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ROBUG Arduino Based Hexapod Robot Kit (Black) Robot Kits Do it yourself Arduino Based Hexapod Robot kit. Educational Bug Robot kit suitable for beginners! ROBUG: Jsumo
Do it yourself Arduino Based Hexapod Robot kit. Educational Bug Robot kit suitable for beginners!
ROBUG: Cool Bug Robot From JSumo
Our Arduino based developable robot kit. Comes as unassembled. (Very easy to assemble.)
You can build your Hexapod robot with Robug kit. Servo motors, sensors directly connected to Arduino Shield.
HERE THE ALL PARTS YOU WILL HAVE, WHEN YOU ORDER FROM JSUMO.
All electronics & hardware included.
What’s Included?
Arduino Uno R3
Sensor Shield
HCSR04 Ultrasonic Sensor
MG90 Micro Servo
SG90 Micro Servos (2)
6mm Brass Standoffs (26)
25mm Brass Standoffs (8)
M3x5mm Stainless Steel Machine Screws (60)
M3 Nylon Locking Nuts (10)
Based on Arduino Software
Our Hexapod Robot Code is open sourced. You can use for developing too.The standard code will be sent to customers.Code is below:
#include
//// Servo Objects Decleration
Servo RightServo;
Servo LeftServo;
Servo MiddleServo;
/////////////// Ultrasonic Sensor Tirgger and Exho Pins
// 9 and 8 is pin numbers.
int trigpin = 9;
int echopin = 8;
// Centering Values can be changed depending on assembly.
// Please try to make center servo horns near to 90 degree. and after that tune with below values.
// Values are in degrees.
int MiddleCenterValue = 96;
int RightCenterValue = 83;
int LeftCenterValue = 80;
// Below values are used for step distance and lift height. values are in degrees.
int StepSize = 20;
int MiddleLiftSize = 30;
void setup() {
RightServo.attach(A3);
LeftServo.attach(A5);
MiddleServo.attach(A4);
Serial.begin(9600);
pinMode(trigpin, OUTPUT);
pinMode(echopin, INPUT);
}
void Reference() {
/////Reference Centers////
RightServo.write(RightCenterValue);
LeftServo.write(LeftCenterValue);
MiddleServo.write(MiddleCenterValue);
delay(3500);
}
void Forward() {
RightServo.write(RightCenterValue + StepSize); // RightServo Forward step
LeftServo.write(LeftCenterValue + StepSize); // LeftServo back step
MiddleServo.write(MiddleCenterValue - MiddleLiftSize); // RightServoyu lift
delay(100);
MiddleServo.write(125); // MiddleServo centered
delay(60);
RightServo.write(55); // RightServo back step
LeftServo.write(55); // LeftServo Forward step
MiddleServo.write(125); // LeftServoyu lift
delay(100);
MiddleServo.write(65); // MiddleServo centered
delay(60);
}
void Retreat() { // This function used when ultrasonic sensor see something and it tries to retreat and turn.
for (int i = 0; i < 3; i++) {
RightServo.write(125);
LeftServo.write(LeftCenterValue);
MiddleServo.write(125);
delay(200);
RightServo.write(RightCenterValue);
LeftServo.write(LeftCenterValue);
MiddleServo.write(65);
delay(200);
RightServo.write(RightCenterValue);
LeftServo.write(125);
MiddleServo.write(65);
delay(200);
RightServo.write(RightCenterValue);
LeftServo.write(LeftCenterValue);
MiddleServo.write(125);
delay(200);
}
}
void loop() {
//Reference(); // Not used in real code, we use for calibration.
// Forward(); You can call forward function and comment below if statement for direct walking gait.
// Ultrasonic sensor reading function
long duration, distance;
digitalWrite(trigpin, LOW);
delayMicroseconds(2);
digitalWrite(trigpin, HIGH);
delayMicroseconds(10);
digitalWrite(trigpin, LOW);
duration = pulseIn(echopin, HIGH);
distance = (duration / 2) / 29.1;
Serial.println(distance);
/// We look for ditance value, if it is bigger than 30cm we contiune Forward routine.
// if shorther then 30 cm we call retreat routine.
if (distance > 30) {
Forward();
}
else if (distance < 30) {
Retreat();
}
}
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