Objective: To create from scratch a working robot that is able to avoid walls and obstacles.
Ever wanted to make a robot that could actually do something, but never had the time or knowledge to do it? Fear no more, this instructable is just for you! I will show you step by step how to make all the necessary parts, and programs to get your very own robot up and running. I was first inspired to build a robot when I was ten, and saw Lost in Space, with that famous B-9 robot, I wanted one! Well six years later I finally built a working robot, its name- Walbot of course!

To find out more...Go to step one.

Step 1: Gathering supplies

Now is a good time to order and collect some of the things you will need for this project. The "brain" of Walbot is a Microcontroller by Atmel called the Atmega168, it is very fast, easy to use and cheap, so that is what I will be using in this project. If you prefer to use PIC, or other Microcontrollers thats fine, however I can't help you out with the code then! Since I did not feel like wasting my time building a prototyping board for the Atmega168, I bought the USB Arduino; it is very easy to use, supports USB, has the boot-loader already burned in, quite cheap, and has free programming software that is similar to C++. Well enough of that talk, let's get on with what you will need!
note: these are only the prices I found from a quick search, if you look harder you probably will find better prices somewhere else, also the DIgiKey links might be broken or timed out, just search for the part description and whatever price matches the one listed here.

Arduino USB board - $34.95
LV-EZ1 Ultrasonic Rangefinder- $25.95
2X 54:1 16mm Spur Gearmotor, FF-050- $13.80
2XPack of 4 Energizer NiMH AA Batteries- $4.85
9Volt Energizer NiMH Battery- $8.99
2X3mm Aluminum Bearing Block- $3.50
2X 3xAA battery holder (DigiKey part # SBH-331AS-ND - $0.98
2.1 x 5.5 x 9mm Right angle DC Power Plug - $0.95
2X Noise Suppression Capacitors - $0.50
L298 double full H-Bridge - FREE SAMPLE!
12"X12" sheet of 1/4" Lexan polycarbonate - $16.36
3X Aluminum 1" 8-32 standoffs - $0.45
4X 2-56 X 1/4 BUTTON CAP SCREW - $0.37
BOX of 100 4-40 X 3/8 BUTTON CAP SCREWS - $5.40
3X 8-32 X 3/8 BUTTON CAP SCREWS - $0.29
Neoprene Foam Tire - 3"D x 0.75"W (pair) - $5.36
Mounting Hub - 3mm (pair)- $8.00
9Volt battery clip (DigiKey part # 234K-ND)
Break Away Headers - $2.95
2 red 2 green and 1 yellow 3mm LED - $2.20 total
4X 1N5818 SCHOTTKY Diode (DigiKey part # 1N5818-E3/1GI-ND) - $0.15
2X 47k and 2X 2.2k and 1X 10k resistirs (digikey part #'s P47KBACT-ND and P2.2KBACT-ND and P10KBACT-ND) - $0.34
Ping Pong ball or other small low friction sphere for a caster- Free????

Custom order Arduino circuit shield see step 4

Optional / If your a complete beginner:
22AWG High Strand Count Silicone Wire Combo Pack - $16.80
Polarized Connectors to make things look neat, you will need crimp pins, 4X 2 pin header and housing, 4 pin header and housing - $6.45
Velcro for sticking things to base

these are the suggested tools to have for this project, you could either buy borrow or use something else you have for the same purpose.
Bandsaw for cutting the Lexan base and various parts.
Drill Press for drilling straight holes in Lexan base.
Tap and Die set for tapping holes in the Lexan base.
Good soldering iron for soldering various parts on the robot.
Digital Multimeter for debugging electrical components.
Wire strippers
Needle-nose pliers for gripping and crimping the connectors

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MikeS31 year ago

I had some trouble finding some of the parts from this list but was able to find them on this website: http://stainlessandalloy.com good luck with your project!

So...your dad the only one with a music collection there? LOL!!! Man, took me back!
Oh ya, sweet little bot you got there!
Brandon121233 (author)  SuperTech-IT1 year ago
Nah man my dad doesn't listen to Stealers Wheel, classic rock is my go to genre.
EVERYBODY listens to them, they just don't remember their name! LOL!

If you're ever looking for anything though, I've got about 250GB worth! LOL!
They were often mistaken for Steve Miller band and occasionally BTO though.
Can you please help me, i cant get the template it wont open.
Bingo, this is a cool autobot.

Try a different concept Wall Following Robot
kinglevi2 years ago
hi this is a very good project i completed i but i need the code for the sharpe ir please send it to king02 levi2004@yahoo.ca
topgear012 years ago
In your code under the distCal function where did you get 204 in
dist = ((valAvg/204.8)/.009765625);
also i would like to see how you calculated distance with the IR sensors
link for the updated codes does not seem to work
thanks !! great job
ashik3 years ago
can i pls have the proper Cutting and Drilling guide Word document and also the PCB information soon...
can u pls mail it to ashikbekal@gmail.com
pls Brandon
Oh, softwarelink not work :(
HERNAN MOMA3 years ago
Brandon I cant find de code for the Infra red sensor
paulc23 years ago
Can't access the site to get an electrical schematic of the motors shield. Nor the PCB manufacturer.

Is the schematic still available and where can I get it

brownjd4 years ago
It looks like the link to the Cutting and Drilling guide Word document is broken. Anyone have it?
brownjd4 years ago
It looks like a number of the parts are not available anymore. Does anyone have any alternatives for the motors and capacitors? I think a lot of the items from Trossenrobotics are not available...
This is a Great bot 1st of all, but this bot would be much improved with full circumference sensors and the capability to map its tracks and all the obstacles the sensors have found.
Brandon121233 (author) 5 years ago
Ok so this is kinda embarrassing but I recently just lost all of my Walbot files to a broken (reaaaalllly broken trust me) hard drive, I have backups of most of the files from uploading them here, but I'm missing the Walbot shield .sch file that I have linked to here. Did anyone by chance download it at some point and still have it? Or if someone can figure out how to see if they can get around the "this link appears to be broken" msg for this  www.instructables.com/file/F3LWTE5F3AQ37KW/ link, that would be sweet too.
Brandon121233 (author) 5 years ago
 So if anyone has pictures of their version of walbot please send them to me (brandon121233@gmail.com) I want to add a section to this instructable featuring pictures of other peoples versions of walbot. THANKS
Kryptonite5 years ago
On step three in the first picture, you can't hover over the yellow box inside the other one, but I'm assuming it's just pointing out where the half ping pong / table tennis ball goes.
First of all great instructable. This is a really cool idea and I'm excited to build it. I have two questions, though. I am making the pcb myself. What do the red arrows (like the one connected to pin 9 of the H-bridge) mean? And what do the JP(number) stand for? Thanks to anybody to take the time to answer my noobish question.
The only picture with red arrows is the 4th pic and the H Bridge is not a part of that. Not sure what you mean by JP, can you give me a more specific quote?
Sorry about not being more specific. When I referred to the red arrow, I meant in the schematic. The schematic also has JP1, JP2, etc., and I didn't know what that meant. Thank you very much.
thats Jumper 1 and Jumper 2, kinda like auxiliary ports should you ever want to add more sensors...
Abhinav7895 years ago
I think that the text for step 1 is missing as I am unable to view only this step but I can view the others. I need to know what materials to use. Please can you fix this as soon as possible?
Brandon121233 (author)  Abhinav7895 years ago
huh thats very odd, it seems as though intructables is having a bit of a problem as it refuses to show that step??? If I click edit it shows all the text but when I save it nothing shows up for step 2... I might have to contact Eric W bout this

but for now heres a link to where you can also find the same instructable www.societyofrobots.com/member_tutorials/node/45 also take a look at some of the other member tutorials and stuff on that site. I know the guy who runs it, and as far as hooby robotics goes- he's the best.
Very nice robot, I have already arranged materials but waiting for the schematic. Can anybody help me to get the schematic? kindly help me Thanks.
kennyvs6 years ago
hi brandon, i just start on making the PCB myself cause i dont have that much money to spend on, i have a problem on the schematic that you have posted. The line that connect to pin 9 of hte H-Bridge, i see it as an arrow that does that mean? does it mean the same as Pin 4 of the H-bridge too (the one that connect to the +), which i assume to with +8v right? And your 2 battleries, it in series right? I just want to make sure of these before i solder on the H-bridge. Thank in advance.
cool bot
Abhishek.D6 years ago
Abhishek.D6 years ago
princessmia6 years ago
hello.i cant open the schematic file as well. can u send it to my email pls? nadiacatlady@y! thxz.
akatsuki6666 years ago
ok all i want is for you to email me the shcamatics . i emailed you so you should have my email (i cant open the shcamatics in the file there in on step 4)
akatsuki6666 years ago
i sent you the e-mail
akatsuki6666 years ago
ok i rly wana od this project but my arduino has errors saying expected ' } ' before ' else ' at global scope pls help ty vm
Brandon121233 (author)  akatsuki6666 years ago
hmmm did you modify the code, that I have uploaded, at all? If not I need to look at it, but I think you might have accidentally left out a brecket after one of the else statements. Click on the error and it should highlight the section thats wrong in red.
akatsuki6666 years ago
fixed it...your origanal didnt work but the lazer one did. one more step for me(but a good learning opertunity) ty pep
akatsuki6666 years ago
another error is.. in function ' avoid walls() ': error: expected intalizer before ' int '
smitty93577 years ago
i love this robot and i really want to finish it but whenever i try to verify the Walbot_QT_Program it says, " error: expected primary-expression before 'else' can you please help i need to finish this by Tuesday.
Brandon121233 (author)  smitty93577 years ago
Did u accidentally delete a bracket after one of the else statements? It should highlight the area where the error is if you click on the error message. If you still can't find the problem copy and email EXACTLY the code that is giving you the error and I'll take a look at it. As far as I know of the code that I have posted compiles without errors... my email is Brandon121233@gmail.com
and yes the errors with else but i deleted nothing pls help
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