Meet Centaurus (Mark I

Published April 14, 2022 © GPL3+

The Centaurus (Mark 1)

Heavy-duty and Swift movement from DC Motors with control from an IR Remote, and a fashionable mustache for the ladies.

IntermediateFull instructions provided184

Things used in this project

Hardware components

Arduino UNO

Breadboard (generic)

Male/Female Jumper Wires

Jumper wires (generic)

Lots of them!

Resistor 330 ohm

ELEGOO EL-KIT-012 UNO Project Smart Robot Car Kit V 3.0

(Optional) Here, I took used some parts from the Elegoo Uno R3 Kit, but you can use any other 4 sets of durable wheels, motors, etc..

Ultrasonic Sensor - HC-SR04 (Generic)

Infineon H-BRIDGE KIT 2GO

DC Motor, 12 V

9V battery (generic)

9V Battery Clip

Texas Instruments Shift Register- Parallel to Serial

To customize LEDs appearance

LED (generic)

1 Green, 1 Red, 2 White 4 Blue

Elegoo IR Remote

Again, it doesn't have to be from the Elegoo kit, this is just where I got mine from

IR receiver (generic)

Mustache

Must Have! Otherwise don't even bother trying

Hand tools and fabrication machines

Wood

For a slick and heavy-duty chassis

Jig Saw

To cut the wood as needed

Wood Sander

For a smooth look if your cutting from regular wood planks

Wood Carver

For the interior, and to for the LEDs

Drill

Screws

Soldering iron (generic)

Tape, Duct

Rarely needed, but just in case

Tape, Velcro® Stick On Tape/Strip

For the top layer to stay in place when Centaurus is on the run

Story

Meet Centaurus (Mark I)

1 / 4 • Front

The chassis of Centaurus is mostly made from wood except for the wheels that are made from plastic. The available buttons on the IR Remote are: forward, back, left, right, number symbol (#) starts a binary countdown, and star symbol (*) that initiates free-roam obstacle avoidance mode.

The Arduino board inside of the chassis is powered by a rechargeable battery that was extracted from an Elegoo Robot Car Kit, the link for the kit is in the lists of components above, but this is not necessary, as you can use any 12V power supply.

Back (power supply)

The name Centaurus comes from one of my favorite constellations inside the milky way galaxy. The idea was designed and programmed to be efficient with its maneuverability and precision, all while being controlled with just a tap of a button, and my favorite, the unique pattern of shifting LEDs attached.

In the dark

In the day

On the run

However, there will always be room for improvement. Centaurus (Mark I) has been born.. now it's time to see where this "idea" of a mechanism can lead to. The destiny of Centaurus's evolution into Mark 2 lies within a courageous, and like-minded individual who seeks perseverance and determination.

The Centaurus (Mark 1) - Code

//-------------------------------------
//Code by Brayden Ford (Circuit-Praxis)
//-------------------------------------
//Welcome To Centaurus's Code
//-------------------------------------

//library for dual motor driver
#include <SparkFun_TB6612.h>

//library for remote
#include <IRremote.h>

//ultra sonic sensor pins
int trigPin = 3;
int echoPin = A2;
int pingTravelTime;

//remote
int IRpin = A0;
String Command;
IRrecv IR(IRpin);
decode_results cmd;

//dual motor driver pins
#define AN1 12
#define BN1 7
#define AN2 4
#define BN2 8
#define PWMA 5
#define PWMB 6
#define STBY 9

//constants for motor configuration
const int offsetA = 1;
const int offsetB = -1;

//define duel motor driver pins
Motor motor1 = Motor(AN1, AN2, PWMA, offsetA, STBY);
Motor motor2 = Motor(BN1, BN2, PWMB, offsetB, STBY);

//delay
int dt = 100;

// Rnadom pattern for turning function
long randomTurn = 43;

//Shift regigister pins for LEDs
const int dataPin = A3;
const int clockPin = 13;
const int latchPin = 2;

//(LEDs) when forward 
byte fLeds = 0b11111111;
//when slowed down
byte sLeds = 0b01111110;
//when slowed down more
byte ssLeds = 0b00111100;
//default LEDs
byte dLeds = 0b01111110;
//when back
byte bLeds = 0b10000001;
//turn LEDs off
byte oLeds = 0b00000000;

void setup() {
  //setup serial monitor
  Serial.begin(9600);

  //IR remote
  IR.enableIRIn();

  //ultra sonic sensor setup
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  //shift register
  pinMode(clockPin, OUTPUT);
  pinMode(latchPin, OUTPUT);
  pinMode(dataPin, OUTPUT);

  // Rnadom pattern for turning to mimic AI features
  randomSeed(40);
  
}

void loop() {

  //wait until button has been pressed
  while (IR.decode(&cmd) == 0) {

  }

  ////////////////////////////////if IR = up arrow button - go forward
  if (cmd.value == 0xFF629D) {
    IR.enableIRIn();
    delay(60);
    IR.resume();
    forward(motor1, motor2, 255);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, bLeds);
    digitalWrite(latchPin, HIGH);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
    digitalWrite(latchPin, HIGH);
    delay(40);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00011000);
    digitalWrite(latchPin, HIGH);
    delay(40);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00100100);
    digitalWrite(latchPin, HIGH);
    delay(40);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b01000010);
    digitalWrite(latchPin, HIGH);
    delay(40);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b10000001);
    digitalWrite(latchPin, HIGH);
    delay(40);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b11111111);
    digitalWrite(latchPin, HIGH);
  }
      else{
       if (cmd.value != 0xFF42BD) {
       IR.enableIRIn();
       delay(60);
       IR.resume();
       }
    }

  ////////////////////////////////if IR = down arrow button - go back
  if (cmd.value == 0xFFA857) {
    IR.enableIRIn();
    delay(60);
    IR.resume();
    back(motor1, motor2, -160); 
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, bLeds);
    digitalWrite(latchPin, HIGH);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
    digitalWrite(latchPin, HIGH);
    delay(40);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b10000001);
    digitalWrite(latchPin, HIGH);
    delay(40);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b01000010);
    digitalWrite(latchPin, HIGH);
    delay(40);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00100100);
    digitalWrite(latchPin, HIGH);
    delay(40);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00011000);
    digitalWrite(latchPin, HIGH);
    delay(40);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
    digitalWrite(latchPin, HIGH);
  }

  ////////////////////////////////if IR = left arrow button - turn left
  if (cmd.value == 0xFF22DD) {
    IR.enableIRIn();
    delay(60);
    IR.resume();
    motor1.brake();
    motor2.drive(255);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b10000000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b01000000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00100000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00010000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00001000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000100);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000010);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000001);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
    digitalWrite(latchPin, HIGH);
    delay(20);
  }

  ////////////////////////////////if IR = right arrow button - turn right
  if (cmd.value == 0xFFC23D) {
    IR.enableIRIn();
    delay(60);
    IR.resume();
    motor1.drive(255);
    motor2.brake();
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000001);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000010);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000100);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00001000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00010000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00100000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b01000000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b10000000);
    digitalWrite(latchPin, HIGH);
    delay(20);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
    digitalWrite(latchPin, HIGH);
    delay(20);
  }

  ////////////////////////////////if IR = OK button - stop
  if (cmd.value == 0xFF02FD) {
    IR.enableIRIn();
    delay(60);
    IR.resume();
    forward(motor1, motor2, 0);
    digitalWrite(latchPin, LOW);
    shiftOut(dataPin, clockPin, LSBFIRST, fLeds);
    digitalWrite(latchPin, HIGH);
  }

  ////////////////////////////////////IR = # (number sign button)
  if (cmd.value == 0xFF52AD) {
    IR.enableIRIn();
    delay(10);
    IR.resume();
    //turn on each LED
    for (int i = 0; i < 256; i++) {
      //take the latchClock low so the LEDs don't
      //change while you're sending in bits
      digitalWrite(latchPin, LOW);
      //shift out the bits
      shiftOut(dataPin, clockPin, MSBFIRST, i);
      digitalWrite(latchPin, HIGH);
      delay(60);
      //wait until button has been pressed
      while (IR.decode(&cmd) == 0) {
        if (cmd.value == 0xFF52AD) {
          for (int i = 0; i < 256; i++) {
            //take the latchClock low so the LEDs don't
            //change while you're sending in bits
            digitalWrite(latchPin, LOW);
            //shift out the bits
            shiftOut(dataPin, clockPin, MSBFIRST, i);
            digitalWrite(latchPin, HIGH);
            delay(60);
          }
        }
      }
    }
  }
      ////////////////////////////////////if IR = * (star button)
  if (cmd.value == 0xFF42BD) {
    AI_driving();

  }
}

  void AI_driving(){
  
    //initialize and print vision distance of Centaurus
    Serial.print(" ");
    Serial.print("Distance of View is: ");
    Serial.println(pingTravelTime);
    digitalWrite(trigPin, LOW);
    delayMicroseconds(10);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    pingTravelTime = pulseIn(echoPin, HIGH);
    delay(100);

    //forward
    if (pingTravelTime > 3000) {
      forward(motor1, motor2, 255);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, fLeds);
      digitalWrite(latchPin, HIGH);
    }

    //slow down
    if (pingTravelTime < 3000 && pingTravelTime > 2500) {
      forward(motor1, motor2, 200);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, sLeds);
      digitalWrite(latchPin, HIGH);
    }

    //slow down more
    if (pingTravelTime < 2500 && pingTravelTime > 2000) {
      forward(motor1, motor2, 160);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, ssLeds);
      digitalWrite(latchPin, HIGH);
    }

    //back
    if (pingTravelTime < 600 && pingTravelTime >= 0) {
      back(motor1, motor2, -180);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, bLeds);
      digitalWrite(latchPin, HIGH);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
      digitalWrite(latchPin, HIGH);
      delay(140);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, 0b10000001);
      digitalWrite(latchPin, HIGH);
      delay(140);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, 0b01000010);
      digitalWrite(latchPin, HIGH);
      delay(140);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, 0b00100100);
      digitalWrite(latchPin, HIGH);
      delay(140);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, 0b00011000);
      digitalWrite(latchPin, HIGH);
      delay(140);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
      digitalWrite(latchPin, HIGH);
      delay(140);
    }

    //turn (random direction)
    if (pingTravelTime > 600 && pingTravelTime < 2200) {
      //generate and print decesion thought process system
      randomTurn = random(2);
      Serial.print(" randomTurn Value is: ");
      Serial.print(randomTurn);
      if (randomTurn == 1) {
        motor1.drive(200);
        motor2.brake();
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00000001);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00000010);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00000100);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00001000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00010000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00100000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b01000000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b10000000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
        digitalWrite(latchPin, HIGH);
        delay(80);
      }
      if (randomTurn == 0) {
        motor1.brake();
        motor2.drive(200);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b10000000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b01000000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00100000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00010000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00001000);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00000100);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00000010);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00000001);
        digitalWrite(latchPin, HIGH);
        delay(80);
        digitalWrite(latchPin, LOW);
        shiftOut(dataPin, clockPin, LSBFIRST, 0b00000000);
        digitalWrite(latchPin, HIGH);
        delay(80);
      }
    }
    //forward
    if(pingTravelTime < 0) {
      forward(motor1, motor2, 255);
      digitalWrite(latchPin, LOW);
      shiftOut(dataPin, clockPin, LSBFIRST, fLeds);
      digitalWrite(latchPin, HIGH);
    }

  }

//------------------------------------------------------------------------
//Thanks for visiting the code of Centaurus. Hope you find this useful!
//------------------------------------------------------------------------