Category Archives: Projects

Spooky Alexa mask documentation

Posted on June 6, 2020

This is the animatronic mask made by Keith Colton for the 2019 Dublin Maker Faire. This post will document the assembly and the current electronics being used. All images can be clicked on to view the full resolution image. Mechanical … Continue reading →

Posted in Ideas, Projects, Robots | 1 Comment

Connecting sensors to the internet using an arduino and a raspberry pi

Posted on January 10, 2016

As part of the PlantBot project, I wanted a way to look at sensor data over the internet. These sensors are moisture, light and pressure. The main one is moisture, the other two were just added in because I had … Continue reading →

Posted in Arduino, Atmel, how to, Microcontrollers, PHP, Projects, Python | Tagged internet connected, plantbot, sensors | 5 Comments

Making a USB Powered LED Bird Lamp

Posted on January 6, 2016

Drawings: Download svg file here Download code here Extra Info: LED strip used is ws2812b. Adafruit neopixel library ‘buttoncycler’ program lightly modified to work with a potentiometer. The peacock image was found via google images. link to the pinterest page … Continue reading →

Posted in Arduino, how to, Ideas, Inkscape, laser cutter, Projects | Tagged arduino, laser cutter, video | 2 Comments

PlantBot – The Plant Watering Robot

Posted on November 30, 2015

PlantBot – because watering plants is boring. Laser Cutter Plans: Here is a preview of what the plans look like: For laser cutting, click here to download an SVG file of the plans Code:

#include <math.h>
#include <Servo.h>

Servo arm;
Servo shoulder;
Servo pull;


//servo angle limits (abs degrees)
#define S_MIN -60
#define S_MAX 60

#define A_MAX 170
#define A_MIN 0

#define P_OPEN -40
#define P_CLOSED 67

//xy_points of robot arm when over a plant box section
int xy_points[16][2] = { {1,3}, {5,1}, {0,-12}, {0,-16},
                         {0,-3},{1,-5},{3,-10}, {3,-14},
                         {2,-3}, {3,-5}, {5,-9}, {6,-13} }; 

void setup()
{
  Serial.begin(9600);
  arm.attach(9); 
  shoulder.attach(5);
  pull.attach(2);
}

float calc_shoulder_angle(int x, int y){  //forward kinematics for shoulder
  static int neg_flag = 0;
  
  if(y < 0) {
    neg_flag = 1;
    y = abs(y);
  }
  
  static float shoulder_angle, yx_div, q_ang;
  yx_div = (float)y/x;
  
  q_ang = acos( (x*x + y*y +49.91) / (24*sqrt(x*x + y*y)) );
 
  shoulder_angle = atan(yx_div) -q_ang ;
  
  if(neg_flag == 0) {
    shoulder_angle = ( shoulder_angle + q_ang ) + abs(q_ang); 
  }
  
  shoulder_angle = shoulder_angle*(57296/1000);

  if(neg_flag){
    shoulder_angle = shoulder_angle - 90;
    shoulder_angle = shoulder_angle + (2*q_ang*(57296/1000));
    neg_flag = 0;
  }
  
  return shoulder_angle;
  
}

float calc_arm_angle(int x, int y){  //forward kinematics for arm
  static float arm_angle;

  arm_angle = acos( (x*x + y*y -238.09) / (232.8) );
  arm_angle = arm_angle*(57296/1000);
  
  return arm_angle;
}

void set_angles(int x, int y){     //set angles of shoulder and arm servos

  static int a_ang,s_ang;
  
   s_ang = (int)calc_shoulder_angle(x,y);
  a_ang = (int)calc_arm_angle(x,y);
 

  arm.write(180 - a_ang);  //invert arm angle to robot arm bends the other way

  shoulder.write( abs_to_servo(s_ang) );
  
  
}

int abs_to_servo (int abs_ang){ // converts from absolute angles (unit circle) to servo angles
  static int servo_ang;
  servo_ang = 90 + abs_ang;
  return servo_ang;
}

void pull_lever(void){          //pull the spray bottle lever
  pull.write( abs_to_servo(-40) );
  delay(1000);
  pull.write( abs_to_servo(67));
}

void loop() 
{ 

  //goes to each planter box aquare and pulls lever
  
  for(int i=0; i<12; i++){
      set_angles(xy_points[i][0], xy_points[i][1]);
      pull_lever();
      delay(1500);
    }

  

  
}

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#include <math.h>

#include <Servo.h>

Servo arm;

Servo shoulder;

Servo pull;

//servo angle limits (abs degrees)

#define S_MIN -60

#define S_MAX 60

#define A_MAX 170

#define A_MIN 0

#define P_OPEN -40

#define P_CLOSED 67

//xy_points of robot arm when over a plant box section

int xy_points[16][2] = { {1,3}, {5,1}, {0,-12}, {0,-16},

{0,-3},{1,-5},{3,-10}, {3,-14},

{2,-3}, {3,-5}, {5,-9}, {6,-13} };

void setup()

{

Serial.begin(9600);

arm.attach(9);

shoulder.attach(5);

pull.attach(2);

}

float calc_shoulder_angle(int x, int y){ //forward kinematics for shoulder

static int neg_flag = 0;

if(y < 0) {

neg_flag = 1;

y = abs(y);

}

static float shoulder_angle, yx_div, q_ang;

yx_div = (float)y/x;

q_ang = acos( (x*x + y*y +49.91) / (24*sqrt(x*x + y*y)) );

shoulder_angle = atan(yx_div) -q_ang ;

if(neg_flag == 0) {

shoulder_angle = ( shoulder_angle + q_ang ) + abs(q_ang);

}

shoulder_angle = shoulder_angle*(57296/1000);

if(neg_flag){

shoulder_angle = shoulder_angle - 90;

shoulder_angle = shoulder_angle + (2*q_ang*(57296/1000));

neg_flag = 0;

}

return shoulder_angle;

}

float calc_arm_angle(int x, int y){ //forward kinematics for arm

static float arm_angle;

arm_angle = acos( (x*x + y*y -238.09) / (232.8) );

arm_angle = arm_angle*(57296/1000);

return arm_angle;

}

void set_angles(int x, int y){ //set angles of shoulder and arm servos

static int a_ang,s_ang;

s_ang = (int)calc_shoulder_angle(x,y);

a_ang = (int)calc_arm_angle(x,y);

arm.write(180 - a_ang); //invert arm angle to robot arm bends the other way

shoulder.write( abs_to_servo(s_ang) );

}

int abs_to_servo (int abs_ang){ // converts from absolute angles (unit circle) to servo angles

static int servo_ang;

servo_ang = 90 + abs_ang;

return servo_ang;

}

void pull_lever(void){ //pull the spray bottle lever

pull.write( abs_to_servo(-40) );

delay(1000);

pull.write( abs_to_servo(67));

}

void loop()

{

//goes to each planter box aquare and pulls lever

for(int i=0; i<12; i++){

set_angles(xy_points[i][0], xy_points[i][1]);

pull_lever();

delay(1500);

}

The calc_shoulder_angle function is dodgy … Continue reading →

Posted in Arduino, Hacks, Hardware, how to, Ideas, Projects | Tagged arduino, botany, plantbot, servo | 2 Comments

Category Archives: Projects

Spooky Alexa mask documentation

Connecting sensors to the internet using an arduino and a raspberry pi

Making a USB Powered LED Bird Lamp

PlantBot – The Plant Watering Robot

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