Make a Web Connected Robot (for about $500) (using an Arduino and Netbook)

This Instructable will show you how to build your own Web Connected Robot (using an Arduino micro-controller and Asus eee pc).

Why would you want a Web Connected Robot? To play with of course. Drive your robot from across the room or across the country, using nothing more than Skype and a web browser (nothing to install on the controlling computer). After that? Dig into the software & adapt it however you like, add a GPS so you can watch where you're driving on a map, add temperature sensors to map temperature gradients in your house, or sonar sensors to add controls on what you're web drivers can and cannot run into.

Features:

• Inexpensive - (~$500 if you purchase all parts new and considerably cheaper if you dig around in your parts bin)
• Once up and running controlling the robot requires only a web browser - (and Skype if you want to see where you're driving)
• Open Source and Easily Adaptable - (uses an Arduino micro-controller, Processing for the web server & all software can be run on Linux (all the code is also heavily commented to make jumping in and changing things easy))
• Modular Design (not a completely integrated system, if you want to use a different video conferencing service no worries, or if you have a Basic stamp rather than an Arduino just right a small piece of code and slot it in)

Here's a quick video of my Web Connected Robot being driven out of the kitchen.

Step 1: Parts & Tools

Only a few parts are required:

Robot: Arduino Controlled Servo Robot - (SERB)
($175 @ oomlout.com ) or (make your own)

• An open source robot which uses an Arduino micro-controller as it's brain.

(any dual servo robot platform with an arduino can be used (option 1) (please message me if you discover any other options)

Computer: Asus eee PC 4G
($280) (@Best Buy)

• A small inexpensive laptop that is perfect for this purpose.

(any laptop (or desktop if you want to run with a chord) capable of running Processing sketches can be used)

Laptop Desk: Laser Cut Acrylic
($25 (@ oomlout) ) or (build your own step 3)

• A few additional acrylic pieces which bolt onto a (SERB) to give it a desk for the laptop to sit on.

Nuts and Bols: (available at home depot)

• 3mm x 10mm bolt (x4)
• 3mm x 15mm bolt (x4)
• 3mm nut (x8)

Comments

[ameggs]

 Can someone post the arduino code in an easier form so us NOOBS and use it. I really love this idea and Im already building the chassis now... just need the software.

[shonlh]

Here is the code cleaned up.  I did not get a chance to test it.  It does past check in Arduino though. 

/*

 * Arduino Controlled Web Connected Robot (WEBB) - Serial Host 

 * For more details visit: http://www.oomlout.com/serb  

 *  

 * Behaviour: The Arduino listens to its Serial port for a command 

 *            in format 254, 88, 88, (COMMAND), (TIME) 

 *            Supported Commands - 'F' - 70 - Forward 

 *                                 'B' - 66 - Backward 

 *                                 'L' - 76 - Left 

 *                                 'R' - 82 - Right 

 *                                 'S' - 83 - Speed 

 *                                 'X' - 88 - SetSpeedLeft 

 *                                 'Y' - 89 - SetSpeedRight  

 *                                 'C' - 67 - Stop  

 *            Supported Times - 0 - 255 (0 to 25.5 Seconds) value 

 * 100 milliseconds  

 *sp 

 * Wiring: Right Servo Signal - pin 9 

 *         Left Servo Signal - pin 10  

 * 

 * License: This work is licenced under the Creative Commons  

 *          Attribution-Share Alike 3.0 Unported License. To  

 *          view a copy of this licence, visit  

 *          http://creativecommons.org/licenses/by-sa/3.0/  

 *          or send a letter to Creative Commons, 171 Second  

 *          Street, Suite 300, San Francisco, California 94105,  

 *          USA. 

 *         

 */  

 

 //-------------------------------------------------------------------------

 //START OF ARDUINO SERIAL SERVER PREAMBLE

 //Defining constants corresponding to each command (also the ascii code number) 

 #define FORWARD 70       //F

 #define BACKWARD 66       //B

 #define LEFT 76           //L

 #define RIGHT 82         //R

 #define SETSPEED 83         //S

 #define STOP 67           //C

 #define SETSPEEDLEFT 88   //X

 #define SETSPEEDRIGHT 89 //Y

 

 /*The three check bytes (used to keep the robot from responding to random serial *data) currently "AAA" 

 */

 #define checkByte1 65   // "A"

 #define checkByte2 65   // "A"

 #define checkByte3 65   // "A" 

 //--------------------------------------------------------------------------

 // START OF ARDUINO CONTROLLED SERVO ROBOT (SERB) PREAMBLE

 #include <Servo.h>

 #define LEFTSERVOPIN  10    //The pin the left servo is connected to

 #define RIGHTSERVOPIN  9    //The pin the right servo is connected to

 Servo leftServo;           

 Servo rightServo; 

 int leftSpeed = 50; //holds the speed of the robots leftServo

//a percentage between 0 and 100

int rightSpeed = 100; //holds the speed of the robots rightServo

                        //a percentage between 0 and 100

// END OF ARDUINO CONTROLLED SERVO ROBOT (SERB) PREAMBLE

//--------------------------------------------------------------------------

//Gets everything up and running

 

void setup()

{  

  Serial.begin(9600);                //Starts the serial port  

  serbSetup();                      //sets the state of all neccesary

//pins and adds servos to your sketch}

//The main program loop

}

 

void loop()                     

{  serbPollSerialPort();             //continuously looks to the serial port

                                    //if there is data it processes it

}

//-----------------------------------------------------------------------

//START OF ARDUINO SERIAL SERVER ROUTINES

/* 

* Processes commands delivered to the arduino's serial port 

*/

 

void serbPollSerialPort()

{  

int dta;                              //variable to hold the serial  byte  

 

if ( Serial.available() >= 5) {       //if 5 bytes are in the buffer (length pf a full request)    

dta = Serial.read();     

if ( dta = checkByte1){                        //Checks for first check byte        

dta = Serial.read();        

if ( dta = checkByte2){                    //Checks for second check byte

dta = Serial.read();            

if ( dta = checkByte3){                //Checks for third check byte

int command = Serial.read();        //Fourth byte is the command

int param1 = Serial.read();         //Fifth byte is param1

interpretCommand(command, param1);  //sends the parsed request to it's handler

}

}

}

}

}

 

/* 

* Takes the command and parameter and passes it to the robot 

*/

 

void interpretCommand(int command, int param1)

{

if       (command == FORWARD)

{

goForward(); 

delay(param1 * 100); 

goStop();

}   //if forward   

 

else if(command == BACKWARD)

{

goBackward(); 

delay(param1 * 100);

goStop();

} //if backwards  

else if(command == LEFT)

{

goLeft(); 

delay(param1 * 100); 

goStop();

}         //if left  

else if(command == RIGHT)

{

goRight(); 

delay(param1 * 100); 

goStop();

}       //if right  

else if(command == SETSPEED)

{

setSpeed(param1);

}                 //if setting speed  

else if(command == STOP)

{

goStop();

}                               //if stop  

else if(command == SETSPEEDLEFT)

{

setSpeedLeft(param1);

}           //if setting left speed  

else if(command == SETSPEEDRIGHT)

{

setSpeedRight(param1);

}         //if setting right speed  

else

{                            //if unrecognized command do a little shimmey

goLeft(); 

delay(150); 

goRight(); 

delay(150); 

goStop();

}

}

 

//------------------------------------------------------------------------

//START OF ARDUINO CONTROLLED S ERVO ROBOT (SERB) ROUTINES

 

/* 

* sets up your arduino to address your SERB using the included routines

*/

 

void serbSetup()

{  

setSpeed(leftSpeed);  

pinMode(LEFTSERVOPIN, OUTPUT);     //sets the left servo signal pin

//to output  

pinMode(RIGHTSERVOPIN, OUTPUT);    //sets the right servo signal pin

//to output  

leftServo.attach(LEFTSERVOPIN);    //attaches left servo  

rightServo.attach(RIGHTSERVOPIN);  //attaches right servo  

goStop();

}

 

/* 

* sets the speed of the robot between 0-(stopped) and 100-(full speed) 

* NOTE: speed will not change the current speed you must change speed  

* then call one of the go methods before changes occur.

*/ 

 

void setSpeed(int newSpeed)

{  

setSpeedLeft(newSpeed);                 //sets left speed  

setSpeedRight(newSpeed);                //sets right speed}

}

/* 

* Sets the speed of the left wheel 

*/

 

void setSpeedLeft(int newSpeed)

{  

if(newSpeed >= 100) 

{

newSpeed = 100;

}     //if speed is greater than 100

//make it 100  

 

if(newSpeed <= 0)

{

newSpeed = 0;

}       //if speed is less than 0 make

//it 0   

leftSpeed = newSpeed * 0.9;               //between 0 and 90}

}

/* 

* Sets the speed of the right wheel 

*/

 

void setSpeedRight(int newSpeed)

{    

if(newSpeed >= 100) 

{

newSpeed = 100;

}     //if speed is greater than 100

//make it 100  

if(newSpeed <= 0) 

{

newSpeed = 0;

}       //if speed is less than 0 make

//it 0   

rightSpeed = newSpeed * 0.9;               //scales the speed to be 

 

}

 

/* * sends the robot forwards 

*/

 

void goForward()

{ 

leftServo.write(90 + leftSpeed);

rightServo.write(90 - rightSpeed);

}  

 

/* 

* sends the robot backwards 

*/

 

void goBackward()

{ 

leftServo.write(90 - leftSpeed); 

rightServo.write(90 + rightSpeed);}  

/* 

* sends the robot right 

*/

 

void goRight()

{ 

leftServo.write(90 + leftSpeed); 

rightServo.write(90 + rightSpeed);

}

 

/* 

* sends the robot left 

*/

 

void goLeft()

{ 

leftServo.write(90 - leftSpeed); 

rightServo.write(90 - rightSpeed);

}

 

/* 

* stops the robot 

*/

 

void goStop()

{ 

leftServo.write(90); 

rightServo.write(90);

}

 

//END OF ARDUINO CONTROLLED SERVO ROBOT (SERB) ROUTINES

 

//---------------------------------------------------------------------------

[sgms2]

Apparently this was just an advertisement for oomlout.

They do not respond to any enquiry. Probably gone out of business by now .


Apr 4, 2010. 11:45 AMdaveo84 says:
Using this code and the wiring diagram supplied, when I connect my arduino board via usb to any machine both servos start spinning...

What gives?

I had this problem too.

I can't work it out either

[erockizon]

how do you communicate with the robot with your laptop. as in how do you read values from the robot from your laptop.

[cpie]

if you wanted you should try video conference facilities.

[pkelley4]

The oomlout links for the chassis are not functioning. Are these still available?

[synchr0nize]

Is there a way to bind the keys you use to the keyboard instead of clicking left/right on the screen?

[Avadhut.Deshmukh]

Good Job ! i like robot pc!

[Puze]

Does anyone know how you can run this on linux?

[ZsurzsaLaszlo]

Hy, can someome tell me where can i find the Pattern for the wheels and the lower part of the robot?

Thanks,

[crxksa]

can you give me the code plz i am tring for 2 month still no progress [e-mail]

[D5quar3]

try using http://www.instructables.com/id/how-to-build-MACKRA-a-serb-variant/step7/the-software-arduino/

[crxksa]

can any one sent me The code for the arduino webserver [e-mail]

[kyle brinkerhoff]

dude just use vspe , all your problems will be solved, for the video feed use webcam xp

[crxksa]

hi i build the robot it took 3days to do it , after i got the code from a member http://www.youtube.com/watch?v=OuyOQKXwtUA ok bye

[DingleNutZ]

(removed by author or community request)

[crxksa]

can you give me the code plz i am tring for 2 month still no progress [e-mail]

[zmaster4]

really good tutorial :)

[daveo84]

 Using this code and the wiring diagram supplied, when I connect my arduino board via usb to any machine both servos start spinning...

What gives?

[robotmaker]

nice job tooo but missing 05-webb arduino.zip

[nanni78]

hello missing file 05-WEBB-Arduino Code.zip? good job

[danielemur]

Could you use Lego mindstorms?

[adrian.robb]

I'm pretty sure Oomlout is an internet store only.
Either http://www.oomlout.com or http://www.oomlout.co.uk

[ze.gmonteiro]

Congratulations! I liked it very much... but wouldn't it be better if made from a Wishield instead of a netbook? (sorry about the English) http://asynclabs.com/home

[cats92]

Very nice and easy to use. Works well on the first try. Thanks

[max_ruls]

hay dood i love your web car well thats what i wood call it if i made it i wish that you coud tell me of an oomlout shop near brisbane if you can pleas can you email me at [e-mail]

[psymansays]

You can also use a VPN (LogMeIn Hamachi makes them easy) and write some simple TCP/IP client/server programs, to add proportional joystick support, and get better command-throughput than over HTTP.

I have something a little bit like this, that I built: http://www.youtube.com/watch?v=c4M8YzrSBqc

[raykholo]

cant it just take commands from some website? maybe it would look at the blog section for text commands and u could password protect the site so it can do everything as u did here?

[raykholo]

never mind - i just realized that thats what u did, i was thinking more about something without all the numbers, so u could just go onto www.(whatever).com , login, and take it from there...

[rics]

Hi Stuart, Am I right that for a bigger laptop parts should be scaled properly? Bests, Richard

[rics]

Hi Stuart, you mention the cdr and eps files in step 2 but there is no link to them as it was with SERB. Could you add them? (I already got the electronics working and I have a cardboard prototype robot but now I am thinking about waterjet cutting and these files may be helpful.) Bests, Richard

[vince086]

this is really cool !! 2 questions, Can this work with a windows 98 SE computer ? and Can it work using 9 pin Serial port instead of usb? never really got usb devices to work on old computer

[joejoerowley]

Great Instructable! 5 stars!

[luke]

i have a eee, (check my instructables, would like to know what you think ) and last night i bought a arduino ..... that is creepy i think i may have to build this, but with tracks :D ( as i have them "in stock") very very nice job you have done by the way.

[mrbleh]

I cant help but think of this: xkcd ROCKS!

[fishyfish777]

Yeah.

[evanwehrer]

If you wanted to you could add a USB webcam so that you can have the laptop lid closed.

[mrbleh]

Oh, and that's completely awesome, by the way.