Autonomous Robot Nerf Target

Step by step instructions for making a nerf target that moves by itself and stops when shot enough times!

Jun 23, 2021

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games

robots

Components and supplies

Breadboard (generic)

Arduino Nano R3

Normally closed switch

USB Cable Assembly, USB Type A Plug to Micro USB Type B Plug

Jumper wires (generic)

Resistor 100 ohm

Spdt slide switch

1/8 inch EVA foam with adhesive

18650 battery

Dual H-Bridge motor drivers L293D

Resistor 10k ohm

Tools and machines

Soldering iron (generic)

3D Printer (generic)

hack saw

wire strippers

Project description

Code

v5_nerf_robot_code.ino

c_cpp

1
2// Motor A connections
3int enA = 9;
4int in1 = 8;
5int in2   = 7;
6// Motor B connections
7int enB = 3;
8int in3 = 5;
9int in4 = 4;
10//digital   pins for difficulty settings
11int easy = 12;
12int hard = 11;
13
14int hitCounter   = 0;
15int hitMax = 0;
16
17const int buzzer = 10;
18const int frontBumper =   2;
19volatile byte state = LOW;
20int buttonState = 0;
21long randNum;
22long   rightOrLeft;
23bool alarm = true;
24unsigned long time;
25bool endGame = false;
26bool   hitActive = false;
27bool canStart = false;
28int timeMax = 0;
29bool hitFlag   = false;
30
31void setup() {
32  Serial.begin(9600);
33             
34  pinMode(enA,   OUTPUT);
35  pinMode(enB, OUTPUT);
36  pinMode(in1, OUTPUT);
37  pinMode(in2,   OUTPUT);
38  pinMode(in3, OUTPUT);
39  pinMode(in4, OUTPUT);
40  
41  pinMode(buzzer,   OUTPUT);
42  // Turn off motors - Initial state
43  digitalWrite(in1, LOW);
44   digitalWrite(in2, LOW);
45  digitalWrite(in3, LOW);
46  digitalWrite(in4, LOW);
47   
48  pinMode(frontBumper, INPUT);
49  pinMode(frontBumper, INPUT_PULLUP);
50   
51  randomSeed(analogRead(0));//need this for taking random values
52  attachInterrupt(digitalPinToInterrupt(frontBumper),   hit, FALLING);//use an interupt for the targed bumper so that it will activate anytime   in the code.
53  
54  pinMode(easy, INPUT);
55  pinMode(hard, INPUT);
56}
57
58void   difficulty(){//determines the difficulty based off of the possition of the slide   switch.
59  if(digitalRead(easy)==HIGH){
60   
61    hitMax = 3;
62    timeMax   = 20000;
63    
64  }
65  else if(digitalRead(hard)==HIGH){
66    
67    hitMax   = 6;
68    timeMax = 30000;
69    
70  }
71  else{
72    
73    Serial.println("meduum");
74     hitMax = 4;
75    timeMax = 20000;
76    
77  }
78}
79void left(int motorSpeed,   int quarters){
80  analogWrite(enA, motorSpeed);
81  analogWrite(enB, motorSpeed);
82
83   // Turn on motor A & B
84  digitalWrite(in1, HIGH);
85  digitalWrite(in2, LOW);
86   digitalWrite(in3, LOW);
87  digitalWrite(in4, LOW);
88  delay(500);
89  hitFlag   = false;
90
91}
92void right(int motorSpeed, int quarters){
93  analogWrite(enA,   motorSpeed);
94  analogWrite(enB, motorSpeed);
95  //Serial.println("right");
96   // Turn on motor A & B
97  digitalWrite(in1, LOW);
98  digitalWrite(in2, LOW);
99   digitalWrite(in3, HIGH);
100  digitalWrite(in4, LOW);
101  delay(500);
102  hitFlag   = false;
103    
104}
105
106
107void straight(int motorSpeed){
108  analogWrite(enA,   motorSpeed);
109  analogWrite(enB, motorSpeed);
110
111  // Turn on motor A & B
112   digitalWrite(in1, HIGH);
113  digitalWrite(in2, LOW);
114  digitalWrite(in3, HIGH);
115   digitalWrite(in4, LOW);
116 
117}
118
119void stopMotors(){ 
120 
121    Serial.println("stop");
122     digitalWrite(enA, LOW);
123    digitalWrite(enB, LOW);
124    digitalWrite(in1,   LOW);
125    digitalWrite(in2, LOW);
126    digitalWrite(in3, LOW);
127    digitalWrite(in4,   LOW);
128}
129
130void hit(){
131  
132  if(hitFlag == false && canStart == true){
133    
134    hitFlag = true;
135    while(true){
136    
137    tone(buzzer, 1000,   500);
138    hitFlag = true;
139    buttonState = digitalRead(frontBumper);
140     if(buttonState == LOW){
141      hitCounter = hitCounter+1;
142      hitFlag   = true;
143      break;
144    }
145  
146  }
147  
148  if (hitCounter >= hitMax){   //game ends when hit enough times.
149    
150    stopMotors();
151     tone(buzzer,   1000, 500);
152    endGame = true;
153  }
154  
155  }
156  else{
157    hitFlag   = true;
158  }
159  
160  }
161  
162  
163void randomMove(){
164  
165  //each   increment represents a quarter turn
166  
167  randNum = random(0, 8);
168  rightOrLeft   = random(0,2);
169  // below code randomly makes the robot turn left or right.
170   if(rightOrLeft ==0){
171    right(255, randNum);
172  }
173  else{
174    left(255,   randNum);
175  }
176  
177  if(endGame == false){
178  straight(255);
179  }
180   
181    delay(500);
182    hitFlag=false;
183 //start the timer and keep track of   how long the robot has been runing.
184  time = millis();
185  if(time >= 20000){//if   time has ran out.
186    stopMotors();
187    tone(buzzer, 1500, 1000);
188    endGame   = true;
189  }
190  
191}
192void start(){
193  while(endGame == false){
194    
195     randomMove();
196  
197  }
198  if(alarm == true){
199  tone(buzzer, 1000, 500);
200   delay(500);
201  tone(buzzer, 1000, 500);
202  delay(500);
203  tone(buzzer, 1000,   500);
204  }
205  alarm = false;
206  
207  
208}
209
210void loop() {
211
212 delay(4000);   //delay for four seconds to give the player some time to get ready.
213  difficulty();
214   canStart = true;
215  start();
216  
217  
218}
219

// Motor A connections
int enA = 9;
int in1 = 8;
int in2   = 7;
// Motor B connections
int enB = 3;
int in3 = 5;
int in4 = 4;
//digital   pins for difficulty settings
int easy = 12;
int hard = 11;

int hitCounter   = 0;
int hitMax = 0;

const int buzzer = 10;
const int frontBumper =   2;
volatile byte state = LOW;
int buttonState = 0;
long randNum;
long   rightOrLeft;
bool alarm = true;
unsigned long time;
bool endGame = false;
bool   hitActive = false;
bool canStart = false;
int timeMax = 0;
bool hitFlag   = false;

void setup() {
  Serial.begin(9600);
             
  pinMode(enA,   OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2,   OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  
  pinMode(buzzer,   OUTPUT);
  // Turn off motors - Initial state
  digitalWrite(in1, LOW);
   digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
   
  pinMode(frontBumper, INPUT);
  pinMode(frontBumper, INPUT_PULLUP);
   
  randomSeed(analogRead(0));//need this for taking random values
  attachInterrupt(digitalPinToInterrupt(frontBumper),   hit, FALLING);//use an interupt for the targed bumper so that it will activate anytime   in the code.
  
  pinMode(easy, INPUT);
  pinMode(hard, INPUT);
}

void   difficulty(){//determines the difficulty based off of the possition of the slide   switch.
  if(digitalRead(easy)==HIGH){
   
    hitMax = 3;
    timeMax   = 20000;
    
  }
  else if(digitalRead(hard)==HIGH){
    
    hitMax   = 6;
    timeMax = 30000;
    
  }
  else{
    
    Serial.println("meduum");
     hitMax = 4;
    timeMax = 20000;
    
  }
}
void left(int motorSpeed,   int quarters){
  analogWrite(enA, motorSpeed);
  analogWrite(enB, motorSpeed);

   // Turn on motor A & B
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
   digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  delay(500);
  hitFlag   = false;

}
void right(int motorSpeed, int quarters){
  analogWrite(enA,   motorSpeed);
  analogWrite(enB, motorSpeed);
  //Serial.println("right");
   // Turn on motor A & B
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
   digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  delay(500);
  hitFlag   = false;
    
}


void straight(int motorSpeed){
  analogWrite(enA,   motorSpeed);
  analogWrite(enB, motorSpeed);

  // Turn on motor A & B
   digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, HIGH);
   digitalWrite(in4, LOW);
 
}

void stopMotors(){ 
 
    Serial.println("stop");
     digitalWrite(enA, LOW);
    digitalWrite(enB, LOW);
    digitalWrite(in1,   LOW);
    digitalWrite(in2, LOW);
    digitalWrite(in3, LOW);
    digitalWrite(in4,   LOW);
}

void hit(){
  
  if(hitFlag == false && canStart == true){
    
    hitFlag = true;
    while(true){
    
    tone(buzzer, 1000,   500);
    hitFlag = true;
    buttonState = digitalRead(frontBumper);
     if(buttonState == LOW){
      hitCounter = hitCounter+1;
      hitFlag   = true;
      break;
    }
  
  }
  
  if (hitCounter >= hitMax){   //game ends when hit enough times.
    
    stopMotors();
     tone(buzzer,   1000, 500);
    endGame = true;
  }
  
  }
  else{
    hitFlag   = true;
  }
  
  }
  
  
void randomMove(){
  
  //each   increment represents a quarter turn
  
  randNum = random(0, 8);
  rightOrLeft   = random(0,2);
  // below code randomly makes the robot turn left or right.
   if(rightOrLeft ==0){
    right(255, randNum);
  }
  else{
    left(255,   randNum);
  }
  
  if(endGame == false){
  straight(255);
  }
   
    delay(500);
    hitFlag=false;
 //start the timer and keep track of   how long the robot has been runing.
  time = millis();
  if(time >= 20000){//if   time has ran out.
    stopMotors();
    tone(buzzer, 1500, 1000);
    endGame   = true;
  }
  
}
void start(){
  while(endGame == false){
    
     randomMove();
  
  }
  if(alarm == true){
  tone(buzzer, 1000, 500);
   delay(500);
  tone(buzzer, 1000, 500);
  delay(500);
  tone(buzzer, 1000,   500);
  }
  alarm = false;
  
  
}

void loop() {

 delay(4000);   //delay for four seconds to give the player some time to get ready.
  difficulty();
   canStart = true;
  start();
  
  
}

v5_nerf_robot_code.ino

c_cpp

1
2// Motor A connections
3int enA = 9;
4int in1 = 8;
5int in2  = 7;
6// Motor B connections
7int enB = 3;
8int in3 = 5;
9int in4 = 4;
10//digital  pins for difficulty settings
11int easy = 12;
12int hard = 11;
13
14int hitCounter  = 0;
15int hitMax = 0;
16
17const int buzzer = 10;
18const int frontBumper =  2;
19volatile byte state = LOW;
20int buttonState = 0;
21long randNum;
22long  rightOrLeft;
23bool alarm = true;
24unsigned long time;
25bool endGame = false;
26bool  hitActive = false;
27bool canStart = false;
28int timeMax = 0;
29bool hitFlag  = false;
30
31void setup() {
32  Serial.begin(9600);
33             
34  pinMode(enA,  OUTPUT);
35  pinMode(enB, OUTPUT);
36  pinMode(in1, OUTPUT);
37  pinMode(in2,  OUTPUT);
38  pinMode(in3, OUTPUT);
39  pinMode(in4, OUTPUT);
40  
41  pinMode(buzzer,  OUTPUT);
42  // Turn off motors - Initial state
43  digitalWrite(in1, LOW);
44  digitalWrite(in2, LOW);
45  digitalWrite(in3, LOW);
46  digitalWrite(in4, LOW);
47  
48  pinMode(frontBumper, INPUT);
49  pinMode(frontBumper, INPUT_PULLUP);
50  
51  randomSeed(analogRead(0));//need this for taking random values
52  attachInterrupt(digitalPinToInterrupt(frontBumper),  hit, FALLING);//use an interupt for the targed bumper so that it will activate anytime  in the code.
53  
54  pinMode(easy, INPUT);
55  pinMode(hard, INPUT);
56}
57
58void  difficulty(){//determines the difficulty based off of the possition of the slide  switch.
59  if(digitalRead(easy)==HIGH){
60   
61    hitMax = 3;
62    timeMax  = 20000;
63    
64  }
65  else if(digitalRead(hard)==HIGH){
66    
67    hitMax  = 6;
68    timeMax = 30000;
69    
70  }
71  else{
72    
73    Serial.println("meduum");
74    hitMax = 4;
75    timeMax = 20000;
76    
77  }
78}
79void left(int motorSpeed,  int quarters){
80  analogWrite(enA, motorSpeed);
81  analogWrite(enB, motorSpeed);
82
83  // Turn on motor A & B
84  digitalWrite(in1, HIGH);
85  digitalWrite(in2, LOW);
86  digitalWrite(in3, LOW);
87  digitalWrite(in4, LOW);
88  delay(500);
89  hitFlag  = false;
90
91}
92void right(int motorSpeed, int quarters){
93  analogWrite(enA,  motorSpeed);
94  analogWrite(enB, motorSpeed);
95  //Serial.println("right");
96  // Turn on motor A & B
97  digitalWrite(in1, LOW);
98  digitalWrite(in2, LOW);
99  digitalWrite(in3, HIGH);
100  digitalWrite(in4, LOW);
101  delay(500);
102  hitFlag  = false;
103    
104}
105
106
107void straight(int motorSpeed){
108  analogWrite(enA,  motorSpeed);
109  analogWrite(enB, motorSpeed);
110
111  // Turn on motor A & B
112  digitalWrite(in1, HIGH);
113  digitalWrite(in2, LOW);
114  digitalWrite(in3, HIGH);
115  digitalWrite(in4, LOW);
116 
117}
118
119void stopMotors(){ 
120 
121    Serial.println("stop");
122    digitalWrite(enA, LOW);
123    digitalWrite(enB, LOW);
124    digitalWrite(in1,  LOW);
125    digitalWrite(in2, LOW);
126    digitalWrite(in3, LOW);
127    digitalWrite(in4,  LOW);
128}
129
130void hit(){
131  
132  if(hitFlag == false && canStart == true){
133   
134    hitFlag = true;
135    while(true){
136    
137    tone(buzzer, 1000,  500);
138    hitFlag = true;
139    buttonState = digitalRead(frontBumper);
140    if(buttonState == LOW){
141      hitCounter = hitCounter+1;
142      hitFlag  = true;
143      break;
144    }
145  
146  }
147  
148  if (hitCounter >= hitMax){  //game ends when hit enough times.
149    
150    stopMotors();
151     tone(buzzer,  1000, 500);
152    endGame = true;
153  }
154  
155  }
156  else{
157    hitFlag  = true;
158  }
159  
160  }
161  
162  
163void randomMove(){
164  
165  //each  increment represents a quarter turn
166  
167  randNum = random(0, 8);
168  rightOrLeft  = random(0,2);
169  // below code randomly makes the robot turn left or right.
170  if(rightOrLeft ==0){
171    right(255, randNum);
172  }
173  else{
174    left(255,  randNum);
175  }
176  
177  if(endGame == false){
178  straight(255);
179  }
180  
181    delay(500);
182    hitFlag=false;
183 //start the timer and keep track of  how long the robot has been runing.
184  time = millis();
185  if(time >= 20000){//if  time has ran out.
186    stopMotors();
187    tone(buzzer, 1500, 1000);
188    endGame  = true;
189  }
190  
191}
192void start(){
193  while(endGame == false){
194    
195    randomMove();
196  
197  }
198  if(alarm == true){
199  tone(buzzer, 1000, 500);
200  delay(500);
201  tone(buzzer, 1000, 500);
202  delay(500);
203  tone(buzzer, 1000,  500);
204  }
205  alarm = false;
206  
207  
208}
209
210void loop() {
211
212 delay(4000);  //delay for four seconds to give the player some time to get ready.
213  difficulty();
214  canStart = true;
215  start();
216  
217  
218}
219

// Motor A connections
int enA = 9;
int in1 = 8;
int in2  = 7;
// Motor B connections
int enB = 3;
int in3 = 5;
int in4 = 4;
//digital  pins for difficulty settings
int easy = 12;
int hard = 11;

int hitCounter  = 0;
int hitMax = 0;

const int buzzer = 10;
const int frontBumper =  2;
volatile byte state = LOW;
int buttonState = 0;
long randNum;
long  rightOrLeft;
bool alarm = true;
unsigned long time;
bool endGame = false;
bool  hitActive = false;
bool canStart = false;
int timeMax = 0;
bool hitFlag  = false;

void setup() {
  Serial.begin(9600);
             
  pinMode(enA,  OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2,  OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  
  pinMode(buzzer,  OUTPUT);
  // Turn off motors - Initial state
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  
  pinMode(frontBumper, INPUT);
  pinMode(frontBumper, INPUT_PULLUP);
  
  randomSeed(analogRead(0));//need this for taking random values
  attachInterrupt(digitalPinToInterrupt(frontBumper),  hit, FALLING);//use an interupt for the targed bumper so that it will activate anytime  in the code.
  
  pinMode(easy, INPUT);
  pinMode(hard, INPUT);
}

void  difficulty(){//determines the difficulty based off of the possition of the slide  switch.
  if(digitalRead(easy)==HIGH){
   
    hitMax = 3;
    timeMax  = 20000;
    
  }
  else if(digitalRead(hard)==HIGH){
    
    hitMax  = 6;
    timeMax = 30000;
    
  }
  else{
    
    Serial.println("meduum");
    hitMax = 4;
    timeMax = 20000;
    
  }
}
void left(int motorSpeed,  int quarters){
  analogWrite(enA, motorSpeed);
  analogWrite(enB, motorSpeed);

  // Turn on motor A & B
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  delay(500);
  hitFlag  = false;

}
void right(int motorSpeed, int quarters){
  analogWrite(enA,  motorSpeed);
  analogWrite(enB, motorSpeed);
  //Serial.println("right");
  // Turn on motor A & B
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  delay(500);
  hitFlag  = false;
    
}


void straight(int motorSpeed){
  analogWrite(enA,  motorSpeed);
  analogWrite(enB, motorSpeed);

  // Turn on motor A & B
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
 
}

void stopMotors(){ 
 
    Serial.println("stop");
    digitalWrite(enA, LOW);
    digitalWrite(enB, LOW);
    digitalWrite(in1,  LOW);
    digitalWrite(in2, LOW);
    digitalWrite(in3, LOW);
    digitalWrite(in4,  LOW);
}

void hit(){
  
  if(hitFlag == false && canStart == true){
   
    hitFlag = true;
    while(true){
    
    tone(buzzer, 1000,  500);
    hitFlag = true;
    buttonState = digitalRead(frontBumper);
    if(buttonState == LOW){
      hitCounter = hitCounter+1;
      hitFlag  = true;
      break;
    }
  
  }
  
  if (hitCounter >= hitMax){  //game ends when hit enough times.
    
    stopMotors();
     tone(buzzer,  1000, 500);
    endGame = true;
  }
  
  }
  else{
    hitFlag  = true;
  }
  
  }
  
  
void randomMove(){
  
  //each  increment represents a quarter turn
  
  randNum = random(0, 8);
  rightOrLeft  = random(0,2);
  // below code randomly makes the robot turn left or right.
  if(rightOrLeft ==0){
    right(255, randNum);
  }
  else{
    left(255,  randNum);
  }
  
  if(endGame == false){
  straight(255);
  }
  
    delay(500);
    hitFlag=false;
 //start the timer and keep track of  how long the robot has been runing.
  time = millis();
  if(time >= 20000){//if  time has ran out.
    stopMotors();
    tone(buzzer, 1500, 1000);
    endGame  = true;
  }
  
}
void start(){
  while(endGame == false){
    
    randomMove();
  
  }
  if(alarm == true){
  tone(buzzer, 1000, 500);
  delay(500);
  tone(buzzer, 1000, 500);
  delay(500);
  tone(buzzer, 1000,  500);
  }
  alarm = false;
  
  
}

void loop() {

 delay(4000);  //delay for four seconds to give the player some time to get ready.
  difficulty();
  canStart = true;
  start();
  
  
}

Documentation

motor holder

main robot body

electronics base

top

swivel wheel brace

electronics base

top

motor holder

main robot body

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