Hash Humanoid Robot V3
by hashrobotics2020 in Circuits > Robots
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Hash Humanoid Robot V3
Hello everyone, this is a humanoid robot, Hash. It uses an Arduino Mega board as the brain of the robot. This is the version 3 of the robot. I will also put the link of the older versions if you are interested to see the base model of the robot and try to understand the updates in this this version of the robot.
The main objective of this build is to prove that robots can easily be made in very low cost using some basic to little advance instruments, machinery etc. Our goal is to make a dully functional humanoid robot in future at the cheapest price possible. In future robots will be a part of our day to day life. So this type of builds will help us creating an ecosystem of Robotics in our country.
Supplies
3D printed parts
Arduino mega pro mini (to reduce the size)
MG995 Servo X18
LED X2
LM2596 DC-DC Buck Convertor X2
12V Battery
Wires and Battery Adapters
3D Printed Parts
I have used 3D Printed parts each part of the robot. I chosen orange and grey color for the robot. I have printed all the parts in Ender3 V2 3D Printer. Using the basic Cura setting I have printed all the parts in 20% infill (0.2 mm nozzle). For better look you can smoothed the 3D Printed parts using sand paper.
Custom Servo Horn and Servo Head
I made a custom servo horn and also a custom servo head specially for this robot. This allow me screw the servo to the robot body, and also reduces the space.
Assembly of the 3D Printed Parts
Assemble all the parts as shown on the image slide.
Assemble each part with the servo and then to individual parts. First assemble the leg (more about the robot leg) and then the robot body. Make sure to mark each servo wire accordingly for easy understanding.
For enthusiasts who are willing to know the full assembly process you can watch the Hash Humanoid v2 build.
Initial Servo Position
Before assembling the parts ensure to have the correct servo angle. Here is the initial angle of each servo motor.
Circuit Diagram
Here are two buck converter module used to reduce the voltage to 5v and 7v respectively for the Arduino and the servo motors respectively. Also we have added two LEDs for the two eyes which are connected to D46 of the Arduino mega board.
The servo motor(3 servos for each hand, 6 servo for each leg and 1 servo for the robot head) are connected to the Arduino mega board from D2 to D20 pins.
Coding
I have programmed the robot with some basic moments. I have declared the method for each moment in the code.
#include <Servo.h>
#include <Adafruit_PWMServoDriver.h>
Servo servo[20] = {};
#include "hash_v3.h"
/* Initializing servo drive and OLED display */
void hash_v3::init_hash() {
int servo_pins[20] = {2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21};
for (int i = 0; i < 20; i++) {
servo[i].attach(servo_pins[i]);
}
}
/* Initial position */
void hash_v3::initial_position() {
int degree_array[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
for (int i = 0; i < 20; i++) {
servo_position[i] = degree_array[i];
}
move_servo(2000, degree_array);
}
/* Moving each servo at given time interval */
void hash_v3::move_servo(int time, int servo_target[]) {
if (time > 10) {
for (int i = 0; i < 20; i++) {
increment[i] = ((servo_target[i]) - servo_position[i]) / (time / 10.0);
}
final_time = millis() + time;
for (int iteration = 1; millis() < final_time; iteration++) {
partial_time = millis() + 10;
for (int i = 0; i < 20; i++) {
servo[i].write((int)(servo_position[i] + (iteration * increment[i])));
}
while (millis() < partial_time);
}
}
else {
for (int i = 0; i < 20; i++) {
servo[i].write((int)servo_target[i]);
}
}
for (int i = 0; i < 20; i++) {
servo_position[i] = servo_target[i];
}
}
/******************************************************************************************************/
void hash_v3::say_hi(int count, int speed) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 180, 90, 90, 150, 150, 150, 90, 90};
move_servo(speed * 2, degree_array1);
for (int i = 1; i <= count; i++) {
int degree_array2[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 180, 90, 60, 150, 150, 150, 90, 90};
int degree_array3[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 180, 90, 120, 150, 150, 150, 90, 90};
move_servo(speed, degree_array2);
move_servo(speed, degree_array3);
}
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 180, 90, 90, 150, 150, 150, 90, 90};
int degree_array5[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array4);
move_servo(speed * 2, degree_array5);
}
/******************************************************************************************************/
void hash_v3::hands_up(int count, int speed) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array1);
for (int i = 1; i <= count; i++) {
int degree_array2[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 180, 30, 30, 0, 150, 150, 90, 90};
move_servo(speed, degree_array2);
delay(3000);
}
int degree_array3[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed , degree_array3);
}
/******************************************************************************************************/
void hash_v3::forward(int steps, int speed) {
// if (speed < 500) {
// speed = 500;
// }
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int degree_array2[20] = {110, 150, 150, 30, 110, 90, 105, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int degree_array3[20] = {110, 150, 120, 65, 110, 90, 105, 30, 30, 150, 90, 90, 20, 30, 30, 120, 150, 150, 90, 90};
int degree_array4[20] = {90, 150, 120, 65, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array1);
move_servo(speed, degree_array2);
move_servo(speed, degree_array3);
move_servo(speed, degree_array4);
for (int i = 1; i <= steps; i++) {
int degree_array5[20] = {75, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int degree_array6[20] = {75, 150, 150, 30, 90, 90, 70, 30, 60, 120, 70, 90, 60, 30, 30, 160, 150, 150, 90, 90};
int degree_array7[20] = {90, 150, 150, 30, 90, 90, 90, 30, 60, 120, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int degree_array8[20] = {110, 150, 150, 30, 110, 90, 105, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int degree_array9[20] = {110, 150, 120, 65, 110, 90, 105, 30, 30, 150, 90, 90, 20, 30, 30, 120, 150, 150, 90, 90};
int degree_array10[20] = {90, 150, 120, 65, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array5);
move_servo(speed, degree_array6);
move_servo(speed, degree_array7);
move_servo(speed, degree_array8);
move_servo(speed, degree_array9);
move_servo(speed, degree_array10);
}
int degree_array11[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array11);
}
/******************************************************************************************************************/
void hash_v3::turn_right(int steps, int speed) {
// if (speed < 500) {
// speed = 500;
// }
int pwm_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array1);
for (int i = 1; i <= steps; i++) {
int pwm_array2[20] = {75, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int pwm_array3[20] = {75, 150, 145, 30, 90, 80, 70, 30, 30, 150, 70, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int pwm_array4[20] = {90, 150, 145, 30, 90, 80, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int pwm_array5[20] = {110, 150, 150, 30, 110, 80, 105, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int pwm_array6[20] = {110, 150, 150, 30, 110, 90, 105, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int pwm_array7[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array2);
move_servo(speed, pwm_array3);
move_servo(speed, pwm_array4);
move_servo(speed, pwm_array5);
move_servo(speed, pwm_array6);
move_servo(speed, pwm_array7);
}
int pwm_array8[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array8);
}
/******************************************************************************************************/
void hash_v3::turn_left(int steps, int speed) {
// if (speed < 500) {
// speed = 500;
// }
int pwm_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array1);
for (int i = 1; i <= steps; i++) {
int pwm_array2[20] = {110, 150, 150, 30, 110, 90, 105, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int pwm_array3[20] = {110, 150, 150, 30, 110, 90, 105, 30, 35, 150, 90, 100, 30, 30, 30, 150, 150, 150, 90, 90};
int pwm_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 35, 150, 90, 100, 30, 30, 30, 150, 150, 150, 90, 90};
int pwm_array5[20] = {75, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 100, 30, 30, 30, 150, 150, 150, 90, 90};
int pwm_array6[20] = {75, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 90, 30, 30, 30, 150, 150, 150, 90, 90};
int pwm_array7[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array2);
move_servo(speed, pwm_array3);
move_servo(speed, pwm_array4);
move_servo(speed, pwm_array5);
move_servo(speed, pwm_array6);
move_servo(speed, pwm_array7);
}
int pwm_array8[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array8);
}
/******************************************************************************************************/
void hash_v3::move_right(int steps, int speed) {
int pwm_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array1);
for (int i = 1; i <= steps; i++) {
int pwm_array2[20] = {110, 150, 150, 30, 112, 90, 90, 30, 30, 150, 90, 90, 30, 60, 30, 120, 150, 150, 90, 90};
int pwm_array3[20] = {70, 150, 150, 30, 70, 90, 70, 30, 30, 150, 70, 90, 30, 60, 30, 120, 150, 150, 90, 90};
int pwm_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array2);
move_servo(speed, pwm_array3);
move_servo(speed, pwm_array4);
}
int pwm_array5[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array5);
}
/******************************************************************************************************/
void hash_v3::move_left(int steps, int speed) {
int pwm_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array1);
for (int i = 1; i <= steps; i++) {
int pwm_array2[20] = {90, 150, 150, 30, 90, 90, 70, 30, 30, 150, 68, 90, 50, 30, 30, 150, 120, 150, 90, 90};
int pwm_array3[20] = {110, 150, 150, 30, 110, 90, 110, 30, 30, 150, 110, 90, 50, 30, 30, 150, 120, 150, 90, 90};
int pwm_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array2);
move_servo(speed, pwm_array3);
move_servo(speed, pwm_array4);
}
int pwm_array5[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array5);
}
/******************************************************************************************************/
void hash_v3::ball_kick_right(int count, int speed) {
int pwm_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array1);
for (int i = 1; i <= count; i++) {
int pwm_array2[20] = {112, 150, 150, 30, 110, 90, 112, 30, 30, 150, 90, 90, 10, 30, 30, 90, 150, 150, 90, 90};
int pwm_array3[20] = {112, 130, 140, 10, 110, 90, 112, 30, 30, 150, 90, 90, 10, 30, 30, 90, 150, 150, 90, 90};
int pwm_array4[20] = {112, 150, 140, 60, 110, 90, 112, 30, 30, 150, 90, 90, 10, 30, 30, 90, 150, 150, 90, 90};
int pwm_array5[20] = {112, 150, 150, 30, 110, 90, 112, 30, 30, 150, 90, 90, 10, 30, 30, 90, 150, 150, 90, 90};
move_servo(speed, pwm_array2);
move_servo(speed / 2, pwm_array3);
move_servo(speed / 2, pwm_array4);
move_servo(speed, pwm_array5);
}
int pwm_array6[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array6);
}
/******************************************************************************************************/
void hash_v3::ball_kick_left(int count, int speed) {
int pwm_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array1);
for (int i = 1; i <= count; i++) {
int pwm_array2[20] = {70, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 90, 90, 30, 30, 170, 150, 150, 90, 90};
int pwm_array3[20] = {70, 150, 150, 30, 90, 90, 70, 50, 40, 170, 70, 90, 90, 30, 30, 170, 150, 150, 90, 90};
int pwm_array4[20] = {70, 150, 150, 30, 90, 90, 70, 30, 40, 120, 70, 90, 90, 30, 30, 170, 150, 150, 90, 90};
int pwm_array5[20] = {70, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 90, 90, 30, 30, 170, 150, 150, 90, 90};
move_servo(speed, pwm_array2);
move_servo(speed / 2, pwm_array3);
move_servo(speed / 2, pwm_array4);
move_servo(speed, pwm_array5);
}
int pwm_array6[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array6);
}
/******************************************************************************************************/
void hash_v3::max_sit(int count, int speed) {
for (int i = 1; i <= count; i++) {
int degree_array1[20] = {90, 70, 60, 30, 90, 90, 90, 110, 120, 150, 90, 90, 30, 60, 30, 150, 120, 150, 90, 90};
int degree_array2[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array1);
delay(3000);
move_servo(speed, degree_array2);
}
}
/******************************************************************************************************/
void hash_v3::bow(int count, int speed) {
for (int i = 1; i <= count; i++) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 50, 50, 30, 130, 130, 150, 90, 90};
int degree_array2[20] = {90, 160, 150, 60, 90, 90, 90, 20, 30, 120, 90, 90, 50, 50, 30, 130, 130, 150, 90, 90};
int degree_array3[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 50, 50, 30, 130, 130, 150, 90, 90};
move_servo(speed / 2, degree_array1);
move_servo(speed, degree_array2);
delay(3000);
move_servo(speed, degree_array3);
}
int pwm_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, pwm_array4);
}
/******************************************************************************************************/
void hash_v3::right_bow(int count, int speed) {
for (int i = 1; i <= count; i++) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 90, 30, 30, 180, 150, 150, 90, 90};
int degree_array2[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 90, 30, 90, 180, 150, 120, 90, 90};
int degree_array3[20] = {90, 160, 150, 60, 90, 90, 90, 20, 30, 120, 90, 90, 90, 30, 90, 180, 150, 120, 90, 90};
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 90, 30, 90, 180, 150, 120, 90, 90};
int degree_array5[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 90, 30, 30, 180, 150, 150, 90, 90};
move_servo(speed / 2, degree_array1);
move_servo(speed / 2, degree_array2);
move_servo(speed, degree_array3);
delay(2000);
move_servo(speed, degree_array4);
move_servo(speed / 2, degree_array5);
}
int degree_array6[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array6);
}
/******************************************************************************************************/
void hash_v3::left_bow(int count, int speed) {
for (int i = 1; i <= count; i++) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 0, 30, 30, 90, 150, 150, 90, 90};
int degree_array2[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 0, 30, 60, 90, 150, 90, 90, 90};
int degree_array3[20] = {90, 160, 150, 60, 90, 90, 90, 20, 30, 120, 90, 90, 0, 30, 60, 90, 150, 90, 90, 90};
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 0, 30, 60, 90, 150, 90, 90, 90};
int degree_array5[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 0, 30, 30, 90, 150, 150, 90, 90};
move_servo(speed / 2, degree_array1);
move_servo(speed / 2, degree_array2);
move_servo(speed, degree_array3);
delay(2000);
move_servo(speed, degree_array4);
move_servo(speed / 2, degree_array5);
}
int degree_array6[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array6);
}
/******************************************************************************************************/
void hash_v3::ape_move(int count, int speed) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 120, 60, 60, 60, 120, 120, 90, 90};
int degree_array2[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 120, 60, 120, 60, 120, 120, 90, 90};
move_servo(speed, degree_array1);
move_servo(speed, degree_array2);
for (int i = 1; i <= count; i++) {
int degree_array3[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 120, 60, 60, 60, 120, 60, 120, 90};
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 120, 60, 120, 60, 120, 120, 60, 90};
move_servo(speed / 2, degree_array3);
move_servo(speed / 2, degree_array4);
}
int degree_array5[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 120, 60, 60, 60, 120, 120, 90, 90};
int degree_array6[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array5);
move_servo(speed, degree_array6);
}
/******************************************************************************************************/
void hash_v3::push_up(int count, int speed) {
int degree_array1[20] = {90, 70, 60, 30, 90, 90, 90, 110, 120, 150, 90, 90, 30, 60, 30, 150, 120, 150, 90, 90};
int degree_array2[20] = {90, 70, 60, 30, 150, 90, 90, 110, 120, 150, 30, 90, 30, 60, 30, 150, 120, 150, 90, 90};
int degree_array3[20] = {90, 70, 60, 30, 150, 90, 90, 110, 120, 150, 30, 90, 90, 30, 30, 90, 150, 150, 90, 90};
int degree_array4[20] = {90, 70, 60, 0, 150, 90, 90, 110, 120, 180, 30, 90, 90, 30, 30, 90, 150, 150, 90, 90};
int degree_array5[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 100, 30, 30, 80, 150, 150, 90, 90};
move_servo(speed, degree_array1);
move_servo(speed, degree_array2);
move_servo(speed, degree_array3);
move_servo(speed, degree_array4);
move_servo(speed, degree_array5);
for (int i = 1; i <= count; i++) {
int degree_array6[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 100, 90, 90, 80, 90, 90, 90, 90};
int degree_array7[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 100, 30, 30, 80, 150, 150, 90, 90};
move_servo(speed, degree_array6);
move_servo(speed, degree_array7);
}
int degree_array8[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 100, 90, 90, 80, 90, 90, 90, 90};
int degree_array9[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 120, 180, 180, 60, 0, 0, 90, 90};
int degree_array10[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 120, 180, 30, 60, 0, 150, 90, 90};
int degree_array11[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 120, 100, 10, 60, 80, 170, 90, 90};
int degree_array12[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 100, 10, 150, 80, 170, 90, 90};
int degree_array13[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array8);
move_servo(speed, degree_array9);
move_servo(speed, degree_array10);
move_servo(speed, degree_array11);
move_servo(speed, degree_array12);
move_servo(speed, degree_array13);
}
/******************************************************************************************************/
void hash_v3::clap(int count, int speed) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 180, 20, 30, 0, 160, 150, 90, 90};
move_servo(speed, degree_array1);
for (int i = 1; i <= count; i++) {
int degree_array2[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 180, 20, 90, 0, 160, 90, 90, 90};
int degree_array3[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 180, 20, 30, 0, 160, 150, 90, 90};
move_servo(speed / 2, degree_array2);
move_servo(speed / 2, degree_array3);
}
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array4);
}
/******************************************************************************************************/
void hash_v3::right_leg_up(int count, int speed) {
int degree_array1[20] = {110, 150, 150, 30, 110, 90, 114, 30, 30, 150, 90, 90, 30, 90, 30, 150, 90, 150, 90, 90};
move_servo(speed, degree_array1);
for (int i = 1; i <= count; i++) {
int degree_array2[20] = {110, 150, 150, 30, 110, 90, 114, 30, 30, 150, 90, 90, 30, 150, 30, 150, 30, 150, 90, 90};
int degree_array3[20] = {110, 150, 150, 30, 110, 90, 114, 30, 30, 150, 90, 90, 30, 90, 30, 150, 90, 150, 90, 90};
move_servo(speed / 2, degree_array2);
move_servo(speed / 2, degree_array3);
}
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array4);
}
/******************************************************************************************************/
void hash_v3::left_leg_up(int count, int speed) {
int degree_array1[20] = {70, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 90, 30, 90, 30, 150, 90, 150, 90, 90};
move_servo(speed, degree_array1);
for (int i = 1; i <= count; i++) {
int degree_array2[20] = {70, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 90, 30, 150, 30, 150, 30, 150, 90, 90};
int degree_array3[20] = {70, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 90, 30, 90, 30, 150, 90, 150, 90, 90};
move_servo(speed / 2, degree_array2);
move_servo(speed / 2, degree_array3);
}
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array4);
}
/******************************************************************************************************/
void hash_v3::hip_pose(int count, int speed) {
for (int i = 1; i <= count; i++) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 90, 120, 150, 90, 60, 90, 90};
int degree_array2[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array1);
delay(3000);
move_servo(speed, degree_array2);
}
}
/******************************************************************************************************/
void hash_v3::right_leg_balance(int count, int speed) {
for (int i = 1; i <= count; i++) {
int degree_array1[20] = {70, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 90, 30, 90, 30, 150, 90, 150, 90, 90};
int degree_array2[20] = {70, 150, 150, 30, 90, 90, 70, 110, 120, 150, 70, 90, 30, 90, 30, 150, 90, 150, 90, 90};
int degree_array3[20] = {70, 150, 150, 30, 90, 90, 70, 30, 30, 150, 70, 90, 30, 90, 30, 150, 90, 150, 90, 90};
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array1);
delay(3000);
move_servo(speed, degree_array2);
move_servo(speed, degree_array3);
move_servo(speed, degree_array4);
}
}
/******************************************************************************************************/
void hash_v3::left_leg_balance(int count, int speed) {
for (int i = 1; i <= count; i++) {
int degree_array1[20] = {110, 150, 150, 30, 110, 90, 110, 30, 30, 150, 90, 90, 30, 90, 30, 150, 90, 150, 90, 90};
int degree_array2[20] = {90, 70, 60, 30, 110, 90, 110, 30, 30, 150, 90, 90, 30, 90, 30, 150, 90, 150, 90, 90};
int degree_array3[20] = {110, 150, 150, 30, 110, 90, 110, 30, 30, 150, 90, 90, 30, 90, 30, 150, 90, 150, 90, 90};
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array1);
delay(3000);
move_servo(speed, degree_array2);
move_servo(speed, degree_array3);
move_servo(speed, degree_array4);
}
}
/******************************************************************************************************/
void hash_v3::flying_action(int count, int speed) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 120, 30, 150, 60, 150, 90, 90};
move_servo(speed, degree_array1);
for (int i = 1; i <= count; i++) {
int degree_array2[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 150, 90, 150, 30, 90, 90, 90};
int degree_array3[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 90, 0, 150, 90, 180, 90, 90};
move_servo(speed / 2, degree_array2);
move_servo(speed / 2, degree_array3);
}
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 120, 30, 150, 60, 150, 90, 90};
int degree_array5[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed / 2 , degree_array4);
move_servo(speed, degree_array5);
}
/******************************************************************************************************/
void hash_v3::hand_sit_zigzak(int count, int speed) {
int degree_array1[20] = {90, 100, 95, 30, 90, 90, 90, 80, 85, 150, 90, 90, 30, 120, 120, 150, 60, 60, 90, 90};
move_servo(speed, degree_array1);
for (int i = 1; i <= count; i++) {
int degree_array2[20] = {90, 100, 95, 30, 90, 90, 90, 80, 85, 150, 90, 90, 30, 120, 90, 150, 60, 30, 120, 90};
int degree_array3[20] = {90, 100, 95, 30, 90, 90, 90, 80, 85, 150, 90, 90, 30, 120, 150, 150, 60, 90, 60, 90};
move_servo(speed / 2, degree_array2);
move_servo(speed / 2, degree_array3);
}
int degree_array4[20] = {90, 100, 95, 30, 90, 90, 90, 80, 85, 150, 90, 90, 30, 120, 120, 150, 60, 60, 90, 90};
int degree_array5[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed / 2 , degree_array4);
move_servo(speed, degree_array5);
}
/******************************************************************************************************/
void hash_v3::side_shake(int count, int speed) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array1);
for (int i = 1; i <= count; i++) {
int degree_array2[20] = {110, 150, 150, 30, 110, 90, 110, 30, 30, 150, 110, 90, 30, 60, 30, 150, 90, 150, 90, 90};
int degree_array3[20] = {70, 150, 150, 30, 70, 90, 70, 30, 30, 150, 70, 90, 30, 90, 30, 150, 120, 150, 90, 90};
move_servo(speed, degree_array2);
move_servo(speed, degree_array3);
}
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed , degree_array4);
}
/******************************************************************************************************/
void hash_v3::hip_shake(int count, int speed) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array1);
for (int i = 1; i <= count; i++) {
int degree_array2[20] = {90, 150, 150, 30, 90, 60, 90, 30, 30, 150, 90, 60, 10, 30, 30, 130, 150, 150, 90, 90};
int degree_array3[20] = {90, 150, 150, 30, 90, 120, 90, 30, 30, 150, 90, 120, 50, 30, 30, 170, 150, 150, 90, 90};
move_servo(speed, degree_array2);
move_servo(speed, degree_array3);
}
int degree_array4[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed , degree_array4);
}
/******************************************************************************************************/
void hash_v3::bend_up(int count, int speed) {
int degree_array1[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array1);
for (int i = 1; i <= count; i++) {
int degree_array2[20] = {90, 180, 120, 130, 90, 90, 90, 0, 60, 50, 90, 90, 110, 30, 30, 70, 150, 150, 90, 90};
int degree_array3[20] = {90, 180, 140, 130, 90, 90, 90, 0, 40, 50, 90, 90, 110, 30, 30, 70, 150, 150, 90, 90};
int degree_array4[20] = {90, 180, 120, 130, 90, 90, 90, 0, 60, 50, 90, 90, 110, 30, 30, 70, 150, 150, 90, 90};
int degree_array5[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed, degree_array2);
move_servo(speed, degree_array3);
move_servo(speed, degree_array4);
move_servo(speed, degree_array5);
}
int degree_array6[20] = {90, 150, 150, 30, 90, 90, 90, 30, 30, 150, 90, 90, 30, 30, 30, 150, 150, 150, 90, 90};
move_servo(speed , degree_array6);
}
/******************************************************************************************************/
#include <Wire.h>
Cover Top and Back
After coding cover all the electronics with 3D printed top which are attached using M3 screws.
Video
3D Files
If you are interested to built the robot all by yourself do check out the 3D Files.