This github project contains the 3D STL files, parts list, electrical diagrams, and the software for my spot-mini clone project, Nova Spot Micro
These files were not created with public consumption in mind, and are constantly under development, so use at your own risk!
A list of links (yes, Amazon affiliate links!) to all of the hardware components used can be found below for this project.
I'd be happy to answer any questions, and/or receive any type of feedback... happy hacking!
Version: 3.2
Version Date: 2021-03-31
Author: Chris Locke - cguweb@gmail.com
GitHub Project: https://github.com/cguweb-com/Arduino-Projects/tree/main/Nova-SM2
Thingiverse: https://www.thingiverse.com/thing:4767006
(under construction) Instructables Project: https://www.instructables.com/Nova-Spot-Micro-a-Spot-Mini-Clone/
YouTube Playlist: https://www.youtube.com/watch?v=00PkTcGWPvo&list=PLcOZNHwM_I2a3YZKf8FtUjJneKGXCfduk
(1) Mega Pro CH340GATmega 2560
(1) PS2 Receiver & Remote
(1) 12A DC-DC Step Down Buck Converter 4.5V-30V
(1) DC-DC Buck Boost Converter XL6009 5-32 V to 1.25-35 V
(1) Mini Digital DC Voltmeter
(1) ACS712 Current Sensor Module
(1) MOSFET IRF540N
(1) DIODE 1n4004
(1) 2k Resistor
(2) 1k Resistor
(1) Lighted Rocker Switch 12v
(1) XT 60 Plug & High Current Switch
(1) 11.1v 3S Lipo Pack
(1) 16-Channel 12-bit PWM/Servo Driver
(12) DS3218 20KG Full Metal Gear 270 Degree Digital Servo
(12) 3-Pin Servo Extension Cable
(8) 8x16x5mm Ball Bearings
(12) 25T Aluminum Servo Arm Horn
(1) MH-SR602 PIR Motion Sensor Module
(4) WS2812B 5050 RGB LED
(2) HC-SR04 Ultrasonic Module Distance Sensor
(1) GY-521 MPU-6050 3 Axis Accelerometer Gyroscope Module
(1) SSD1306 128X64 OLED Display Module
(1) Piezo Buzzer
(1) Push Button Switch
() 5.08mm Screw Connection PCB Terminal
(2) Small Double-Sided PCB Board
(1) Hatchbox Yellow PLA
(1) Hatchbox Black PLA
(1) YOYI Purple TPU
18AWG Silicone Wire
22AWG Hookup Wire
Dupont Jumper Wires
Loctite Threadlocker
And lots of various size 3mm, 4mm, and 5mm screws and nuts
- Arduino mega performance: 42% storage / 57% memory
- commented code for github release
- updated NovaServos after recalibrating servos
- added serial commands for testing servos / legs
- [ ] BUG: during testing routines, on abrupt change of routine, ramping hangs, stepping every +/-1000ms
- [ ] re-calibrate servo home positions to balance Nova's COG!! seems to be back-heavy
- [ ] x_axis: tweak pattern, adjusting use of move_steps to not near fall over backwards on startup
- [ ] finish tweaking left and right stepping
- [ ] finish forward step (w/ left, right, backwards!)
- [ ] write a stable fixed speed / step walking routine
- [ ] fix 'stay' routine (ie: tends to fall backward when coming off of kneel or sit positions into stay)
see **DEV NOTES** in code comments for more bugs/tasks