Steps2--; }
if(Steps2>7){Steps2=0;}
if(Steps2<0){Steps2=7; }
stepper2();
}

void serialEvent() {
  while (Serial.available()) {
    char inChar = (char)Serial.read();   
    if (inChar == '$') {
      if (inputString == "Hai"){
        Serial.print("3");        
        inputString="";
        stringComplete = true;
      }
      else 
      {
        S1=inputString + "$";
        inputString="";
        Sstr1=0;
        Sstr2=0;
        Sstr1=S1.lastIndexOf("&");
        Sstr2=S1.lastIndexOf("$");         
        if(Sstr1>=0 && Sstr2>=0)  
        {        
          S2 = S1.substring(Sstr1+1,Sstr2);
          comp = false;
          previouscomma=0;          
          stringComplete = true;
          recstr.trim();
          recstr=S2;          
          Serial.print("$");
        }
        else
        {
          Serial.print("#");
        }   
      }      
    }    
    else
    {
       inputString += inChar; 
    }
  }
}

Credits

jegatheesan

jegatheesan

16 projects • 43 followers
Simply A Mechatronics Lover.

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