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Atlas Hexapod Robot. 2010

The Atlas Hexapod Robot is an electronics kit suitable for beginners but it DOES require some soldering.
This tiny 3 servo, Arduino compatible 6 legged robot kit is small enough to fit in the palm of your
hand and is quite powerful. At its heart is an ATMEGA168 chip which comes pre-programmed and can
easily be re-programmed as it it basically an Arduino project. Yes it even has the bootloader.
The machine also has a small prototyping area and masts for mounting larger prototype boards.
The board is designed so every pin of the processor can easily be tapped into so the machine is a very
friendly to hackers and circuit benders. It's a perfect robotic project base or you can just enjoy it as is,
as a desk top robot toy.



Right Click HERE and hit "Save Target As" for The Atlas Robot assembly instructions.

Avaliable Mid May: The Atlas Robot notes and schematics.

If you need the free PDF reader Click Here.

Atlas Hexapod sketch (distribution version with speakjet easter egg).
Atlas Hexapod sketch (stripped out version. If you want to modify the code start with this version).

Comprehensive information on programming the arduino along with the compiler software can be fond at
WWW.ARDUINO.CC

More Kits and Downloads

Order yourself the Atlas Robot kit here.
The kit contains all the parts required to make the robot including a custom made PCB,
 3 servo motors and a pre-programmed ATMEGA 168 chip ready programmed with
the robot software and the ARDUINO boot loader.
Atlas Hexapod Robot

(includes pre-programmed
arduino ready ATMEGA168)
Atlas Hexapod Robot kit.
Build a palm sized 6 legged
robot with Arduino compatibility.

Total cost of kit and postage:
USB to TTL
Serial programming cable.
 Available
Mid May



UK customers who don't want to use paypal, please email me for other options.
If you'd like a pre-assembled Atlas Robot I do have a limited number
available. Email me for more information.

Additional parts and tools required to assemble the robot:
Safety Glasses, Soldering Iron and solder, Plyers, Side Clippers, Needle File.
9V PP3 Rechargable Battery and charger.
Always solder in a well ventilated area. Wear safety glasses when soldering, cutting or filing.


Top view of the robot. Note the squares on the matt are each 1cm long.


Here the robot tackles some rough terrain.


Note that I've used the prototyping area at the fron of the robot to add a USB to TTL serial
connector and reset button so I can re-programme the robot without removing it's chip.


Prototype Atlas robot and robot with SPEAKJET support.


Anaglyphic 3D shot of the robot. Click on the image to bigify.


The prototype Atlas Hexapod Robot.


 
/*
 ATLAS HEXAPOD
 3 servo 6 leg robot control
 Cobbled together by Jim Watt
 www.clockworkrobot.com
*/

int servoPin1 = 0;     // Control pin for middle servo motor
int servoPin2 = 1;     // Control pin for servo motor
int servoPin3 = 2;     // Control pin for servo motor

int LeftFeeler = 3;     // Left Feeler
int RightFeeler = 4;     // Right Feeler

int RightLED = 8;     // Right LED
int LeftLED = 9;     // Left LED

// Servo 1, middle legs
int MinPulseS1 = 1390;   // Minimum servo position. 1400 default. 900 is absolute min
int MidPulseS1 = 1570;   // Middle servo position. 1550 default
int MaxPulseS1 = 1750;  // Maximum servo position 1700 default. 21100 is absolute max

// Servo 2 and 3, outer legs
int MinPulseS23 = 1100;   // Minimum servo position. 1100 defauls.
int MidPulseS23 = 1400;   // Middle servo position. 1400 defauls.
int MaxPulseS23 = 1700;  // Maximum servo position. 1700 defauls.

int refreshTime = 20; // the time needed in between pulses
int pulse = 1100;  // servo pulse length in Microseconds
int rate = 20;        // speed to move the servo

int Feeler = 0;        // feeler flag

void LeftPark() {
  for (int pulse=0; pulse <= 30; pulse=pulse+1){
    digitalWrite(servoPin3, HIGH);   // Turn the motor on
    delayMicroseconds(MidPulseS23);       // Length of the pulse sets the motor position
    digitalWrite(servoPin3, LOW);   // Turn the motor on
    delay(refreshTime);
  }
}

void RightPark() {
  for (int pulse=0; pulse <= 30; pulse=pulse+1){
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    delayMicroseconds(MidPulseS23);       // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);   // Turn the motor on
    delay(refreshTime);
  }
}

void MidPark() {
  for (int pulse=0; pulse <= 30; pulse=pulse+1){
    digitalWrite(servoPin1, HIGH);   // Turn the motor on
    delayMicroseconds(MidPulseS1);       // Length of the pulse sets the motor position
    digitalWrite(servoPin1, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void MidLeftOut() {
  for (int pulse=MidPulseS1; pulse <= MaxPulseS1; pulse=pulse+rate){
    digitalWrite(servoPin1, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin1, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void MidLeftRet() {
  for (int pulse=MaxPulseS1; pulse >= MidPulseS1; pulse=pulse-rate){
    digitalWrite(servoPin1, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin1, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void MidRightOut() {
  for (int pulse=MidPulseS1; pulse >= MinPulseS1; pulse=pulse-rate){
    digitalWrite(servoPin1, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin1, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void MidRightRet() {
  for (int pulse=MinPulseS1; pulse <= MidPulseS1; pulse=pulse+rate){
    digitalWrite(servoPin1, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin1, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void StrideLeftOut() {
  for (int pulse=MidPulseS23+(rate/2); pulse <= MaxPulseS23; pulse=pulse+rate){
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    digitalWrite(servoPin3, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);    // Turn the motor off
    digitalWrite(servoPin3, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void StrideLeftRet() {
  for (int pulse=MaxPulseS23; pulse >= MidPulseS23+(rate/2); pulse=pulse-rate){
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    digitalWrite(servoPin3, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);    // Turn the motor off
    digitalWrite(servoPin3, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void StrideRightOut() {
  for (int pulse=MidPulseS23-(rate/2); pulse >= MinPulseS23; pulse=pulse-rate){
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    digitalWrite(servoPin3, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);    // Turn the motor off
    digitalWrite(servoPin3, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void StrideRightRet() {
  for (int pulse=MinPulseS23; pulse <= MidPulseS23-(rate/2); pulse=pulse+rate){
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    digitalWrite(servoPin3, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);    // Turn the motor off
    digitalWrite(servoPin3, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void TurnForwardOut() {
  for (int pulse=MidPulseS23-(rate/2); pulse >= MinPulseS23; pulse=pulse-rate){
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    digitalWrite(servoPin3, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);    // Turn the motor off
    delayMicroseconds(2800-pulse-pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin3, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void TurnForwardRet() {
  for (int pulse=MinPulseS23; pulse <= MidPulseS23-(rate/2); pulse=pulse+rate){
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    digitalWrite(servoPin3, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);    // Turn the motor off
    delayMicroseconds(2800-pulse-pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin3, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void TurnBackOut() {
  for (int pulse=MidPulseS23-(rate/2); pulse >= MinPulseS23; pulse=pulse-rate){
    digitalWrite(servoPin3, HIGH);   // Turn the motor on
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin3, LOW);    // Turn the motor off
    delayMicroseconds(2800-pulse-pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void TurnBackRet() {
  for (int pulse=MinPulseS23; pulse <= MidPulseS23-(rate/2); pulse=pulse+rate){
    digitalWrite(servoPin3, HIGH);   // Turn the motor on
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin3, LOW);    // Turn the motor off
    delayMicroseconds(2800-pulse-pulse);       // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);    // Turn the motor off
    delay(refreshTime);
  }
}

void Init() {
  digitalWrite(LeftLED, HIGH);   // Turn on left led
  digitalWrite(RightLED, LOW);   // Turn off right led
  MidPark();
  digitalWrite(LeftLED, LOW);   // Turn off left led
  digitalWrite(RightLED, HIGH);   // Turn on right led
  MidLeftOut();
  digitalWrite(LeftLED, HIGH);   // Turn on left led
  digitalWrite(RightLED, LOW);   // Turn off right led
  LeftPark();
  digitalWrite(LeftLED, LOW);   // Turn off left led
  digitalWrite(RightLED, HIGH);   // Turn on right led
  MidLeftRet();
  digitalWrite(LeftLED, HIGH);   // Turn on left led
  digitalWrite(RightLED, LOW);   // Turn off right led
  MidRightOut();
  digitalWrite(LeftLED, LOW);   // Turn off left led
  digitalWrite(RightLED, HIGH);   // Turn on right led
  RightPark();
  digitalWrite(LeftLED, HIGH);   // Turn on left led
  digitalWrite(RightLED, LOW);   // Turn off right led
  MidRightRet();
}

void Forward() {
  digitalWrite(LeftLED, HIGH);   // Turn on left led
  digitalWrite(RightLED, HIGH);   // Turn on right led
  StrideLeftOut();
  MidRightRet();
  MidLeftOut();
  StrideLeftRet();
  StrideRightOut();
  MidLeftRet();
  MidRightOut();
  StrideRightRet();
}

void Back() {
  StrideLeftOut();
  MidLeftRet();
  digitalWrite(LeftLED, LOW);   // Turn on left led
  digitalWrite(RightLED, LOW);   // Turn on right led
  MidRightOut();
  StrideLeftRet();
  StrideRightOut();
  MidRightRet();
  digitalWrite(LeftLED, HIGH);   // Turn on left led
  digitalWrite(RightLED, HIGH);   // Turn on right led
  MidLeftOut();
  StrideRightRet();
}

void TurnRight() {
  TurnBackOut();
  MidLeftRet();
  digitalWrite(LeftLED, LOW);   // Turn on left led
  digitalWrite(RightLED, LOW);   // Turn on right led
  MidRightOut();
  TurnBackRet();
  TurnForwardOut();
  MidRightRet();
  digitalWrite(RightLED, HIGH);   // Turn on right led
  MidLeftOut();
  TurnForwardRet();
}

void TurnLeft() {
  TurnForwardOut();
  MidLeftRet();
  digitalWrite(LeftLED, LOW);   // Turn on left led
  digitalWrite(RightLED, LOW);   // Turn on right led
  MidRightOut();
  TurnForwardRet();
  TurnBackOut();
  MidRightRet();
  digitalWrite(LeftLED, HIGH);   // Turn on left led
  MidLeftOut();
  TurnBackRet();
}

void setup() {

  pinMode(servoPin1, OUTPUT);  // Set servo pin 1 as an output pin for the middle legs
  pinMode(servoPin2, OUTPUT);  // Set servo pin 2 as an output pin for the back right leg
  pinMode(servoPin3, OUTPUT);  // Set servo pin 3 as an output pin for the back left leg

  pinMode(LeftFeeler, INPUT);  // Left Feeler
  pinMode(RightFeeler, INPUT);  // Right Feeler

  //  LeftFeeler = HIGH ;
  //  RightFeeler = HIGH ;

  pinMode(LeftLED, OUTPUT);  // Left LED
  pinMode(RightLED, OUTPUT);  // Right LED  

  // Servo Callibration Mode is activated if both front feelers are activated on boot-up.
  if (digitalRead (LeftFeeler) == LOW)  { 
    if (digitalRead (RightFeeler) == LOW)  {
      do
      {
        LeftPark();
        digitalWrite(LeftLED, LOW);   // Turn off left led
        digitalWrite(RightLED, HIGH);   // Turn on right led
        RightPark();
        digitalWrite(LeftLED, HIGH);   // Turn on left led
        digitalWrite(RightLED, LOW);   // Turn off right led
        MidPark();
      }
      while (millis() < 100000);   //Setup Mode Mode timeout in 100 seconds

    }

  }
  Init();  //Set roboot legs to start position

  delay(3000); // wait 3 seconds.

}

//  ************************************************************
//  ******************** Atlas Hexapod Loop ********************
//  ************************************************************

void loop() {

  MidRightOut();

  do
  {    
    Forward();
    Feeler=0;
    if (digitalRead (LeftFeeler) == LOW) (Feeler=1) ;
    if (digitalRead (RightFeeler) == LOW) (Feeler=(Feeler + 2)) ;
  }
  while (Feeler == 0) ;

  MidRightRet();
  MidLeftOut();

  if (Feeler == 3) {

    Back();
    Back();
    Back();
    Back();
    Back();
    TurnLeft();
    TurnLeft();
    TurnLeft();
    TurnLeft();
    TurnLeft();
  }  

  if (Feeler == 2) {

    Back();
    Back();
    Back();
    Back();
    TurnLeft();
    TurnLeft();
    TurnLeft();

  }

  if (Feeler == 1) {

    Back();
    Back();
    Back();
    Back();
    TurnRight();
    TurnRight();
    TurnRight();

  }

  MidLeftRet();

}
The stripped down Atlas Hexapod Robot code.

There is definitely a lot of room for improvement in this code. If anyone would like to donate
a superior version or any modified versions to support additional hardware or generate different
behaviors, I'd be delighted to hoast or link to details of your prjects from here.

eg you could modify the code so the robot could be programmed from an infrared TV
remote control with commands in a similar way to the classic MB BIG TRACK toy.
Email: jim@clockworkrobot.com © 2010 James G Watt  All rights reserved.