Along the way, we made some focused design decisions to make this project readily extensible and easily graspable. Our turtles are built around the Arduino, with our code interpretation software written in Python.
Step 1: Printing the Body
We attempted to print the shell on a CupCake 3d printer made by MakerBot Industries. We wound up using a Dimension SST 1200es, as it was available, bug free, and could handle larger volume prints.
Step 2: Making the Wheels
This approach was selected as it's readily reproducible and cost-effective.
1)Trim the excess plastic from the additional servo splines leaving a circular hub.
2)Super glue the back part to a ping pong ball and let it dry.
3)Pin the ball to the servo and rotate it to see if it works.
4)Super glue the modified servos back to back.
5)Small amounts of hotmelt glue may need to be added to increase friction.
Step 3: Attaching the Pen
Step 4: Assemble Your Electronics
Step 5: Put It All Together
Step 6: TurtleArt Modifications
We modified a version of TurtleArt to generate Arduino commands - everything required for Ubuntu is packaged at http://www.mediafire.com/?1291wxkbzerq70x. Extract the archive, run "turtleart.py," and build till your heart's content!
The program will output both internal and Arduino instructions. For example, the block structure in the image printed the following when run:
running code: [('forward', 12), 100.0, ('left', 14), 90.0, ('forward', 16), 100.0, ('right', 18), 90.0, ('forward', 20), 100.0]
The second chunk of text should be copied and pasted into "color.pde," the Arduino sketch that turns "FD(10);" into servo commands.
Integrating these modifications with the upstream repository is a work in progress.