roboattic Lab
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How to Make an Otto Robot Using Raspberry Pi Pico

The Otto Robot, built using a Raspberry Pi Pico, is a compact and interactive humanoid robot designed for fun and learning.

IntermediateFull instructions provided6 hours1,336
How to Make an Otto Robot Using Raspberry Pi Pico

Things used in this project

Hardware components

Raspberry Pi Pico
Raspberry Pi Pico
×1

Software apps and online services

Arduino IDE
Arduino IDE

Story

Read more

Custom parts and enclosures

Otto Robot

Sketchfab still processing.

Schematics

Circuit Diagram

PCB Circuit Diagram

Code

otto_all_moves.ino

C/C++
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

#define SERVO_FREQ 50
#define SERVOMIN 150
#define SERVOMAX 600

// Define servo channels on PCA9685
#define LeftLeg 0
#define RightLeg 1
#define LeftFoot 2
#define RightFoot 3

// Calibration values
int YL = 0;  // Left Leg trim
int YR = 0;  // Right Leg trim
int RL = 0;  // Left Foot trim
int RR = 0;  // Right Foot trim

void setup() {
  Serial.begin(9600);
  
  // Initialize PCA9685
  pwm.begin();
  pwm.setPWMFreq(SERVO_FREQ);
}

int angleToPulse(int angle) {
  angle = constrain(angle, 0, 180);
  return map(angle, 0, 180, SERVOMIN, SERVOMAX);
}

void setServo(uint8_t servoNum, int angle) {
  pwm.setPWM(servoNum, 0, angleToPulse(angle));
}

void homePosition() {
  setServo(LeftLeg, 90);
  setServo(RightLeg, 90);
  setServo(LeftFoot, 90);
  setServo(RightFoot, 80);
}

void hello() {
  setServo(LeftFoot, 60);
  for (int i = 0; i < 3; i++) {
    setServo(RightLeg, 60);
    delay(300);
    setServo(RightLeg, 90);
    delay(300);
    setServo(RightFoot, 60);
    delay(300);
    setServo(RightFoot, 90);
    delay(300);
  }
  homePosition();
}

void walk() {
  // Basic walking sequence
  // Step 1: Lift left foot
  setServo(LeftFoot, 70);
  delay(200);
  
  // Step 2: Move left leg forward
  setServo(LeftLeg, 120);
  delay(200);
  
  // Step 3: Lower left foot
  setServo(LeftFoot, 90);
  delay(200);
  
  // Step 4: Lift right foot
  setServo(RightFoot, 70);
  delay(200);
  
  // Step 5: Move right leg forward
  setServo(RightLeg, 120);
  delay(200);
  
  // Step 6: Lower right foot
  setServo(RightFoot, 90);
  delay(200);
  
  homePosition();
}

void dance() {
  // Dance move 1: Side-to-side sway
  for (int i = 0; i < 3; i++) {
    setServo(LeftLeg, 80);
    setServo(RightLeg, 100);
    delay(300);
    setServo(LeftLeg, 100);
    setServo(RightLeg, 80);
    delay(300);
    homePosition();
  }

  // Foot tapping
  for (int i = 0; i < 3; i++) {
    setServo(LeftFoot, 60);
    delay(200);
    setServo(LeftFoot, 90);
    delay(200);
    setServo(RightFoot, 60);
    delay(200);
    setServo(RightFoot, 90);
    delay(200);
    homePosition();
  }

  // Twisting legs
  for (int i = 0; i < 3; i++) {
    setServo(LeftLeg, 70);
    setServo(RightLeg, 110);
    delay(300);
    setServo(LeftLeg, 110);
    setServo(RightLeg, 70);
    delay(300);
    homePosition();
  }

  // Wave legs up and down
  for (int i = 0; i < 3; i++) {
    setServo(LeftLeg, 60);
    setServo(RightLeg, 120);
    delay(300);
    setServo(LeftFoot, 60);
    setServo(RightFoot, 120);
    delay(300);
    homePosition();
  }

  // Sideways shuffle
  for (int i = 0; i < 3; i++) {
    setServo(LeftLeg, 70);
    setServo(RightLeg, 110);
    setServo(LeftFoot, 80);
    setServo(RightFoot, 100);
    delay(200);
    
    setServo(LeftLeg, 110);
    setServo(RightLeg, 70);
    setServo(LeftFoot, 100);
    setServo(RightFoot, 80);
    delay(200);
    homePosition();
  }

  // Return to home position
  homePosition();
}

void loop() {
  homePosition();
  delay(500);
  hello();
  delay(5000);
  for (int i = 0; i < 5; i++) {
    walk();
  }
  delay(5000);
  dance();
  delay(5000);
}

Otto Robot Using Raspberry Pi Pico Code

Credits

roboattic Lab
11 projects • 9 followers
YouTube Content Creator Robotics Enthusiast

Comments

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