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Wall-E-ncia

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Wall-E-ncia is a small, self-made robot. It has three wheels, which makes him capable to move around in plane areas. To control the robot, there is a Arduino platform integrated. On this platform there are two different programs available:

  1. Avoiding obstacles: By using an ultrasound sensor Wall-E-ncia avoids autonomously any colision with its environment.
  2. Remote control: By using an bluetooth client and a self-created application on a android phone, it is possible to navigate Wall-E-ncia in any direction.

Front view “Wall-E-ncia”

This page explains the used parts of the robot, the hardware development process and the software development process.

Used parts:

  • Mechanical:
    • 1 Robot body
    • 2 Wheels
    • 1 Custer wheel
  • Electrical:
    • 1 Arduino Nano
    • 1 Expansion shield
    • 1 Ultrasound sensor
    • 1 Buzzer
    • 1 LED-Matrix
    • 1 Bluetooth-Client
    • 2 continuous servo motors
    • 22 Jumper wires
    • 1 external battery pack
    • 1 Mini-B USB cable
  • Further stuff:
    • 1 Hot glue pistol
    • 1 Instant glue
    • 2 Rubber bands

The hardware development process:

The first step was to design the robot body by using the CAD program “Qcad”. Placing all the robot components virtually allowed us to shape the two main body parts. Those were cutted out of wood with a thickness of 3 mm. The process of laser-cutting made it possible to add a small, design element: The name of our robot.

Design of the robot body in “Qcad”

Secondly, to prevent any mistake, we set up all electrical connections virtually using the program “Fritzing”.

Wiring diagram in Fritzing

After buying the necessary parts, we started assembling the robot. With hot glue we attached the custor wheel and the servo motors to the body plates. Instant glue was used to attach the jumper wires. The external power bank and the arduino is attached to the robot by two rubber bands, which provide removability. Furthermore, we connected all electrical parts by referring to our wiring diagram.

Rear view “Wall-E-ncia”

The software development process:

Once the assembly was done, we began to program the Arduino Nano. By using Arduino IDE we created two different programs:

  • Avoiding obstacles: The robot moves forward while showing a happy face. If the ultrasound sensor detects any obstacle within a range of 20 cm the vehicle stops immediately. The face of the robot changes. A sad face appears and the robot makes a noise through the integrated buzzer. To get happy again, he turns about 90 degrees left and continues moving forward out of this new position.

Face feature
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  • Remote control: The robot is controlled by an android phone via Bluetooth. By pressing different buttons on the smartphone screen it is possible to navigate the robot. The smartphone application (created by using “AppInventor 2”) provides 6 buttons:
    • Establish Bluetooth connection (“Connect”)
    • Move Forward (⇑)
    • Move Back (⇓)
    • Move Left (⇐)
    • Move Right (⇒)
    • Stop (“STOP”)
  Application for Android smartphones 
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