Arduino Projects > Robot Tank Page 1

Finished Polargraph

Arduino Robot Tank - ARTy, powered by 4 AA cells and one 9v.

Front view of ART

Front View

July 3, 2013: I have been working on ARTy, off and on for quite a while now. 

You are going to need a few things for this project. First, you are going to need to have an Arduino or suitable clone and a motor shield. I have an Arduino Uno and a motor shield purchased from eBay.  Other things you will need include:

A Tamiya Tracked Vehicle Chassis Kit - the kit I purchased only had a single motor. This will only allow for forward and backwards... no differential steering. So, I also purchased a  twin motor kit with gearbox. Another motor you will need a Servo. I used a Futaba S3003 - I got mine off of eBay. You will also need an Arduino Uno and Motor Shield. I had picked up a DYP-ME007TX Ultrasonic Distance Sensor. This probably isn't the best one to use for this project, but is what I had. Fortunately, some one on the Arduino Forum figured it out - thanks João Rodrigues! I also used a small breadboard and other bits and pieces I already on hand (Tamiya base plate kit, wire, connectors and screws).

I will be working on the code as I go, but will post the bits that I have done for testing the bits and pieces. The only code really finished is the light sensor code. It does try to go into the light. Here is the code for the light seeking behavior.

I am currently working on the DYP-ME007TX code and using the servo to scan for obstacles. Here is the code I am currently working on... Be advised, ART does not move yet! This is only the code for the servo and distance.

July 25, 2013: I replaced the DYP-ME007TX with a more user friendly HC-SR04. Check out the data sheet here. The code to use it is a lot simpler as well. Here is the latest code. Now ARTy gets to within 40 cm of an object, he checks right then left, then moves in the direction of the greatest open space. I am working on a bluetooth module for ARTy next. Standby for more...

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If you have any questions about this project, email me.

CDS Cell

This is the CDS cell that I used. It is about 45 ohms in really bright light and approximately 200K ohms in the dark. I just attached it to some solid core wire and a couple of pins for the breadboard. It uses Analog pins 1 and 2.

Arduino Motor Shield hookups

Here is a shot of the Motor Shield on ART. Note the red electrical tape on the USB connector. I did that to prevent the board from shorting out on the Arduino. At the top of the motor shield, you can see a white and green wire soldered to the board. These are for the left and right light sensors.

Closeup of DPY-ME007TX

This is a close up of the DPY-ME007TX. As you can see it is a three pin package with VCC, Signal and ground. However, this is NOT a PING sensor! It does not work the same. Here is the demo code João Rodrigues posted on the Arduino Forum.

Closeup of battery hookups

I used two pin connectors for the batteries. I figured out quickly that being able to disconnect and replace the batteries was necessary. You cannot see the main power switch which is now hidden in front behind the servo... I may need to move it.

Motor Shield power hookups

Here is a closeup of the power side of the motor shield. Note that the grounds are all tied together. You can also just make out the stand offs under the board. They are made from a small bit of plastic tube. This allows wires to run under the Arduino.

Close up of Left Side

This is another view of the left side where the battery connectors are. You can now see the small blue wire that is wrapped around Digital Pin 6 and is the RX wire for the distance sensor. I mounted the 9V battery to the bottom of the top plate to make it easier to change out the batteries.

Motors and capacitors

Here is a close up of the motors and the capacitors. Be sure to add caps to your motors to cut down on the motor noise.


Left SideLeft side

Right Side

Right Side


Rear view

Rear view

Left Side

Left Side - click image for larger picture

Rear view

Right view - click image for larger picture


Top - click image for larger picture




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