Cutey the Arduino Robot.

These are cuteys electronics, there is a arduino mega, HC-SR04 sensor, two modified robot servos with wheels, arduino sensor shield, and wires.
Cutey is a autonomous robot with a twist, HE WANTS FRIENDS!
He will spin around until you put your hand in front of him then he will follow you, so don't put him in front of a wall.        

The servos are connected together with a LEGO piece and hot glue, for easy mounting.  

Right servo cable to the sensor shield digital 11, left servo cable to the sensor shield digital 10.

Make the wheels by hot gluing together the servo hub to the wheels.

HC-SR04 Trig pin to pin 52 on arduino mega and echo to 50.

here is the code.




#include <Servo.h>

Servo myservo;
Servo myservo2;
const int pingPin = 50;
const int pingPin2 = 52;
void setup() {
  Serial.begin(9600);
      myservo.attach(10);
      myservo2.attach(11);
}

void loop()
{
  long duration, inches, cm;
 
  pinMode(pingPin2, OUTPUT);
  digitalWrite(pingPin2, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin2, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin2, LOW);


  pinMode(pingPin, INPUT);
  duration = pulseIn(pingPin, HIGH);


  inches = microsecondsToInches(duration);
  cm = microsecondsToCentimeters(duration);
 
 
  if(inches < 5){
   myservo.writeMicroseconds(2000); 
  myservo2.writeMicroseconds(2000); 
   }
  if(inches > 5){
      myservo.writeMicroseconds(1000); 
  myservo2.writeMicroseconds(1000);  
   }
 
  Serial.print(inches);
  Serial.print("in, ");
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();
 
  delay(100);
}

long microsecondsToInches(long microseconds)
{
  return microseconds / 74 / 2;
}

long microsecondsToCentimeters(long microseconds)
{
  return microseconds / 29 / 2;
}