Sus Hinton (@noopkat) released a couple of months ago a library to control OLED screens from Johnny-five: https://www.npmjs.com/package/oled-js, so I ordered a SSD1305 from Adafruit.
I will like to add a screen to Felix to eventually give some status feedback, but mostly to display/animate eyes. Sort of the way Baxter from Rethink Robotics does it.
To mount the screen I designed two head pieces and cut them with on the laser-cutter.
The head is controlled by two HXT900 servos. One servo rotate the head from left to right and the other to tilts the head. The rotation is to allow the two SHARP 2Y0A21 proximity sensors to scan the room. The tilt is just cute.
Besides the screen and sensors I also added a small piezo speaker.
I’m happy with the result, now time to do the wiring.
This week I got a bunch of 9G servos and some PMW motor shields from my local Adafruit pusher m.nu. I want to use them in a smaller (more affordable) version of Felix.
The redesigned chassis is just a scaled down version of the current geometry, but I have to work on the casing for the electronics. There is not much space available for a Uno, a shield and a battery pack. If I lay the electronics down flat, Felix looses it’s slender figure and looks more like a turtle. Currently I’m working on a vertical arrangement, which gives him a unflattering hump, but he seems to prefer that.
Before I settle/refine the design, I have to test how it affects Felix balance during the gait.
To control Felix I have a Sparkfun RedBoard wich corresponds pretty much to an Arduino UNO, and an Adafruit 16-Channel Servo Driver mounted on a proto board with a power switch and a start-stop button. Currently I’m using 4 AAA batteries to power the servos, but I have to do some research about LiPo’s (which I haven’t used before) to keep the weight down.