N.E.C.T.R, the never-ending cleaning and tidying robot, is my second physically computed project. I enhanced it a bit and gave him a helping companion for my third and final project. This would be R.O.V.E.R, the robotic-operated velcro-equipped rover. N.E.C.T.R is a 3D printed hollow box with a smile, containing 4 continuous servo motors attached to wheels. These wheels have straw cleaners woven through them, allowing it to clean in 4 spirals. And to allow for an even better clean, there is a small machine in the back that drips water like a small IV. I attached this to a runner's water bottle to hold a significant amount of water for a good clean. But when the mess is all cleaned up you're left with so much water! That's when R.O.V.E.R comes in, N.E.C.T.R's helpful companion. R.O.V.E.R is also a 3D modeled hollow box with two motors on the underside of it. 4 wheels and a velcroed rag underneath to dry up the water. The front wheels are tied up and connected with the stems of the straw cleaners that are under N.E.C.T.R and crochet string. The same crochet string is used to give R.O.V.E.R a tail. N.E.C.T.R is powered by outlet/USB, circuit board, and connected with a breadboard. R.O.V.E.R is powered with IR sensors and USB as well. The wires and inner workings of N.E.C.T.R are held in by yellow Legos, R.O.V.E.R is held in with cardboard. N.E.C.T.R also has an input, by pressing its yellow button on the back, it is turned on and begins cleaning. When pressed again, he turns off!

import time

import board

import pwmio

import digitalio

from adafruit_motor import servo

# Set up the servo motor

pwm = pwmio.PWMOut(board.A2, frequency=50)

my_servo = servo.ContinuousServo(pwm)

# Set up the LED

led = digitalio.DigitalInOut(board.A1)

led.direction = digitalio.Direction.OUTPUT

# Set up the button on A3

button = digitalio.DigitalInOut(board.A3)

button.direction = digitalio.Direction.INPUT

button.pull = digitalio.Pull.UP

# Keep track of last state

last_motor_state = False

waspressed = False

my_servo.throttle = 0.0

while True:

    print(button.value)

    if button.value == False:

        waspressed = True

    else:

        if waspressed == True:

            waspressed = False

            if last_motor_state == False:

                last_motor_state = True

            else:

                last_motor_state = False

    

    if last_motor_state == True:

        my_servo.throttle = 1.0

    else:

        my_servo.throttle = 0.0

    '''

    button_pressed = not button.value

    if button_pressed and not last_motor_state:

        print("Motor ON")

        my_servo.throttle = 1.0

        led.value = True

        last_motor_state = True

    elif not button_pressed and last_motor_state:

        print("Motor OFF")

        my_servo.throttle = 0.0

        led.value = False

        last_motor_state = False

    '''

    time.sleep(0.01)

##ROVERCode

# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries

# SPDX-License-Identifier: MIT

# This example uses an L9110 H-bridge driver to run a DC Motor using two PWM pins.

# https://www.adafruit.com/product/4489

# Hardware setup:

#   DC motor via L9110 H-bridge driver on two PWM pins that are on their own channels

#   e.g., RP2040 Pico pins GP28, GP27

import time

import board

import pwmio

from adafruit_motor import motor

PWM_PIN_A = board.A2  # pick any pwm pins on their own channels

PWM_PIN_B = board.A3

PWM_PIN_C = board.A1

PWM_PIN_D = board.A6

# DC motor setup

# DC Motors generate electrical noise when running that can reset the microcontroller in extreme

# cases. A capacitor can be used to help prevent this.

pwm_a = pwmio.PWMOut(PWM_PIN_A, frequency=50)

pwm_b = pwmio.PWMOut(PWM_PIN_B, frequency=50)

motor1 = motor.DCMotor(pwm_a, pwm_b)

pwm_c = pwmio.PWMOut(PWM_PIN_C, frequency=50)

pwm_d = pwmio.PWMOut(PWM_PIN_D, frequency=50)

motor2 = motor.DCMotor(pwm_c, pwm_d)

while True:

    print("*** DC motor test ***")

    print("\nForwards slow")

    motor1.throttle = 1.0

    motor2.throttle = 1.0

    print("  motor1 throttle:", motor1.throttle)

    print("  motor2 throttle:", motor2.throttle)

    time.sleep(5)

    print("\nStop")

    motor1.throttle = 0

    motor2.throttle = 0

    print("  motor1 throttle:", motor1.throttle)

    print("  motor2 throttle:", motor2.throttle)

    time.sleep(5)

    print("\nBackwards")

    motor1.throttle = -1.0

    motor2.throttle = -1.0

    print("  motor1 throttle:", motor1.throttle)

    print("  motor2 throttle:", motor2.throttle)

    time.sleep(5)