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

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miniscientist11 months ago

can you please send me the library for mac

Maki_mx11 months ago

Thanks for clarifiying the connections :), yet the object I am triying to figure out is the one after the voltage regulator. Is it another button?

vishalapr (author)  Maki_mx11 months ago

Yes its a switch :D!

Maki_mx11 months ago


I am having a very hard time matching the information with the actual schematic. Any tip? Is it right? (I really dont mean to be disrespectful)

Another question: What objet it is from left to right.

Thank you! :)

vishalapr (author)  Maki_mx11 months ago

Can you tell me which parts are hard to understand? The schematic is correct as far as I remember so go ahead with the schematic. Im not sure what the 2nd question means?

Maki_mx vishalapr11 months ago
Here, for example, you say "9 and 7 to the center pins of the transistors", but that is were the sensor is connected

Sorry, my question was not clear, What is the object in the schematic going from left to right?

vishalapr (author)  Maki_mx11 months ago

If you make this robot be sure to post a pic of it here! The object in the schematic is the ultrasonic sensor if you are talking about the small black square.

vishalapr (author)  Maki_mx11 months ago

Im sorry for the confusion I should have stuck to the pins on the attiny itself but I kept swapping between the attiny pins and the digital pins, I said digital pins 9 and 7 to the center pins of the transistors which are pins 9 and 12 on the attiny2313, have a look at this image.

rvyas31 year 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.
vishalapr (author)  rvyas311 months ago

What does the error say?

Im not really sure because the code worked perfectly for me

harishqwe1 year ago
can any 1 give me the full code for attiny 2313 with arduino ??
vishalapr (author)  harishqwe1 year ago
Its on step number 6
vishalapr (author)  vishalapr1 year ago
can you give me your email? i have a problem. thanks
vishalapr (author)  ybsocurious1 year 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 :)
Edgar1 year ago
With a Hemispherical Hull, this could make a cool Cat Toy, methinks... :D
Voted, and went to the Blog:
vishalapr (author)  Edgar1 year 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 :(
Lots of people do, and so, you can use some friend's cat for the experiment.
vishalapr (author)  Edgar1 year ago
yea I know friends who have cats ;) I will be sure to try it!
alcurb1 year 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)  alcurb1 year ago
Do you mean like a different self balancing robot or modifying this to make it self balancing? Thanks alcurb!
Either. I just wonder if a robot of the same height can self balance.
vishalapr (author)  alcurb1 year 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 :)
haha nice tail! it looks cute ;)
vishalapr (author)  mprzymusiński1 year ago
Thanks! ;)
Transmisso1 year ago
This project is so simple to do and the results seem amazing!
vishalapr (author)  Transmisso1 year ago
Thanks Transmisso!
bajablue1 year ago
A fabulous Contest trifecta!!! Excellent work, vishalapr!!!
vishalapr (author)  bajablue1 year ago
Thanks! Its awesome u liked it!
(I had to google trifecta btw XD)
simple robot that can be a good example for students who want to get into robotics
vishalapr (author)  cdragos george1 year ago
Thanks! Glad you liked it
hisashime1 year ago
Just love following with your projects. Makes life easy with minimal parts.
vishalapr (author)  hisashime1 year 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.
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)  Helicopterz1 year 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!
RRoobboott1 year 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)  RRoobboott1 year 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 1 year 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 1 year ago
For the ATtiny2313 however I would recommend this:

If you make this post pictures of it :D
vishalapr (author)  Lensquare 1 year 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.
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