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Great project! Thanks for posting it.
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Nice tutorial! Thanks for posting it.
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Glad you liked it. As for the phase lag, you're right, the natural thing to do is use 2*pi/(# of segments) so that the length of the sine wave is equal to one body length. However, different phase lags have an effect on the speed of the robot. I think I was just playing around with different values and used the one that gave the best performance.
Thanks for the kind words. Regarding your question about the equation; I don't think there is just one equation that works for serpentine motion. Any sine or cosine wave (or maybe even other periodic waves) sent down the length of the snake should work.
Thanks! I appreciate it. Also, I was checking out your lighting insturctables; they're fantastic. I love the table top.
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Thank you for the kind words. It took about two months of on-and-off work to get all four configurations working.
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Thanks! Glad you liked it.
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The image below shows how the servos are connected. I didn't have room for them all, so I just put in two representative ones. Just make sure to use different power supplies for the arduino and the servos since the Arduino pins cannot supply enough current to run the servos. The two power supplies do need to share the same ground connection.
Yes! The file containing all of them is given in Step 5. That file also contains code to process information from a IR distance sensor. When Stompy gets too close to a wall he stops, looks to the left and right to take distance measurements, and then continues in the direction of the clearer path.
Thanks! Glad you liked it!
There are more videos in Steps 4 and 5 of the instructable.
Glad you liked it!
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I’m not sure. The 8servos for the legs need to be controlled by PWM pins on the Arduino, but thereare only 6 PWM pins on the Uno (pins 3, 5, 6, 9, 10 and 11). I think there might be ways to extend PWMcapability to other pins on an Uno, but unfortunately I don’t know how to doit.
I'm not sure. The 8 servos for the legs need to be controlled by PWM pins on the Arduino, but there are only 6 PWM pins on an Uno (pins 3, 5, 6, 9, 10 and 11). I think there might be ways to extend PWM capability to other pins on an Uno, but unfortunately I don't know how to do it.
It's a little clumsy, but it can turn. There is a video of it turning in step 4.
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Thanks! I'm glad you enjoyed it.
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Thanks, it was challenging, but I enjoyed making it.
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