3D Printed R2-D2 with an Arduino Core
The most famous droid in history built in a easy way.
Components and supplies
1
HC-05 Bluetooth Module
1
Speaker: 3W, 4 ohms
1
RGB Diffused Common Cathode
1
ultrasonic sensor
1
Arduino UNO
1
Breadboard (generic)
1
Dual H-Bridge motor drivers L293D
1
Pololu round chassis kit
1
Slide Switch
Tools and machines
1
3D Printer (generic)
Project description
Code
theend.ino
arduino
1 2//notes I found the sounds on https://mycontraption.com/sound-effects-with-and-arduino/ 3const float note_C0 = 16.35; //C0 4const float note_Db0 = 17.32; //C#0/Db0 5const float note_D0 = 18.35; //D0 6const float note_Eb0 = 19.45; //D#0/Eb0 7const float note_E0 = 20.6; //E0 8const float note_F0 = 21.83; //F0 9const float note_Gb0 = 23.12; //F#0/Gb0 10const float note_G0 = 24.5; //G0 11const float note_Ab0 = 25.96; //G#0/Ab0 12const float note_A0 = 27.5; //A0 13const float note_Bb0 = 29.14; //A#0/Bb0 14const float note_B0 = 30.87; //B0 15const float note_C1 = 32.7; //C1 16const float note_Db1 = 34.65; //C#1/Db1 17const float note_D1 = 36.71; //D1 18const float note_Eb1 = 38.89; //D#1/Eb1 19const float note_E1 = 41.2; //E1 20const float note_F1 = 43.65; //F1 21const float note_Gb1 = 46.25; //F#1/Gb1 22const float note_G1 = 49; //G1 23const float note_Ab1 = 51.91; //G#1/Ab1 24const float note_A1 = 55; //A1 25const float note_Bb1 = 58.27; //A#1/Bb1 26const float note_B1 = 61.74; //B1 27const float note_C2 = 65.41; //C2 (Middle C) 28const float note_Db2 = 69.3; //C#2/Db2 29const float note_D2 = 73.42; //D2 30const float note_Eb2 = 77.78; //D#2/Eb2 31const float note_E2 = 82.41; //E2 32const float note_F2 = 87.31; //F2 33const float note_Gb2 = 92.5; //F#2/Gb2 34const float note_G2 = 98; //G2 35const float note_Ab2 = 103.83; //G#2/Ab2 36const float note_A2 = 110; //A2 37const float note_Bb2 = 116.54; //A#2/Bb2 38const float note_B2 = 123.47; //B2 39const float note_C3 = 130.81; //C3 40const float note_Db3 = 138.59; //C#3/Db3 41const float note_D3 = 146.83; //D3 42const float note_Eb3 = 155.56; //D#3/Eb3 43const float note_E3 = 164.81; //E3 44const float note_F3 = 174.61; //F3 45const float note_Gb3 = 185; //F#3/Gb3 46const float note_G3 = 196; //G3 47const float note_Ab3 = 207.65; //G#3/Ab3 48const float note_A3 = 220; //A3 49const float note_Bb3 = 233.08; //A#3/Bb3 50const float note_B3 = 246.94; //B3 51const float note_C4 = 261.63; //C4 52const float note_Db4 = 277.18; //C#4/Db4 53const float note_D4 = 293.66; //D4 54const float note_Eb4 = 311.13; //D#4/Eb4 55const float note_E4 = 329.63; //E4 56const float note_F4 = 349.23; //F4 57const float note_Gb4 = 369.99; //F#4/Gb4 58const float note_G4 = 392; //G4 59const float note_Ab4 = 415.3; //G#4/Ab4 60const float note_A4 = 440; //A4 61const float note_Bb4 = 466.16; //A#4/Bb4 62const float note_B4 = 493.88; //B4 63const float note_C5 = 523.25; //C5 64const float note_Db5 = 554.37; //C#5/Db5 65const float note_D5 = 587.33; //D5 66const float note_Eb5 = 622.25; //D#5/Eb5 67const float note_E5 = 659.26; //E5 68const float note_F5 = 698.46; //F5 69const float note_Gb5 = 739.99; //F#5/Gb5 70const float note_G5 = 783.99; //G5 71const float note_Ab5 = 830.61; //G#5/Ab5 72const float note_A5 = 880; //A5 73const float note_Bb5 = 932.33; //A#5/Bb5 74const float note_B5 = 987.77; //B5 75const float note_C6 = 1046.5; //C6 76const float note_Db6 = 1108.73; //C#6/Db6 77const float note_D6 = 1174.66; //D6 78const float note_Eb6 = 1244.51; //D#6/Eb6 79const float note_E6 = 1318.51; //E6 80const float note_F6 = 1396.91; //F6 81const float note_Gb6 = 1479.98; //F#6/Gb6 82const float note_G6 = 1567.98; //G6 83const float note_Ab6 = 1661.22; //G#6/Ab6 84const float note_A6 = 1760; //A6 85const float note_Bb6 = 1864.66; //A#6/Bb6 86const float note_B6 = 1975.53; //B6 87const float note_C7 = 2093; //C7 88const float note_Db7 = 2217.46; //C#7/Db7 89const float note_D7 = 2349.32; //D7 90const float note_Eb7 = 2489.02; //D#7/Eb7 91const float note_E7 = 2637.02; //E7 92const float note_F7 = 2793.83; //F7 93const float note_Gb7 = 2959.96; //F#7/Gb7 94const float note_G7 = 3135.96; //G7 95const float note_Ab7 = 3322.44; //G#7/Ab7 96const float note_A7 = 3520; //A7 97const float note_Bb7 = 3729.31; //A#7/Bb7 98const float note_B7 = 3951.07; //B7 99const float note_C8 = 4186.01; //C8 100const float note_Db8 = 4434.92; //C#8/Db8 101const float note_D8 = 4698.64; //D8 102const float note_Eb8 = 4978.03; //D#8/Eb8 103 int cont=0; 104 105 //ultrasonic sensors 106 const int trigPin = 2; 107const int echoPin = 4; 108 int forward; 109 long duration; 110 long cm=100; 111 112 113 int speakerPin = 3; // speaker connected to digital pin 9 114const int motor1Pin = 7; // H-bridge leg 1 (pin 2 of H bridge) 115const int motor2Pin = 8; // H-bridge leg 2 (pin 7of H bridge) 116const int enablePin = 5; // H-bridge enable pin 1 117const int enablePin2 = 6; // H-bridge enable pin 9 118const int motor21Pin = 9; // H-bridge leg 1 (pin 15 of H bridge 119const int motor22Pin = 10; // H-bridge leg 2 (pin 10 of bridge) 120 121 int led=12;//red terminal of rgb led 122 int led2=13;//blue terminal of rgb led 123int incomingByte; // a variable to read incoming serial data into 124 125 126#include <Servo.h> // 127 128Servo myservo; // 129 130 131int pos = 1500; 132 133 134void setup() { 135 Serial.begin(9600); // open serial port to receive data 136 myservo.attach(11); 137 pinMode(speakerPin, OUTPUT); // sets the speakerPin to be an output 138 // set all the other pins you're using as outputs: 139 pinMode(motor1Pin, OUTPUT); 140 pinMode(motor2Pin, OUTPUT); 141 pinMode(enablePin, OUTPUT); 142 pinMode(motor21Pin, OUTPUT); 143 pinMode(motor22Pin, OUTPUT); 144 pinMode(enablePin2, OUTPUT); 145 146 pinMode(led, OUTPUT); 147 pinMode(led2, OUTPUT); 148 // set enablePin high so that motor can turn on: 149 digitalWrite(enablePin, LOW); 150 digitalWrite(enablePin2, LOW); 151 152 r2D2(); //starting sound 153 delay(500); 154} 155 156void loop() { 157 158 159 if (Serial.available() > 0) { 160 // read the oldest byte in the serial buffer: 161 incomingByte = Serial.read(); 162 //up 163 if (incomingByte == '1') { 164 forward++; 165 if(forward%40==0){ 166 pinMode(trigPin, OUTPUT); 167 digitalWrite(trigPin, LOW); 168 delayMicroseconds(2); 169 digitalWrite(trigPin, HIGH); 170 delayMicroseconds(10); 171 digitalWrite(trigPin, LOW); 172 173 // Read the signal from the sensor: a HIGH pulse whose 174 // duration is the time (in microseconds) from the sending 175 // of the ping to the reception of its echo off of an object. 176 pinMode(echoPin, INPUT); 177 duration = pulseIn(echoPin, HIGH); 178 179 // convert the time into a distance 180 181 cm = microsecondsToCentimeters(duration);} 182 183 184 185 186 187 188 if(cm>15){ 189 digitalWrite(led, LOW);//change color of led 190 digitalWrite(led2, HIGH); 191 analogWrite(enablePin, 200); // turn on the motor 1 192 digitalWrite(motor1Pin, LOW); // set leg 1 of the H-bridge low 193 digitalWrite(motor2Pin, HIGH); // set leg 2 of the H-bridge high 194 195 196 analogWrite(enablePin2, 200); // turn on second motor 197 digitalWrite(motor21Pin, LOW); // set leg 1 of the H-bridge low 198 digitalWrite(motor22Pin, HIGH); // set leg 2 of the H-bridge high 199 delay(10); 200 digitalWrite(enablePin, LOW); // turn off motor 1 201 digitalWrite(enablePin2, LOW); // turn off motor 2 202 }else 203 { pinMode(trigPin, OUTPUT); 204 digitalWrite(trigPin, LOW); 205 delayMicroseconds(2); 206 digitalWrite(trigPin, HIGH); 207 delayMicroseconds(10); 208 digitalWrite(trigPin, LOW); 209 210 // Read the signal from the sensor: a HIGH pulse whose 211 // duration is the time (in microseconds) from the sending 212 // of the ping to the reception of its echo off of an object. 213 pinMode(echoPin, INPUT); 214 duration = pulseIn(echoPin, HIGH); 215 216 // convert the time into a distance 217 218 cm = microsecondsToCentimeters(duration); 219 220 221 } 222 223 224 225 226 227 228 229 cont=0; 230 231 232 }//down 233 else if (incomingByte == '2') { 234 digitalWrite(led, LOW); //change color of led 235 digitalWrite(led2, HIGH); 236 analogWrite(enablePin, 200); // turn on the motor 1 237 digitalWrite(motor1Pin, HIGH); // set leg 1 of the H-bridge high 238 digitalWrite(motor2Pin, LOW); // set leg 2 of the H-bridge low 239 240 241 analogWrite(enablePin2, 200); // turn on second motor 242 digitalWrite(motor21Pin, HIGH); // set leg 1 of the H-bridge high 243 digitalWrite(motor22Pin, LOW); // set leg 2 of the H-bridge low 244 245 delay(10); 246 digitalWrite(enablePin, LOW); // turn off motor 1 247 digitalWrite(enablePin2, LOW); // turn off motor 2 248 249 cont=0; 250 251 } //left 252 else if (incomingByte == '3') { 253 digitalWrite(led2, LOW); 254 digitalWrite(led, HIGH); 255 256 257 digitalWrite(enablePin2, HIGH); // turn on second motor 258 digitalWrite(motor21Pin, LOW); // set leg 1 of the H-bridge low 259 digitalWrite(motor22Pin, HIGH); // set leg 2 of the H-bridge high 260 delay(10); 261 262 digitalWrite(enablePin2, LOW); // turn off motor 2 263 264 265 cont=0; 266 267 } 268 269 //right 270 271 else if (incomingByte == '4') { 272 digitalWrite(led2, LOW); 273 digitalWrite(led, HIGH); 274 275 digitalWrite(enablePin, HIGH); // turn on motor 1 276 digitalWrite(motor1Pin, LOW); // set leg 1 of the H-bridge low 277 digitalWrite(motor2Pin, HIGH); // set leg 2 of the H-bridge high 278 279 280 281 282 delay(10); 283 digitalWrite(enablePin, LOW); // turn off motor 1 284 285 cont=0; 286 287 288 } 289 290 //triangle 291 else if ((incomingByte == '9')&&(cont==0)) { 292 cont++; 293 ohhh(); 294 delay(500); 295 296 297 298 299 } 300 301 302 //x 303 else if ((incomingByte == '7')&&(cont==0)) { 304cont++; 305 306 catcall(); 307 delay(500); 308 309 310 311 312 } 313 314 else if (incomingByte == '8') { 315 316 317 pos=pos+35; 318 if(pos<2000){myservo.writeMicroseconds(pos);} 319 else{pos=2000;} 320 delay(10); 321 cont=0; 322 323 324 325 } 326 327 328 329 else if (incomingByte == 'A') { 330cont=0; 331 pos=pos-35; 332 if(pos>1000){myservo.writeMicroseconds(pos);} 333 else{pos=1000;} 334 delay(10); 335 336 337 338 339 } 340 341 342 343 344 345 346 347 348 349 350 } 351 352} 353 354 355 // functions made by https://mycontraption.com/sound-effects-with-and-arduino/ 356void beep (int speakerPin, float noteFrequency, long noteDuration) 357{ 358 int x; 359 // Convert the frequency to microseconds 360 float microsecondsPerWave = 1000000/noteFrequency; 361 // Calculate how many HIGH/LOW cycles there are per millisecond 362 float millisecondsPerCycle = 1000/(microsecondsPerWave * 2); 363 // Multiply noteDuration * number or cycles per millisecond 364 float loopTime = noteDuration * millisecondsPerCycle; 365 // Play the note for the calculated loopTime. 366 for (x=0;x<loopTime;x++) 367 { 368 digitalWrite(speakerPin,HIGH); 369 delayMicroseconds(microsecondsPerWave); 370 digitalWrite(speakerPin,LOW); 371 delayMicroseconds(microsecondsPerWave); 372 } 373} 374 375 376 377void r2D2(){ 378 beep(speakerPin, note_A7,100); //A 379 beep(speakerPin, note_G7,100); //G 380 beep(speakerPin, note_E7,100); //E 381 beep(speakerPin, note_C7,100); //C 382 beep(speakerPin, note_D7,100); //D 383 beep(speakerPin, note_B7,100); //B 384 beep(speakerPin, note_F7,100); //F 385 beep(speakerPin, note_C8,100); //C 386 beep(speakerPin, note_A7,100); //A 387 beep(speakerPin, note_G7,100); //G 388 beep(speakerPin, note_E7,100); //E 389 beep(speakerPin, note_C7,100); //C 390 beep(speakerPin, note_D7,100); //D 391 beep(speakerPin, note_B7,100); //B 392 beep(speakerPin, note_F7,100); //F 393 beep(speakerPin, note_C8,100); //C 394} 395 396 397 398 399void catcall() { 400 for (int i=1000; i<5000; i=i*1.05) { 401 beep(speakerPin,i,10); 402 } 403 delay(300); 404 405 for (int i=1000; i<3000; i=i*1.03) { 406 beep(speakerPin,i,10); 407 } 408 for (int i=3000; i>1000; i=i*.97) { 409 beep(speakerPin,i,10); 410 } 411} 412 413void ohhh() { 414 for (int i=1000; i<2000; i=i*1.02) { 415 beep(speakerPin,i,10); 416 } 417 for (int i=2000; i>1000; i=i*.98) { 418 beep(speakerPin,i,10); 419 } 420} 421 422void uhoh() { 423 for (int i=1000; i<1244; i=i*1.01) { 424 beep(speakerPin,i,30); 425 } 426 delay(200); 427 for (int i=1244; i>1108; i=i*.99) { 428 beep(speakerPin,i,30); 429 } 430} 431 432 433long microsecondsToCentimeters(long microseconds) 434{ 435 // The speed of sound is 340 m/s or 29 microseconds per centimeter. 436 // The ping travels out and back, so to find the distance of the 437 // object we take half of the distance travelled. 438 return microseconds / 29 / 2; 439} 440 441 442 443 444 445 446 447 448
Downloadable files
Schematics
As you can see I used a power bank as a power supply. The motors are driven by the H bridge. The speaker is controlled with PWM. And the RGB led is used to blink red and blue light.
Schematics
Schematics
As you can see I used a power bank as a power supply. The motors are driven by the H bridge. The speaker is controlled with PWM. And the RGB led is used to blink red and blue light.
Schematics
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