Wombatics Otto

Details

Wombatics SAM01 mainboard is built for projects which need to work with mobile app, servos and motion tracking in mind. With onboard Bluetooth Low Energy (BLE) module, it is compatible with both Android and iOS.

It is ideal for building your own robot such as Otto.

This project is a remix of Otto with Wombatics mainboard.

More details of Wombatics board.

https://www.wombatics.com

https://github.com/wombatics/sam01

https://www.facebook.com/wombaticsco/

Files

OttoDIY_Leg_v08.stl

Otto DIY Leg - 3D print STL

Standard Tesselated Geometry - 70.79 kB - 03/08/2020 at 10:58

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OttoDIY_foot_v08.stl

Otto DIY Foot - 3D print STL

Standard Tesselated Geometry - 25.28 kB - 03/08/2020 at 10:58

Download

Wombatics Otto Body.stl

Wombatics Otto Body - 3D print STL

Standard Tesselated Geometry - 127.04 kB - 03/08/2020 at 10:57

Download

Wombatics Otto Head.stl

Wombatics Otto Head - 3D print STL

Standard Tesselated Geometry - 14.14 kB - 03/08/2020 at 10:57

Download

OTTO_Servo_Setup.ino

Arduino - Servo Testing

ino - 1.46 kB - 03/24/2020 at 05:01

Download

Components

1 × Wombatics Robotics Mainboard SAM01 - Arduino Nano Compatible Robotics Board

1 × USB-A to Mini-USB Cable

4 × Servo SG90

1 × 3.7-4.1V Lithium Battery / Lithium Super Capacitor (400-700mAh) ** We use Lithium Super Capacitor **

4 × AA Battery

Build Instructions

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1

3D Printing

3D Printing Setting
Layer Height : 0.2mm
Outline Shells : 3
Fill : 10%
Supports: No

STL Files
2 x OttoDIY_foot_v08.stl
2 x OttoDIY_Leg_v08.stl
1 x Wombatics Otto Body.stl
1 x Wombatics Otto Head.stl

Setup the 4 Servos

Connect the servos to D3, D4, D5 and D6 to the mainboard as the diagram below. Connect the mainboard and computer with a micro usb cable.

Open Arduino IDE under Tools, pick Board: Arduino Nano, Processor: ATmega328P (Old Bootloader) and the correct Port.
(USB driver for the wombatics mainboard: http://bit.ly/cp2112-usb-serial )

Test whether the servos are working with the (OTTO_Servo_Setup.ino). Leave it at 90 degree at the end for assembling the robot.

#include <Servo.h> 
#include <Oscillator.h>


/*
                 --------------- 
                |     O   O     |
                |---------------|
RIGHT LEG 4==>  |               | <== LEFT LEG 3
                 --------------- 
                    ||     ||
RIGHT FOOT 6==>   -----   ------  <== LEFT FOOT 5
                 |-----   ------|
*/

#define PIN_LEFT_LEG   3   
#define PIN_RIGHT_LEG  4  
#define PIN_LEFT_FOOT  5  
#define PIN_RIGHT_FOOT 6 

#define N_SERVOS 4 // There are four servos 
Oscillator servo[N_SERVOS];

void setup()
{
  servo[0].attach(PIN_LEFT_LEG); 
  servo[1].attach(PIN_RIGHT_LEG); 
  servo[2].attach(PIN_LEFT_FOOT); 
  servo[3].attach(PIN_RIGHT_FOOT); 

  //Test 45 degree
  servo[0].SetPosition(45);
  servo[1].SetPosition(45);
  servo[2].SetPosition(45);
  servo[3].SetPosition(45);
  delay(1000);

  //Test 90 degree
  servo[0].SetPosition(90);
  servo[1].SetPosition(90);
  servo[2].SetPosition(90);
  servo[3].SetPosition(90);
  delay(1000);  

  //Test 135 degree
  servo[0].SetPosition(135);
  servo[1].SetPosition(135);
  servo[2].SetPosition(135);
  servo[3].SetPosition(135);
  delay(1000);  

  // Set Final position to 90 degree for assembly
  servo[0].SetPosition(90);
  servo[1].SetPosition(90);
  servo[2].SetPosition(90);
  servo[3].SetPosition(90);
  
  delay(1000);
  
}

void loop() 
{

 
}

3

Assembling Part 1 - 3D printing parts and servos

Put two servos into the body and secure them with the screws come with the servos

Join the leg to the body with the servo horn

Put the two servos into the leg, and put the hood onto the leg servos while keeping the servos at 90 degree.

Put the servo wires up to the body through the holes at the bottom of the body

Slide the foot on the leg servo