Marvin Mk1 - Walleye

by MkMan, published

Marvin Mk1 - Walleye by MkMan Sep 16, 2010

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Marvin is a wall (and foot) avoiding robot made from printed parts, an Arduino board, an Adafruit.com motor controller board, 2 motors (from Pololu.com), a distance sensor (from Pololu.com) and a battery clip (Radioshack).

Video of the bot in action: http://www.youtube.com/watch?v=PfaEIkYA8fI

The body, wheels and neck are parts designed specifically to fit what we already had on hand (with the addition of the Pololu parts since we lacked matched motors or a distance sensor).

This bot was created as a mini-project of the MSU robotics group. (Midwestern State University, Wichita Falls, TX)


The printed and electronic parts are bolted together with small screws. Just drill a hole slightly smaller than what you have on hand and ABS self-taps nicely. We neglected to add spacers in the MarvinBody part, so we used some pre-made. We will print the spacers as part of the piece, next revision.

The MarvinCode.zip file contains the (very simple) processing code that runs on the Arduino board. It uses DC motors 3 & 4 and the sensor is on analog pin 0.

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I've seen others power the Arduino with a 9v battery, and use 6 volts (4xAA) to run the motors.

Just a question about the battery. You have 6 volts, but the Arduino needs about 7 volts or more just so the voltage regulator can step down to 5 volts. How did you handle that?

Been forever since I took a look at this...It used an Arduino Duemilanove, which ran great on 6v. Best of luck and link me whatever you come up with!

Good idea mounting the Sharp distance sensor at the back. That way you get rid of the erroneous readings it gives when up close.

I'm printing this nice robot for my kid, which is learning Arduino dev.

Could you post other close pictures? I'm not sure to understand how you assemble the different parts. Why is the base not symetric?

Another problem: the hole in the wheel is 6mm, instead of 3mm (motor shaft diameter)...


Can you point all the links or reference for the geared motor?

omg! sooooo awesome! Thingiverse needs more robots.

I love to see robots built with the Makerbot since it's the main reason I got one. What's an estimate for cost of all the parts together? I'd like to make a kit to build multiple of these for simple swarm bots

Looks like total cost for parts, as shown, is $78 plus a foot of wire and 8 screws. I imagine the price can be brought down substantially.

I'm sure I could use my BBB arduino and a simple h-bridge driver. I should make a derivative for continuous rotation servos. You think parallax ultrasonic sensors would work better than IR?

I think ultrasonic would work at least as well, although the low end optical sensors are significantly cheaper.

We'll probably go to continuous rotation servos for the next rev, so the turn angle of the bot is easier to calculate directly.