RDRK is acronym in my language (Lithuanian) for “Robotas Dėliojantis Rubiko Kubą“. This is my second project involving microcontrollers μC (the zeroth was LED blinkie and the first one was RC5 decoder).
Intro:
Up to now I have used only atmel AVR microcontrollers, so this bot is no exception with: ATmega16. Firmware is written entirely in C, also avrlib library for timing/PWM/UART was used. Although program is written with wxWidgets (C++) library, it won’t compile under Windows because the system calls in serial communication part, thought if you remove it, it should build with no hassle.
In action:
The build:
Basic communication scheme: (USB-to-RS232 (PL-2303))->MAX232->UART
Power: for servos and logic I’ve used L7805 with big heatsink (and yes, at operation time it was necessity) and DSA-20R-12 switching adapter
Servos: 2xMG995‘s for main arms and for 2xHXT900 “claws”
uC: atmega16; 7.3728Mhz; LF: 3f, HF: de
Other thoughts:
In order to use make with firmware you should export avrlib directory with:
export AVRLIB=/path/to/avrlib
Color recognition would be nice, but because it’s easy to do (as in: no challenge) and some cross platform problems (Unix/Linux) with webCAM I didn’t implement it (also partly because it’s not intended for daily use, and You should know that programmers are lazy)
Any questions? ASK!
Source files (tl;dr):
- Firmware: rdrk_fimware.2009-09-11.zip
- CAD: cdr+dwg
Extra:
- video: rdrk.mov
- soundtrack: deep skydivers – momentum.mp3 (official site)
P.S. everything is under GNU GENERAL PUBLIC LICENSE.
Pasirodo lietuviai ne tik runkelius moka skinti:D Saunuolis! Kas ilgiau truko programavimas ar pats surinkimas?
Thank you for the positive feedback. Actually programming took longer than the assembly of robot itself (majority of time was spent on a 3D cube)
Awesome project, and great video! Are you still planning to post the Eagle schematics/board?
Heh, it has been a looooong time since I posted this, I am not sure I even have a source code of the solver program, so it’s a “no” :]
Hi,
great job!
I’m planing my own robot and i looked at your drawing. I had some problems to open the fieles. In Corel Draw i was not able to open them. In DWG it is better but not every drawing had the correct size. So please can you send me the drawings in pdf?
Thank you!
Hi Jens,
Sorry, but I can’t find the drawing files anymore. Just use your imagination! Look at general structure and come up with your (exact) numbers.
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