Hello. I want to introduce you my work called JoshBot. This bot based on the Arduino Uno and controlled via Bluetooth. Built-in battery Li-po 1000 mah 2s is enough for 2.5 hours of continuous operation. Engines are hacked SG90. They work on L293 shield from Adafruit. On the front of the bot is an ultrasonic sensor which allows to avoid obstacles in Autonomous mode.
Immediately apologize for the pictures of the two versions JoshBot. When collecting silver, I forgot to take a picture. So the pictures are from the first version and the second together.
p.s. sorry for my English ) it's my first instructable
Step 1: Printed on a 3d Printer
Printed on a 3d printer everything you need for JoshBot. This is the base. Attached it to Arduino Uno. The jumper for the battery that the wires do not interfere with us during Assembly. Also print the mount for Bluetooth Arduino Uno inside and a mount for the ultrasonic sensor. The wheel consists of printed parts and rubber bands (tire). I used a rubber from the engine of the Russian car with a diameter of 37 mm. In your country it is necessary to find a replacement.
Download the STL files, you can visit: http://www.thingiverse.com/thing:1618266
Step 2: Electronics for Assembly JoshBot
What we need from the electronics to build JoshBot?
1. Arduino Uno (ch340)
2. Adafruit L293d shield for Arduino Uno
3. Bluetooth HC05/06
4. 4xSG90 hacked
5. Ultrasonic HC-SR04
6. The voltage sensor - http://ru.aliexpress.com/item/Hot-Blue-LED-Panel-Meter-Lithium-Battery-Digital-Voltmeter-DC-2-5V-30V-Better/32242856510.html
7. One switch to turn off the power JoshBot - http://ru.aliexpress.com/item/Free-shipping-10pcs-mini-Pull-switch-snap-switch-with-bracket-3-foot-2-file-handle-high/32658174565.html
8. One switch on two lines to disable Bluetooth from the Arduino to the firmware via the USB port - http://ru.aliexpress.com/item/20-x-DPDT-3-Position-6-Solder-Lug-Pins-Panel-Mount-Horizontal-Sliding-Switch/32311626309.html
9. Li-Po 1000 mah 2s - http://ru.aliexpress.com/item/3pcs-lot-WLtoys-V262-V353-V912-Battery-7-4V-1000mAh-20C-2S-Li-Po-Battery-for/32255902962.html
Step 3: Hack SG90
Modify servo motors like here https://www.instructables.com/id/Tower-Pro-SG-90-M...
Inside the servo motor I soldered the red led with a resistor in parallel with the contacts of the motor. This is not absolutely necessary, but I did. Two servo motors should be soldered polarity of the led, because we have two servo motors will spin in one direction and two in another. In the dark it looks great. Sorry, I forgot to take these pictures, in the next step (in the photo) you can see the resistors and diodes in the servo motors.
Step 4: Installing SG90 & Battery
Set the servo motors in case of JoshBot. Fasten them with bolts/hex threaded M2. Install the batteries, stacked cables as shown in the picture. Install the battery and fix the wires. Solder two wires to the power switch JoshBot (small). One connected to positive of battery, the other with the minus from the battery slips into the hole in the lid, which is attached directly to the Arduino. Solder four wires to the switch of Bluetooth (large) and slips them into the hole in the lid for the Arduino. Eight slips of wires from the servo motors to the corresponding holes of the cover.on't forget to push in the wire cover from the sensor voltage.
Step 5: Close the Lid & Installing Arduino Uno
Fasten the cover to the base by six bolts. I used SG90 from long, short and tightened wheels. Then I put the Arduino printed the part for fixing the Bluetooth. Please note that the mount for the Bluetooth is only suitable for Chinese Arduino, which pins are duplicated holes. In them we solder the wires. RX/TX should be criss-cross at Arduino and Bluetooth. Paving leads, as pictured and fasten the Arduino one bolt to the cover. The Bluetooth legs wrenched 180 degrees inside (see photo). Bluetooth stick on double sided tape and connected wires to it. Here also lay the wire to power all the electronics along the analog ports, and ports for more power behind them taking it out. Installed on top of Adafruit L293d shield.Fasten the two long M3 bolts all this sandwich to the lid. Using double sided tape fasten the sensor voltage.
Step 6: The Installation of the Ultrasonic Sensor and Connecting Wires
Connected the wires to the Adafruit L293d. Set the holder under the ultrasonic sensor. To the slots in the holder I have glued double sided tape and then inserted the sensor. This decision is made because plastic conducts the ultrasound and if it is inserted without an insulator, it will distort the readings. Also I soldered the capacitor 104 to the contacts vcc and gnd of the sensor to remove the noise on the power and voltage dips. Without it, the sensor works much worse.
We have to attach the wheels. To do it accurately and on super glue, otherwise they will rotate relative to the shaft. Apply a little glue to any other surface with a toothpick and gently Polish the inner mount of the wheel. Wait a bit and gently put on the shaft. There is a possibility of leakage of glue along the shaft and hit it on the servo. The casing can be glued to the shaft and it will not work. So keep the robot at the top and bottom of the wheel and tighten the bolt. Be careful!!!
That's all, now you have to load the sketch.
Step 7: The Software Part of the JoshBot
JoshBot software consists of programs on your smartphone and sketch for Arduino. The sketch you can find in the attached files. The program for smartphone I took here http://zelectro.cc/Content/Uploads/151/Files/Zele... There is also a scheme of symbols sent by the smartphone to Bluetooth. When no left buttons are not pressed, the port sent the letter T. When loading the sketch don't forget to turn off the Bluetooth switch.
Enjoy and good build !!!