Uni-Slime

I wanted to make a cute little cube pet that could run around my desktop and such. At first it was quite small but I realized that in order to fit everything it would have to be quite larger. I really wanted to make it say weeeee when it like fell off of a table or something.

Right before the test of the full assembly I dropped it on the floor of my dorm and the pocketbeagle usb connection snapped off which halted progress for a while.

Right now it has many issues such as it not being able to move.

CAD Files

https://cad.onshape.com/documents/2735b7351de51cfebb599898/w/4bca75b5264120c88a85be7f/e/c1820d8da3eb1e560e83f925?renderMode=0&uiState=680c66caba82cb1ea3fc0712

Github

https://github.com/Allen-Mikhailov/EDES301

Build Instructions

3D print all the CADed parts

Get two breadboards and tear off their Power/Ground strips except one and then connect the other breadboard to that Power/Ground strip that is still attached.

Place the pocket beagle on on the the breadboards preferably towards the edge.

Add the two I2C bus connections with the mpu and the mouth OLED on I2C bus 1 of the pocket beagle while the two eyes on bus 2 of the pocket beagle.

Attach the buzzer to a PWM pin on the beagleboard.

Also attach on ON LED if you would like

Cut out an 1 inch square of perfboard and solder 5 buttons in a dpad pattern onto the board. Connect one side of all the buttons together to create a ground wire. The connect 6 pull up resistors to gpio pins on the beagle to allow for the buttons to have input. (1 for the home button and the other 5 for the dpad thing). Attach the ends of each button to a separate wire and connect it to the pull-up gpio setup to create a usable button that the pocketbeagle and interface with.

Wire up the L293DNE driver on the breadboard and connect it to the 5V source from the beagle and the 4 gpio pins.

Solder jumper wires to each of the 4 motors and make the pointed up so they can fit through the holes in the motor cap piece. Then place each motors wires through there respective hole on the motor cap. Wrap some electrical tape around each of the wheels for the motors but cut off the excess tape on the outside. Attach each wheel to a motor. Hot glue each motor onto the bottom cap make sure it is facing straight out. Add mot hot glue to each motors top and then place the motor cap on top and screw it in. Then attach each of the motors to the L293DNE driver in parallel with two motors on each side.

Screw in the 3 OLED screens to the top and bottom parts with M2 screws and nuts. Then use jumper wires to attach them to the I2C buses on the breadboard.

Fit the breadboard onto the Top half of the build. There is a like ridge that it is supposed to stay on. You may have to cut off the excess breadboard to breadboard plastic connections on the side.

Place two hex nuts on the hexagon holes on the top half then combine it with the bottom half and put screws through the holes which should lock everything into place

Video Link

https://drive.google.com/file/d/1K9zn2A9RkOshpdBn9nu41FHIsxeP99nJ/view?usp=sharing