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Autonomous Owl

2024-05-01 08:57:49

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Summary

A 3D printed Owl with autonomous movements.

This uses a well known model with some adaptations.

By the way, my wife love owls...

Print Settings

Printer brand:
Creality
Printer:
Ender-3 V3 SE
Rafts:
Doesn't Matter
Supports:
Yes
Resolution:
High
Infill:
33%
Filament brand:
Hellbot
Filament color:
Black
Filament material:
PLA

Post-Printing

How I Designed This

After buying my very first 3D printer, Thingiverse was the primary destination.
Did I mention my wife love owls?
Looking for owls (in order to soften her after the printer purchase) I found sqdcandy99's thing.
There the creator used what seems to be an Arduino Uno and a sketch that reads a potenciometer value and translates it to a corresponding position in degrees, for turning the owl's head.
That's what I personally call a Remote Controled Thing (people in the industry call them robots - go figure).
Since I have both programing and electronics experience, I decided to try and use an ATTiny85 MCU, in order to have all the circuitry installed inside the owls body and give her a more 'autonomous life'.
I chose a 28BYJ-48 stepper motor in order to get a broader movement (SG90 servos usually have only 180º of rotation and we know an owl's neck is capable of turning almost 360º).
The original model was changed in order to accomodate the motor (directly attached to the head), the axis a alongated pulley for 28BYJ-48s (screwed directly to the body), the electronic boards (just put there) and the power supply jack.
The programing could've given better results, but the first two libraries I used behaved badly with my exponential acceleration/decceleration routine.
Finally I found Jason Cox's TinyStepper library and, althoug it uses a less natural sinusoidal function, to accelerate/deccelerate the movement, it does not interfer with the primary idea of the whole project: the owl's head randomic resting and turning.
Following the code I created:

include

define IN1 0 // chip pin 7

define IN2 1 // chip pin 6

define IN3 2 // chip pin 5

define IN4 4 // chip pin 3

define HALFSTEPS 4096

int ang;
int angTot = 180; // Whatever the initial direction the head is pointing, it's considered 'ahead'.

//Step motor initial parameters
TinyStepper stepper(HALFSTEPS, IN1, IN2, IN3, IN4);

void setup() {
//Boot waiting time... ATTiny85 are kinda slow, at first.
delay(7000);

// Initialize random number generator
randomSeed(analogRead(0));

// You get it
stepper.Enable();
}

void loop() {

// Randomic turning angles will range from 13° to 180°
ang = 13 + int(random(0, 168));

// Randomic turning direction CW or CCW
if (random(2) < 0.5) {
ang *= -1;
}

// Calculate new angle
angTot += ang;

// If new angle exceedes movement limits, change movement direction and re-calculate the new angle
if ((angTot < 10) || (angTot > 350)) {
ang= -1;
angTot += (ang2);
}

// Move the head, using library's 'smoothing' function.
stepper.AccelMove(ang,1,2);

// Turn off all coils so the motor won't consume and get hot.
stepper.Disable();

// Randomic resting time
delay(1833 + (int(random(-1.333, 9.167)) * 1000));

// Yeah, let's do it again
stepper.Enable();
}