Also the support of the head servo was redesign (instead of the old one which hosted the continuous rotation servos, now in the feet), and also support the electronics.<\/p>\n List of the printable parts of the chassis:<\/p>\n <\/p>\n After that, the rest of shapes and details were painted with a brush and acrylic paint imitating the original design of the movies. Finally, to prevent external damages to the paint, the DYOR was given a vanish coat.<\/p>\n <\/p>\n Hardware and electronics<\/strong><\/p>\n The movement of R2D2 is achieved by two wheels driven by continuously rotating servos, and a central free wheel. Another servo will be in charge of the rotation of the head. The robot also has an ultrasonic sensor to detect objects in front of it, and a bluetooth module to interact with a cell phone. It also integrates a buzzer to play sounds and an RGB LED.<\/p>\n Complete list of hardware and electronics:<\/p>\n Assembly<\/strong><\/p>\n For the assembly, we have used M3 and M4 screws and nuts, superglue, solder and soldering iron, and other necessary tools such as screwdrivers, wrenches, …<\/p>\n First all the necessary electronics were connected and tested. The servo wires had to be cut and re-soldered to be able to pass through the inner hole of the legs. Moreover, we had soldier resistors between the wires and the rgb led.<\/p>\n Secondly, all the nuts we superglued into place. And once have been fixed, the different parts were joined with M3 screws. The free wheel requires M4 screws to attach it to the central foot, while the servos+wheel uses M2 to attach it to the lateral feet.<\/p>\n Next, the electronics board was screwed into the designed bracket, and the bracket was attached to the central body, carefully placing the various cables, to make good use of the little space available. The servo and the head connector are finally placed. And the rgb led and the ultrasonic sensor are inserted in their corresponding holes.<\/p>\n Lastly, we have place the powerbank in a hole, and connect it to the electronics whenever we wish to operate the robot. In addition to the former we closed the robot by screwing the head to connect it with an M3 screw. And here is R2D2!<\/p>\n Programing<\/strong><\/p>\n To program the robot, we have used the Arduino IDE, and the App Inventor environment to design the interface and remote control by mobile phone using Bluetooth communication.<\/p>\n The main objective, was to connect the Arduino controller and the mobile phone, make possible the transmission of orders sent by the app to the robot.\u00a0Basically, the programing task can be separate in two mayor problems. On the one hand, the development of the application so that it is able to connect and transmit the instructions to the robot (using App Inventor). On the other hand, develop the main program using the arduino language in order to perform the necessary actions based on the instructions received.<\/p>\n The principle program is divided into three foundamental routines:<\/p>\n The application has a simple operation. Once you are connected to the robot, each button in the interface send a different command (simply a different ASCI character), to the arduino, who will interpret it appropriately. The upper-left buttons allow the connection\/disconnection with the robot via bluetooth. With the lower buttons we select the routine we want. The rest of the buttons on the central panel allow us to control the remote mode, move the robot, turn its head, change the color of the rgb, make R2D2 “talk”, or play one of the original songs of Star Wars.<\/p>\n![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/piezas_impresas-300x225.jpg\")
The full chassis of the robot has been printed in 3D pieces. The original design of the printable parts is from ChaosCore Tech<\/em><\/a>.<\/a> However, all the motion system has been redesigned to avoid the transmission system based on shafts and gears. The new feet design host directly the continuous rotation servos and the wheels, and the wires run inside the legs to the body where the electronics are housed.<\/p>\n![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/imagen_2021-06-21_003250-300x235.png\")
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With all the chassis printed we proceed to the painting. It was first given a full coat of primer paint, to improve the adhesion of the acrylic paint, and to obtain the colour base of the robot (the characteristic white for the body, and the metal grey for the head).<\/p>\n\n
![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/imagen_2021-06-20_194605-300x263.png\")
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