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Andre Courchesne
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‎Arduino/CreeperBot/CreeperBot.ino‎

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// Includes
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#include <WiServer.h>
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#include <string.h>
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#include <Servo.h>
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// Wireless configuration parameters
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unsigned char local_ip[] = { 192,168,0,10 }; // IP address of WiShield
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unsigned char gateway_ip[] = { 192.168,0,1 }; // router or gateway IP address
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unsigned char subnet_mask[] = { 255,255,255,0 }; // subnet mask for the local network
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char ssid[] = {"Robot"}; // max 32 bytes
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unsigned char security_type = 0; // 0 - open; 1 - WEP; 2 - WPA; 3 - WPA2
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// WPA/WPA2 passphrase (UNUSED)
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const char PROGMEM security_passphrase[] = { "12345678"}; // max 64 characters
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// WEP 128-bit keys (UNUSED)
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//const unsigned char PROGMEM wep_keys[] = {
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// 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c, 0x0d, // Key 0
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// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // Key 1
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// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // Key 2
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// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 // Key 3
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//};
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const unsigned char PROGMEM wep_keys[] = {};
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// Wireless mode
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#define WIRELESS_MODE_INFRA 1
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#define WIRELESS_MODE_ADHOC 2
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unsigned char wireless_mode = WIRELESS_MODE_INFRA;
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// Required for the WiShiled library
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unsigned char ssid_len;
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unsigned char security_passphrase_len;
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//-- Constants for the right motor
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const int MOTOR_RIGHT = 5;
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const int MOTOR_RIGHT_FW = 180; //-- Move the right motor forward
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const int MOTOR_RIGHT_BW = 0; //-- Move the right motor backward
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const int MOTOR_RIGHT_STOP = 90; //-- Stop the right motor
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//-- Constants for the left motor
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const int MOTOR_LEFT = 6;
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const int MOTOR_LEFT_FW = 0; //-- Move the left motor forward
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const int MOTOR_LEFT_BW = 180; //-- Move the left motor backward
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const int MOTOR_LEFT_STOP = 90; //-- Stop the left motor
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bool strobe = 0;
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bool strobe_state = 0;
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unsigned char previous_movement=5;
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//-- The two motors are servos that can turn freely
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Servo rm; //-- Right motor
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Servo lm; //-- Left motor
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void setup()
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{
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WiServer.init(sendPage);
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rm.attach(MOTOR_RIGHT);
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lm.attach(MOTOR_LEFT);
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pinMode(4, OUTPUT);
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pinMode(7, OUTPUT);
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pinMode(8, OUTPUT);
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}
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void loop()
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{
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// Run WiServer
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if(strobe)
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{
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if(strobe_state)
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{
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digitalWrite(4, LOW);
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strobe_state=0;
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}
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else
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{
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digitalWrite(4, HIGH);
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strobe_state=1;
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}
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}
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for(unsigned char i=0; i<10 ; i++)
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{
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WiServer.server_task();
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delay(5);
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}
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}
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void robot_action(unsigned char movement)
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{
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//movement -> 1 = Front
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// 2 = Back
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// 3 = Right
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// 4 = Left
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// 5 = Stop
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// 6 = Light on
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// 7 = Light off
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// 8 = Light Strobe
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// 9 = Eyes on
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// 10 = Eyes off
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switch(movement)
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{
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case 1:
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rm.write(MOTOR_RIGHT_FW);
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lm.write(MOTOR_LEFT_FW);
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break;
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case 2:
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rm.write(MOTOR_RIGHT_BW);
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lm.write(MOTOR_LEFT_BW);
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break;
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case 3:
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lm.write(MOTOR_LEFT_FW);
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rm.write(MOTOR_RIGHT_BW);
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break;
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case 4:
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lm.write(MOTOR_LEFT_BW);
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rm.write(MOTOR_RIGHT_FW);
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break;
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case 5:
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rm.write(MOTOR_RIGHT_STOP);
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lm.write(MOTOR_LEFT_STOP);
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break;
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case 6:
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digitalWrite(4, HIGH);
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break;
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case 7:
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digitalWrite(4, LOW);
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strobe = 0;
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break;
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case 8:
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strobe = 1;
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break;
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case 9:
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digitalWrite(7, HIGH);
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digitalWrite(8, HIGH);
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break;
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case 10:
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digitalWrite(7, LOW);
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digitalWrite(8, LOW);
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break;
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}
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}
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void OurPage(void)
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{
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WiServer.print("<html><head><title>Robot</title></head>");
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WiServer.print("<body><center>Control !<center>\n<center>");
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WiServer.print("<a href=?Front>Front</a></br>");
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WiServer.print("<a href=?Back>Back</a></br>");
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WiServer.print("<a href=?Right>Right</a></br>");
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WiServer.print("<a href=?Left>Left</a></br>");
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WiServer.print("<a href=?Stop>Stop</a></br>");
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WiServer.print("<a href=?LightOn>Light On</a></br>");
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WiServer.print("<a href=?LightOff>Light Off</a></br>");
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WiServer.print("<a href=?EyesOn>Eyes On</a></br>");
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WiServer.print("<a href=?EyesOff>Eyes Off</a></br>");
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WiServer.print("<a href=?LightStrobe>Light Strobe</a></br>");
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WiServer.print("</html> ");
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}
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// This is our page serving function that generates web pages
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boolean sendPage(char* URL_Received)
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{
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String URL_String = URL_Received; // Just convert the chat* receivedto a String object
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if (URL_String == "/?Front")
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{
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robot_action(1);
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previous_movement=1;
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}
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else if(URL_String == "/?Back")
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{
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robot_action(2);
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previous_movement=2;
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}
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else if(URL_String == "/?Right")
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{
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robot_action(3);
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delay(100);
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robot_action(previous_movement);
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}
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else if(URL_String == "/?Left")
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{
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robot_action(4);
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delay(100);
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robot_action(previous_movement);
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}
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else if(URL_String == "/?Stop")
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{
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robot_action(5);
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previous_movement=5;
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}
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else if(URL_String == "/?LightOn")
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{
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robot_action(6);
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}
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else if(URL_String == "/?LightOff")
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{
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robot_action(7);
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}
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else if(URL_String == "/?LightStrobe")
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{
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robot_action(8);
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}
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else if(URL_String == "/?EyesOn")
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{
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robot_action(9);
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}
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else if(URL_String == "/?EyesOff")
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{
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robot_action(10);
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}
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else if(URL_String.substring(0,8) == "/?Degree=")
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{
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}
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else
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{
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// unknown URL
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}
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OurPage();
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return true;
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}

‎Arduino/make.sh‎

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/Applications/Arduino.app/Contents/MacOS/Arduino --verify ~/Desktop/robot2/robot2.ino

‎README.md‎

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# CreeperBot
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This is a little remote telepresence robot based on Thingiverse 63165 (http://www.thingiverse.com/thing:63165)
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I modified the main body slightly to accomodate larger free rotation servos I had.
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I also added a Creeper face with LED eyes and mount for an iPhone 4
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This was build as an example in a talk I did for Montreal.rb
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# FaceTime AutoAnswer
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Unfortunatly there is no way to get FaceTime to auto-answer without Jailbreaking the phone.
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Once Jailbroken, simply install the Cydia app called "FaceTime Surveillance"
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# Network
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As the Arduino does not support HTTPS or any type of security it is not advisable to connect it directly to the internet (unless you make firewall based restrictions).
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Therefore a RaspberryPi is put in the mix to provide an abstraction layer
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Internet <-----> RaspberryPi <---wifi---> Arduino

‎RaspberryPi/api/creeperbot_api.rb‎

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require "sinatra"
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require "net/http"
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require "rubygems"
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RobotIP="10.0.9.44"
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get "/LightOn" do
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Net::HTTP.get(URI("http://#{RobotIP}/?LightOn"))
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end
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get "/LightOff" do
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Net::HTTP.get(URI("http://#{RobotIP}/?LightOff"))
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end
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get "/EyesOn" do
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Net::HTTP.get(URI("http://#{RobotIP}/?EyesOn"))
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end
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get "/EyesOff" do
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Net::HTTP.get(URI("http://#{RobotIP}/?EyesOff"))
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end
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get "/LightStrobe" do
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Net::HTTP.get(URI("http://#{RobotIP}/?LightStrobe"))
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end
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get "/Front" do
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Net::HTTP.get(URI("http://#{RobotIP}/?Front"))
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end
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get "/Right" do
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Net::HTTP.get(URI("http://#{RobotIP}/?Right"))
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end
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get "/Left" do
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Net::HTTP.get(URI("http://#{RobotIP}/?Left"))
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end
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get "/Back" do
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Net::HTTP.get(URI("http://#{RobotIP}/?Back"))
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end
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get "/Stop" do
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Net::HTTP.get(URI("http://#{RobotIP}/?Stop"))
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end

‎RaspberryPi/web/css/jquery.switchButton.css‎

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.switch-button-label {
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float: left;
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font-size: 10pt;
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cursor: pointer;
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}
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.switch-button-label.off {
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color: #adadad;
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}
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.switch-button-label.on {
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color: #0088CC;
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}
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.switch-button-background {
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float: left;
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position: relative;
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background: #ccc;
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border: 1px solid #aaa;
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margin: 1px 10px;
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-webkit-border-radius: 4px;
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-moz-border-radius: 4px;
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border-radius: 4px;
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cursor: pointer;
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}
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.switch-button-button {
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position: absolute;
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left: -1px;
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top : -1px;
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background: #FAFAFA;
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border: 1px solid #aaa;
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-webkit-border-radius: 4px;
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-moz-border-radius: 4px;
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border-radius: 4px;
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}

‎RaspberryPi/web/css/main.css‎

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#main_table{width:100%;} /*or whatever width you want*/
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#main_table td{width:2000px;} /*something big*/

‎RaspberryPi/web/images/down.png‎

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‎RaspberryPi/web/images/left.png‎

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‎RaspberryPi/web/images/right.png‎

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‎RaspberryPi/web/images/stop.jpg‎

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