Mobile Robotic Arm Using PHIRO + Arduino

Introduction: Mobile Robotic Arm Using PHIRO + Arduino

We're back with another tutorial to show you how to turn PHIRO Pro into a cool mobile robotic arm that can pick and place stuff! Similar to our previous PHIRO Arduino Color sensor instructable, we are going to use Pocket Code on an Android phone to simultaenously control PHIRO and Arduino wirelessly via Bluetooth. By the way, if you're lucky, you can still grab PHIRO Pro for an awesome low price on Kickstarter here.

Step 1: What You Wil Need

Step 2: Uploading Standard Firmata to Arduino

To connect PHIRO Proand Arduino with Pocket Code we will need to have the Standard Firmata on the Arduino Board.
In Arduino IDE,
Select the COM Port.
Tools -> Serial Port -> Corresponding COM Port

Next select your Arduino Board.
Tools -> Board -> Your Arduino Board (We have used an Arduino Uno, but you can use ANY Arduino board)

Next we are going to select the Standard Firmata.
Click on Examples -> Firmata -> Standard Firmata

Click on Upload.

Step 3: Connecting Bluetooth Module and Motor Driver to Arduino

Arduino D3 - Motor driver M1 IN1
Arduino D4 - Motor driver M1 IN2

Connect motor terminal to motor drivers M1 OUT
Arduino D0 - HC05 Tx
Arduino D1 - HC05 Rx

Power your Arduino and Motor driver with a 9V battery.

Step 4: Mounting LEGO(R) Construction and Electronics Onto PHIRO

In addition to LEGO(R) connectivity on it's body, PHIRO also comes with a cool LEGO(R) accessory that can be plugged into PHIRO to fix pieces on top as well. We made a single motor powered Robotic arm using some LEGO(R) pieces.

Notice that we have used a LEGO(R) motor, however any DC motor can be used in it's place

Next we have taped the Arduino setup right on top of the LEGO(R) construction.
Now that we're done with the hardware, let's move onto the software.

Step 5: Programming PHIRO Pro and Arduino With POCKET CODE

Make sure both PHIRO Pro and the Arduino setup are turned ON. PHIRO should be in Mode 3 (Bluetooth Mode). Pair both devices to your Android smartphone. In case you haven't, download the Pocket Code app on Google Play for FREE here. Check out the video above showing step by step instructions to program PHIRO and Arduino.

Step 6: HURRAY! We're Done!

Here is a video of PHIRO with the Arduino powered Robotic Arm.
Driving is done by tilting the smartphone, and the Arm is programmed to close automatically when PHIRO's bottom sensors detects a black line.

We put a ball near the black line. For the black line, we used a small piece of black insulation tape.
Hope you guys liked out tutorial! Do share your suggestions and comments below.

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