Robot Captain Ann Droid

Nice work Steve!

Not that you asked for it or anything, Steve.... but below is code I hacked up to utilize the Create's bumper sensors while driving around... Crude and I haven't optimized the code, but for now it works... When you get your V4, if you need it the codes below...

:top
$drive=1
uartinit(0, 2, 57600) #initiate UART port 2 (pins 18 Tx and Pin 19 Rx)
sleep(20)
uartWrite(0, 2,128,132) #Init iRobot create and place in full mode
sleep(20)
uartWrite(0,2,137,0,125,128,0) #forward slow

$x=0
REPEATUNTIL($x>0)
  
  
  
  uartWrite(0,2,142,7) #Roomba Bump and wheel drop sensor
  
  
  IF (UARTAvailable(0,2)>0)
    $x=UARTRead(0,2,1)
    $x=GetByte($x)
    
  ENDIF 
  print($x)
  
  IF ($x=2) # left bumper hit
    uartWrite(0,2,137,255,155,128,0) # back up
    sleep(1000)
    uartWrite(0,2,137,0,100,255,255) #turn right
    sleep(2000)
  ELSEIF ($x=1) # right bumper hit
    uartWrite(0,2,137,255,155,128,0) # back up
    sleep(1000)
    uartWrite(0,2,137,0,100,0,1) #turn left
    sleep(2000)
  ELSEIF ($x>2) # centre bump or wheel drop
    uartWrite(0,2,137,255,155,128,0) # back up
    sleep(1000)
    uartWrite(0,2,137,0,100,0,1,157,0,180,137,0,0,0,0) #turn around 180deg
    sleep(2000)
  ENDIF 
    
  sleep(20)
ENDREPEATUNTIL 
goto(top)

Cheers Richard

Thanks for the comments. Mel, Sunshine is probably happy that you are giving her attention again, looking good. Bret, it sounds great that you are working on a new project, glad to see both of you back. Now that I am done helping my grandson Hunter for now ( I had an awesome time watching them get so excited about robotics), I want to add new features to my robot. I want to build her real ears, instead of the painted ears. First thought was to purchase some 3D printed ears then I thought about fabricating some aluminum ears. The size would be somewhere between the current painted ears and smaller then the Mercury Man ears? Thanks, Steve S

Richard R, If I was closer, I would buy you a barley pop of your choice! This is something I wanted to do since I started running EZ Robot on my IRobot Create. Now I will have to enlarge my Create bumper, so it does not clip furniture, because her arms hang beyond her base. Thank you so much, you made my day! So much to look forward to with the new EZBV4 and a great community!

Thanks Steve, but it will have to be Canadian beer my friend.... We didn't put a man on the moon or create the legionary Supermarine Spitfire, but we do have great beer... oh and DJ Sures of course...

Btw, I am still working on the 2 byte return.... making some progress, but not quite there yet...

Cheers Richard

Captain Ann Droid gets real movable Ears, I have been wanting and thinking how to build ears for my robot, instead of the painted ears. The new ears are slightly below the painted ones, which highlight each other.. After many attempts, this is what I did. The ears are powered by micro servos left over from my fabricated 6. Actual ears are made from McDonalds Happy Meal milk lids, Menards Utility Hooks, and fender washers. In the new pic and vids I forgot to tuck in Ann,s front skin, Left ear servo wire, and install the fender washer. Hope you like her new ears, they move when she is thinking. The beep is from an IRobot send serial command. She is in automatic mode for the vids.

Steve S

love it ,the ears.and the mini hexapod fit cap ann same color.

Thank you Nomad.