Artoo [R2] (ATtiny2313 Wall Avoiding Robot)

Picture of Artoo [R2] (ATtiny2313 Wall Avoiding Robot)
Since I had a lot of ATtiny2313s lying around I wanted to do something cool with them, I thought for a while and then decided to make a simple wall avoiding robot with the ATtiny2313, an ultrasonic sensor and 2 motors.

Its an easy to make and simple robot which runs on a very small amount of code so as to support and work with the ATtiny2313.

For those of you out there who want to make a small robot with the Arduino processing, but you are not able to as the Arduino is too big for a small robot, then this is the perfect robot for you!

Since the ATtiny2313 chip is much smaller compared to the Arduino, it fits in almost anywhere, which allows you to make a small simple robot which evades walls.


Note: This is by no means related to the Star Wars charecter R2-D2, its just my own robot :)
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Step 1: Materials/Tools Required

Picture of Materials/Tools Required
Materials Needed;
  1. ATtiny2313
  2. Arduino (For programming the ATtiny2313)
  3. 2 Motors (Gear or normal, both seem to work for me)
  4. 2 NPN Transistors
  5. 2 10MicroFarad Capacitors
  6. 1 5V Voltage Regulator
  7. 2 9V batteries (Of 250~330mA current capacity each)
  8. 1 Ultrasonic Range Finder
  9. A piece of Protoboard
  10. A few headers (Male)
  11. 2 Wheels for the motors or some bottle caps might work
  12. 1 Wheel which is attached to an axis (For attaching it on the back of the robot to give it support)
  13. A few jumper cables or just some plain wire
  14. An ATtiny2313 Programming shield (Optional)(
  15. 2 9V battery cases or connectors.
  16. A switch

Tools Needed;
  1. Soldering Iron
  2. Solder
  3. Soldering Flux
  4. Glue Gun
  5. Small cutting knife
  6. Scissors

rvyas33 months ago
there is an error in code for Ultrasonic ultrasonic(TRIG,ECHO); // Create and initialize the Ultrasonic object.line. i am making a same robot but i can't because of this code. all i need is a code.
harishqwe9 months ago
can any 1 give me the full code for attiny 2313 with arduino ??
vishalapr (author)  harishqwe9 months ago
Its on step number 6
vishalapr (author)  vishalapr9 months ago
ybsocurious9 months ago
can you give me your email? i have a problem. thanks
vishalapr (author)  ybsocurious9 months ago
I don't use my email that much, you can send me a message on instructables or just post the problem in the comments here and I can help solve it as it would help others with the same problem as well :)
Edgar10 months ago
With a Hemispherical Hull, this could make a cool Cat Toy, methinks... :D
Voted, and went to the Blog:
vishalapr (author)  Edgar10 months ago
Thanks! Yea It could act as a cat toy if the hull was spherical and was made of plastic instead of cardboard, as its a lot stronger, but unfortunately I don't have any pets :(
Edgar vishalapr10 months ago
Lots of people do, and so, you can use some friend's cat for the experiment.
vishalapr (author)  Edgar10 months ago
yea I know friends who have cats ;) I will be sure to try it!
alcurb10 months ago
Nice design. Have you considered making it self-balancing? I'm not sure if one could make such a tiny self-balancing robot.
vishalapr (author)  alcurb10 months ago
Do you mean like a different self balancing robot or modifying this to make it self balancing? Thanks alcurb!
alcurb vishalapr10 months ago
Either. I just wonder if a robot of the same height can self balance.
vishalapr (author)  alcurb10 months ago
Hmm it might be possible...but I'm not really good with all the weights and measurements and stuff as I haven't got good tools to make very precise and accurate things, if I get a couple of tools and I get to use wood, then the first thing I'm going to make will be a quadrocopter as right now no matter what I do its always off balance or too heavy or too weak etc....and this might be something I can experiment with as well :)
mprzymusiński10 months ago
haha nice tail! it looks cute ;)
vishalapr (author)  mprzymusiński10 months ago
Thanks! ;)
Transmisso10 months ago
This project is so simple to do and the results seem amazing!
vishalapr (author)  Transmisso10 months ago
Thanks Transmisso!
bajablue10 months ago
A fabulous Contest trifecta!!! Excellent work, vishalapr!!!
vishalapr (author)  bajablue10 months ago
Thanks! Its awesome u liked it!
(I had to google trifecta btw XD)
cdragos george10 months ago
simple robot that can be a good example for students who want to get into robotics
vishalapr (author)  cdragos george10 months ago
Thanks! Glad you liked it
hisashime10 months ago
Just love following with your projects. Makes life easy with minimal parts.
vishalapr (author)  hisashime10 months ago
That's awesome :)
Glad you like my projects!
The reason why I barely use any complicated tools or parts is because I don't have any tools apart from a glue gun, soldering iron and the leather-man.
Helicopterz10 months ago
Great project and documentation, may I ask why you swapped the original motors though and may I also know what company the batteries are of because all the batteries 9V (rechargeable and Non-rechargeable never had 330mAh capacity)
vishalapr (author)  Helicopterz10 months ago
Glad you liked the project Helicopterz ;)

The battery I used was similar to this one:

I swapped the original motors with the geared ones as the original ones weren't able to move the robot at a good speed, it moved very slowly, but with these new motors, it moves at a nice speed when the batteries are fully charged!
RRoobboott10 months ago
That looks so cute :D, I am planning on making this and do you know any place online where I can buy the ATtiny2313 chips in bulk? like maybe 20 or 30,
vishalapr (author)  RRoobboott10 months ago
You should try checking on ebay as I remember seeing many sellers sell 1 chip for 2.5-3.5$ and in bulk (10 or more) for about 1.8-2.5$ each, so it would be a good deal

Once you make this be sure to upload pics of it :)
Lensquare 10 months ago
Such a great design! Thanks you for the contribution! Where would you recommend to buy the parts that are needed? Online?
vishalapr (author)  Lensquare 10 months ago
For the ATtiny2313 however I would recommend this:

If you make this post pictures of it :D
vishalapr (author)  Lensquare 10 months ago
Glad you liked it! I bought all the parts I used for it from Ebay or if you have got an electronics store nearby then that would be fine as well.
freepancho10 months ago
You should totally make either a sled or cart for the battery!
vishalapr (author)  freepancho10 months ago
Actually a cart for it would be quite cool as Kiteman suggested but for some reason I was reluctant on leaving the battery on the floor as its kind of dangeorus so I decided to just place it in the front, but yea the cart would make it look as if the robot was carrying its luggage :)
fadnessmad10 months ago
Another Project for me to make in my spare time :D
Great pictures!
vishalapr (author)  fadnessmad10 months ago
Thx! Post pictures of it once you are done :D
alienswamp10 months ago
That tiny thing is awesome, I think it will even fit in my cargo pants to carry around!
vishalapr (author)  alienswamp10 months ago
Its portable all right :D, it fits in my palm and its super easy to carry around
Glad you liked it!
Kiteman10 months ago
Oh, I'd love to see this driving around and doing its thing...
vishalapr (author)  Kiteman10 months ago
Just added the video :) It was uploading on youtube
Kiteman vishalapr10 months ago

Have you thought of making a small trailer for the battery, then it doesn't look like it's dropped off the back?

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