My first excursion in to mobile robotics. Did the typical “avoid walls” bot. All the code for this project is up on GitHub.
Version 1
Initial build with sonic sensor to detect walls.
The Components:
- Arduino Uno
- Adafruit Motor Shield V2
- Maker Shield
- Pololu 5″ Robot Chassis
- Pololu Micro Metal Gearmotor Bracket Extended Pair
- Pololu Wheel 42x19mm Pair
- 100:1 Micro Metal Gearmotor HP with Extended Motor Shaft
- HC-SR04 Sonic Range Sensor
The Build: Version 1
The Code: Version 1 Code
The Video:
Version 2
Put sensor on front mounted servo.
The Components:
- Arduino Uno
- Adafruit Motor Shield V2
- Maker Shield
- Pololu 5″ Robot Chassis
- Pololu Micro Metal Gearmotor Bracket Extended Pair
- Pololu Wheel 42x19mm Pair
- 100:1 Micro Metal Gearmotor HP with Extended Motor Shaft
- HC-SR04 Sonic Range Sensor
- TowerPro SG-50 Micro Servo
The Build: Version 2 Build
The Code: Version 2 Code
The Video:
Version 3
Added wheel encoders, new motor controller and PID control for traveling in straight lines.
The Components:
- Arduino Uno
- Pololu 5″ Robot Chassis
- Pololu Micro Metal Gearmotor Bracket Extended Pair
- Pololu Qik 2s9v1 Dual Serial Motor Controller
- Pololu Wheel 42x19mm Pair
- Encoder for Pololu Wheel 42x19mm x2
- 100:1 Micro Metal Gearmotor HP with Extended Motor Shaft
- HC-SR04 Sonic Range Sensor
- TowerPro SG-50 Micro Servo
The Build: Version 3 Build
Other: Adding encoders, PID Control for straight lines and Testing traction issues.
The Code: Version 3 Code
The Video:
Version 4 + 5
I moved over to new chassis. The Pololu Zumo.
The Components:
- Arduino Uno
- Zumo chassis
- Optical wheel encoders
- 100:1 Micro Metal Gearmotor HP with Extended Motor Shaft
- HC-SR04 Sonic Range Sensor
- Adafruit Trinket (Version 4)
- TowerPro SG-50 Micro Servo
The Build:
Other: PID Tuning
The Code: Version 4 & Version 5
The Video:
solderspot 
Hi Sir,
I wish to built the same wall bot as your Version 2. But I could not find the 2 header files below.
#include <SS_Servorator.h>
#include <SS_ServoTrim.h>
Can you kindly assist me on these.?
Newbie.
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Servorator is here: https://github.com/solderspot/SS_Servorator
ServoTrim is here: https://github.com/solderspot/SS_ServoTrim
Have fun with the build.
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Hi Sir, me the clueless,
I have basically built everything as your wallbot ver2 except i do not have the Adafruit motor controller shield Ver2.
I am using the older ver1 of motor controller shield.
I tried my best to rewrite the motor command base on AFMotor.h library. But the motor having trouble turning when it detect obstacle.
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The code looks fine. What is the problem you are seeing? I can only guess that the motors might be wired incorrectly.
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