16.4 - Implementation

3D Prints:

Electronics/Circuit:

Arduino Code:

The robot uses an Arduino Uno powered by a 9V battery. The Arduino controls DC motors via interfacing with a motor driver. Just like in build assignment 2, it takes input from a joystick to control the speed and direction of the wheels. The Arduino also controls the servo motor to alter the wheel radius. When the joystick button is pushed, it toggles the servo between 0 and 60 degrees which correspond to low radius and high radius respectively.