Hello, in this instructable I'll be showing you step by step how to build the TurtleDuino, an object avoidance robot, with an Arduino UNO microcrontroller on board. I designed the TurtleDuino using material from the hardware store (Home Depot) and all the electronics from sparkfun.com and jameco.com.

Shopping List:
  • Arduino UNO      (Sparkfun.com)
  • Ultrasonic Ping))) Sensor      (jameco.com) 
  • 2 Larg Servo motors continuous rotation  (sparkfun ROB-09347)
  • 1 Medium Servo Motor 180 Degrees rotation (sparkfun ROB-10333)
  • Breadboard  (sparkfun PRD-09567)
  • Jumper Wires (sparkfun PRD-11026)
  • SPST toggle switch (sparkfun COM-09276)
  • 22 AWG hookup wire (sparkfun PRD-08023)
  • Servo Motor Extensions (sparkfun ROB-08738)
  • 9v battery plug jack for Arduino (sparkfun PRY-09518)
  • 9v battery holder (optional)
  • 9v battery
  • 4 AA batteries
  • Breakaway headers-long (sparkfun PRT-10158)
  • An old R/C car's wheels
  • 2 Large servo mounts

Home depot:

  • 1/2" in. 45 degrees pvc pipe (Turrtle"s neck)  (in electrical)
  • 1/2" in. pvc one hole conduit snap strap or a conduit clamp  (to support the turtle"s neck) (in electrical)
  • 2" in. Service Entrance Cap (turtle"s shell) (in electrical)
  • 1" in. Service Entrance Cap (turtle"s head) (in electrical)
  • Liquid electrical  tape (in electrical)
  • Hot glue gun kit (in tools)
  • Solder kit (in tools)

Hardware section

  • 3/8"x6x24" Craft Board  (to make the base of the turtle)
  • #6-32x1" machine screws (about 20)
  • #6 flatwashers (small bag)
  • #6x1/2" sheet metal screws (to attach neck bracket, front wheels, and shell to the base)
  • #4x1/2" sheet metal screws (to attach servos and arduino to the base) (small bag)
  • #6 nuts (small bag) , 4 #6-32x2" long bolts (to attach head to neck and the ping servo to head)
  • 90 degrees angle corner plate
  • 2" painting brush (for the cool mohawk)  (in paint)


Step 1: Cutting the base

In this step were are going to cut the base, install the rear servo motors, front and rear wheels, and the 4 AA battery holder.
Remove and discard the bottom piece of the turtles shell, then place the shell on the 1/2"x6x4' poplar wood and trace the inside diameter of the shell with a 3" pencil (3" pencil because is a tight space). Leave about 2" of the base in front of the shell then cut the traced area. (see pictures) Now lets use the two servo mounts or make your own and attach the rear servo motors using the #4 sheet metal screws  (make sure they are the continuous rotation ones)  to the back of the base near the outside edges so that the only thing sticking out of the side is just the shaft of the servo motor. Drill a 1/4" in. hole on the base in between the 2 servos, we are using this opening to run the motor wires and the 4 AA batt. holder's "+" and "-" leads to the breadboard. Attach the front wheels I used 2 small lego pieces and  screwed the  into the base using the #6x1/2" sheet metal screws. I used hot glue to attach the rear wheels to the large round servo horn and then screw them to the servo shaft. And last screw in the 4 AA battery holder.(don't forget to run the wires through the 1/4" hole.
Hi I know this is very late but in your sketch you showed an ir sensor and you used a 4-pin ultrasonic sensor. Does this make a difference?
<p>Hy! Is there any problem if instead of arduino uno I use Due? Thanks in advance.</p>
I noticed you modified the front suspension. I'm assuming that was due to turning issues from the original design. I'm building a similar robot with my son. We are still in the initial design phase and I'm foreseeing turning issues once we begin production. What did you do to fix this issue?
Hi, I wanted to make turtleduino, how much does it cost I mean details.
$70.00 in electronic components. And at about $20 in material.
hey <br>i also wannna do a similar stuff. i want to design a robot for surveillance where the robot will be fully autonomous and it wil move for point A to point B autonomously. <br>i want u to help me in designing the autonomous motion planning system to go form one given place to the other using sensors n stuff...i m stuck pls help <br> <br>i have bought the rover system from here just for making prototype of the actual system since i got it at a good price... <br>http://danuc.com/index.php?main_page=index&amp;cPath=6 <br>http://danuc.com/index.php?main_page=index&amp;cPath=4 <br>http://danuc.com/index.php?main_page=index&amp;cPath=1 <br>http://danuc.com/index.php?main_page=index&amp;cPath=7 <br>http://danuc.com/index.php?main_page=product_info&amp;cPath=8&amp;products_id=52 <br> <br>pls reply
Hi, I started on a project using IR sensors but for some reason my servos only keep moving forward even if the sensor detects an object ahead. I checked the code and it seems to be fine. the connections are according to the codes. so im not quite sure whats going on there. any ideas? <br>Here is the code if anyone can see anything wrong please let me know. <br> <br> <br>#include // Include servo library <br> <br>Servo servoLeft; // Declare left and right servos <br>Servo servoRight; <br> <br>void setup() // Built-in initialization block <br>{ <br> pinMode(10, INPUT); pinMode(9, OUTPUT); // Left IR LED &amp; Receiver <br> pinMode(3, INPUT); pinMode(2, OUTPUT); // Right IR LED &amp; Receiver <br> <br> tone(4, 3000, 1000); // Play tone for 1 second <br> delay(1000); // Delay to finish tone <br> <br> servoLeft.attach(13); // Attach left signal to pin 13 <br> servoRight.attach(12); // Attach right signal to pin 12 <br>} <br> <br>void loop() // Main loop auto-repeats <br>{ <br> <br> int irLeft = irDetect(9, 10, 38000); // Check for object on left <br> int irRight = irDetect(2, 3, 38000); // Check for object on right <br> <br> if((irLeft == 0) &amp;&amp; (irRight == 0)) // If both sides detect <br> { <br> maneuver(-200, -200, 20); // Backward 20 milliseconds <br> } <br> else if(irLeft == 0) // If only left side detects <br> { <br> maneuver(200, -200, 20); // Right for 20 ms <br> } <br> else if(irRight == 0) // If only right side detects <br> { <br> maneuver(-200, 200, 20); // Left for 20 ms <br> } <br> else // Otherwise, no IR detects <br> { <br> maneuver(200, 200, 20); // Forward 20 ms <br> } <br>} <br> <br>int irDetect(int irLedPin, int irReceiverPin, long frequency) <br>{ <br> tone(irLedPin, frequency, 8); // IRLED 38 kHz for at least 1 ms <br> delay(1); // Wait 1 ms <br> int ir = digitalRead(irReceiverPin); // IR receiver -&gt; ir variable <br> delay(1); // Down time before recheck <br> return ir; // Return 1 no detect, 0 detect <br>} <br> <br>void maneuver(int speedLeft, int speedRight, int msTime) <br>{ <br> // speedLeft, speedRight ranges: Backward Linear Stop Linear Forward <br> // -200 -100......0......100 200 <br> servoLeft.writeMicroseconds(1500 + speedLeft); // Set left servo speed <br> servoRight.writeMicroseconds(1500 - speedRight); // Set right servo speed <br> if(msTime==-1) // if msTime = -1 <br> { <br> servoLeft.detach(); // Stop servo signals <br> servoRight.detach(); <br> } <br> delay(msTime); // Delay for msTime <br>}
Is there a circuit diagram for this project?
Hello timgordon, here is a Fritzing diagram, I hope it helps. (step8)
No, but I'll upload one soon.
i can hear the electricity from motor but it doesn't drive. <br>the servo motor also just repeat turn left and right and forward.
Check all your ground wires. All ground wires should be connected together, including the one from the arduino ground pin. Also, use another power source to drive your motors do not use the arduino.Two power source one for the Arduino and one for your motors.
the codes are not completed, right?
The code is complete.
i have try the codes but seems that the motor doesn't work as expect.
I am going to load the code to a similar project I'm working on and see what happens. what happens to the motor? and which motor? Do they (motors) turn to the same direction?
i have try the codes but seems that the motor doesn't work as expect.
That is freaking adorable.
I'm glad you find it adorable, I had a hard time deciding whether the mohawk will make it look good or kind of cheesy. But like Megaduty wrote the mohawk gave the Turtlrduino some style.
the drive wheels been in the middle with a little stump at back and front to allow a little bit of tipping would work much better
That's a good idea, that would it make it more interesting.
That bot's got style! Voted for ya!
Thank you for voting.
I once made a codpeice out of the part you used for the shell! nice job! :)
thank you!
Yeah only a couple hundred dollars
Yes, Marvin The Martian. I got the idea from Dan M. in letsmakerobot.com blog. <br>Don't foget to vote for TurtleDuino in the Arduino contest. Thank you.
WOW!!! Great project! The Mohawk brush on top adds a comical flare to the TurtleDuino. It reminds me of a robot type that &quot;Marvin The Martian&quot; would have takes me back to by childhood and Bugs Bunny.

About This Instructable


103 favorites


More by robdavinci: R/C Car Drag Racing Lights Motorized Evil Shield Powered Breadboard Workstation
Tags: Robots Arduino
Add instructable to: