User Manual

Contents
Introduction .......................................................................................................................... 1
1.1 Overview ........................................................................................................... 1
Components List ................................................................................................................. 2
2.1. Acrylic Plates .................................................................................................... 2
2.2. Mechanical Fasteners .................................................................................... 3
2.3. Electronic Components ................................................................................. 4
2.4. Tools.................................................................................................................... 7
2.5. Self-Provided Components ........................................................................... 7
Get Started with Software ................................................................................................ 8
3.1 Download the code....................................................................................... 8
3.2 About Arduino ................................................................................................. 8
Assembly ............................................................................................................................ 13
4.1 Upper Plate + Riband ................................................................................... 13
4.2 Upper Plate + Battery Holder ...................................................................... 13
4.3 Upper Plate + Servo ...................................................................................... 14
4.4 Upper Plate + PCB ........................................................................................ 15
4.5 U Joint-A/U joint-B.......................................................................................... 17
4.6 U Joint Unit-1/U Joint Unit-2 ......................................................................... 20
4.7 Crus + Servo .................................................................................................... 22
4.8 Uploading Assembly Program .................................................................... 24
4.9 U Joint Unit + Crus.......................................................................................... 26
4.10 Upper Plate + Leg ......................................................................................... 28
4.11 Bottom Plate + Sensor .................................................................................. 30
4.12 Upper Plate + Bottom Plate ........................................................................ 33
4.13 Wiring ............................................................................................................... 35
4.14 Shell .................................................................................................................. 36
Experiments ....................................................................................................................... 37
5.1 App Control.................................................................................................... 37
5.2 Obstacle Avoidance ................................................................................... 39
5.3 Line Following when Avoiding Obstacle ................................................. 39
5.4 Dance .............................................................................................................. 40
Code Explanation ............................................................................................................ 41
6.1 ServoWrite.ino ................................................................................................ 41
6.2 APP.ino ............................................................................................................ 44
6.3 Avoidance.ino ............................................................................................... 48
6.4 Following.ino .................................................................................................. 51
Afterword ........................................................................................................................... 53
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