Maze Solving Robot Arduino Code Github

In order to build a maze solving robot, one must first find a robot. We will show you where the task robot solves the maze. 8 out of 10 based on 8 ratings Posted on May 9, 2013 February 13, 2017 Author goAheadMakerMyDay Categories chipKIT Projects , Intermediate User , Robotics Tags Arduino , maze , robot , sparkfun. Regardless of the method of motion creation, PyPose exports your work directly into C code that can be loaded onto the arbotiX using the Arduino IDE. I don't understand how to make the code for this robot. See the blog post in external ilnks for details, code, laser files, etc. Oracle Code 4 Kids is two day, hands-on coding fair held the weekend before Oracle Code One. Arduino Time Library: Code library. The working prototype makes basic decisions and has a ‘short-term’ memory. The second motor, which acts as the right wheel motor, is connected to 11 and 14 pins of L293D. I'm using a Teensy 3. For more than a decade, education researchers, policymakers, and industry leaders have recognized the importance of helping young people cultivate computational thinking, or the ability to use concepts from computer science to solve problems and understand the world in new ways (Wing. allow the measurement of the alignment to the maze wall. Github Repository. It's an awesome and amazing platform. If a robot is placed back in the maze for another run, a one-time penalty of 30 seconds will be added to the robot's best time. Output will be to the serial monitor in the Arduino IDE. Arduino – This little device consists of a programmable circuit board and software. Working with Multiple C Files in Atmel Studio 8. Upload above code to the Arduino (Code itself is self explanatory. As this robot will be placed in an unknown place and it requires to have a. (Aside: pruning unused variables from code is a feature, not a bug, of compilers. Â Lets get to the configuration part of program inside setup. I was unable to figure out the supposed way to “generate cell values at runtime” in time for the competition, so I went for the heavy RAM usage method, using two 256 byte arrays to store my walls and the flood values. In this tutorial, we'll show you how to build a good-looking line following course and a line maze, step by step. The mouse must find it's way unassisted from the set start corner of a maze with an unknown layout, to the desired destination. So if you are not able to laser cut the design, do not worry. The robot then moves backward and turns right. The information in this user’s guide also applies to the original Zumo Shield, which did not have a gyro and featured an LSM303DLHC accelerometer and magnetometer: Zumo Shield; Zumo robot kit for Arduino; Zumo robot for Arduino. Connect the ultra sonic sensor using some jumper wires. "by keeping one hand in contact with one wall of the maze the solver is guaranteed not to get lost and will reach a different exit if there is one". Autonomous Arduino Car Maze Solving with 3 Ultrasonic Sensors - Part 3 The robot got some brand new printed motor mount (thanks i. View Petroula Theodoridou’s profile on LinkedIn, the world's largest professional community. Simple example would be Pacman, where your character spawns in the middle and would just end up circling around a wall segment. And Nafis agree to start it all over again and add the components one by one, using ESPectro 🙂. One to rotate the base, and the second to flip the cube over. Note that the aspect ratio is a little screwed up; the camera used films in widescreen but the current software I have for getting it onto the computer doesn't seem to be on such good terms with widescreen. Make your first Arduino robot - The best beginners guide! This is a beginner's guide to making your first Arduino robot. Encoder and Arduino. Generally the maze solving competition three tries are…. My project is a Maze solving robot and i have problem with the motors when am sending the same PWM the robot instead of moving in straight line, drifts to the right. Design and Build Your Own Robot This tutorial provides an overview of some of the most common techniques and parts found in hobby robots with an emphasis on beginner projects. The folder should contain a C or C++ file with your code and a header file with your function and variable declarations. 17 Support for Teensy 3. In that case, I also used two ultrasonic sensors on both sides of robot and then applied PID algorithm in order to avoid hitting the walls. android apps animation apps development apps inventor apps programming arduino arduino programming arduino uno basic electronics blender class codeMeetUp() coding coding camp coding class coding mum community creating apps creating games css darul hikam devboard development board esp8266 ESPectro ESPectro Core front-end programmer gamemaker game maker games games development github hardware html internet of things intro to programming IoT java java programming javascript kampoong monster. Maze Solver Robot, Using Artificial Intelligence With Arduino: This Instructable was developed upon my last project: Line Follower Robot - PID Control - Android Setup. Hopefully I can contribute for others to learn more about electronics, robot, Arduino, etc. Once you are finished with this problem, save your code for the empty room solution in the file emptyroom. How To Make Line Follower Robot Using PID Controller | Maze Solver Robot Using Arduino At Home - Duration: 8:49. Note that the aspect ratio is a little screwed up; the camera used films in widescreen but the current software I have for getting it onto the computer doesn't seem to be on such good terms with widescreen. Design of Obstacle Avoiding Robot using Arduino. This Robot was designed to solve a simple Maze. Here's the definition of a simple smaller maze to show how this works:. Output will be to the serial monitor in the Arduino IDE. He’s using an Arduino UNO (R3) with 2 Hitec HS-311 hobby servos, some popsicle sticks, hot glue, a paper towel roll, and a bit of plywood. Your robot should now drive forward and backward after deploying ** This means that your robot will be moving as soon as the code has deployed to the Arduino. The walls are colored in blue. Minibloq is basically a graphical code generator with some IDE capabilities. if the robot detects wall in front or right or left it turns left,right,. I thought it would be neat to create a robot that was easy to put together with a single soldering iron and was also affordable. It uses the miner package (which you will need to install from Github), which provides functions to interface between R and Minecraft. So, you set the S0 pin to HIGH and the S1 pin to LOW. Even the same variables can. By checking in serial port of arduino uno we can have a clear thought that it is working. I got it installed in a line follower mobile robot, from Kokaro (Komunitas Kampung Robot) through Mr. I have not found a source of information about how to use the sensors but it doesn’t seem to be that complicated. The project took roughly 3 months for me to code and build. This is a perfect guide for kids, parents, educators, and hobbyists getting started with Arduino or just levelling up their hardware. ** Make sure you are prepared to keep your robot from falling off of the table. Circuit Explanation The whole arduino line follower robot can be divided into 3 sections: sensor section, control section and driver section. The first is to drive through the maze and find the end of it. Hexy makes complex robotics less costly, easier to learn with the tutorials and documentation, while being radically more fun (and cute!). To be honest it is very messy because when we start the competition we don’t know nothing about recommender algorithm and we also had different submission during the challenge so we did have the time to order the entire code. com Please email me at the address above if you have questions or comments. We've used cheap components but result is. November 2, 2016 October 27, 2016 fustini launchpad, motor, MSP430, robot, Robotics, servo, TI Leave a comment BoosterBot turns a TI Launchpad into a fully functional robot: Perfect for anyone who wants to get started with MSP430 and robotics, or just wants an easy to use robotics platform to build off of. An example of CNC robot. One of the paths is longer than the other. I will inform you if we win Now i can going to think about a routine which gives me the right place when my robot is placed in a known maze, but before i do not know the right position where i am placed. Github Repository. Lego Explorer is designed as a remote operation system to control Lego Robot using either a PC, smartphone, or tablet. For ages 8 and up. The robot that we are going to solve maze, it will use obstacles avoiding algorithm to solve maze. I just got an Uno, where do I get parts on how to make a maze solving robot car with Arduino. With CODI, you can learn to code, learn about sensors, electronics and solve problems by making different kinds of robots. My first idea was to send a robot through the maze, following one side, until it's out of the maze. Make your first Arduino robot - The best beginners guide! This is a beginner's guide to making your first Arduino robot. programming examples, code libraries, and step-by-step tutorials. Our robot won 1st place at NIT Surathkal, at its technical festival 'Engineer' second time in a row in 2012. I have put up my whole project report that i submitted to my college but i have chucked out the exact code. The Arduino receives input signal from the manually calibrated IR sensor array. The four Mecanum wheels are each connected to a separate motor with independent control. Left Hand on the Wall 8. by musfiqur rahman, id: 122015001 various duty cycle with arduino (motor speed) code 9 3. Github (revodavid): minecraft-maze. Robobloq Robot Kit, DIY 6 in 1 Advanced Mechanical Building Block with Remote Control for Kids, Educational STEM Toy for Programming and Learning How to Code (Scratch Jr- 3. And Breadth First Search algorithm was used to find the shortest path. Your github repo should be called spis16-lab01-Name1_Name2 (where Name1 and Name2 are the pair names). Physical Computing. For the proposed design algorithm. Maze Solver With Arduino and ArduMoto(Micromouse) V:1. This works since the robot only needs to turn just before there is a wall. For this next one, we would not advise taking it up at home, but at a safe and secure environment with zero flammable components. This list contains details of the top 10 most popular Arduino projects till now. Now run the the IDE and open the first example from File->Examples->FreeRTOS->01-TaskSwitching as shown in below image. Enjoy! Github repo Arduino code Processing code Color Sensor code library (Adafruit). I will inform you if we win Now i can going to think about a routine which gives me the right place when my robot is placed in a known maze, but before i do not know the right position where i am placed. " Each section will get us closer to our goal. • Building an autonomous robot that can solve a maze. Of course, always turning right works too. It will have awesome features like a rotating wall sensor, motors to control movement, and your code to make it all work!. That maze is of known dimensions and the start and target locations are known. Makers of this project build it into a horse, but the final design is up to you. The code running on this 3pi prototype—it has only one blue power LED on the bottom—is more advanced (and complicated) than the sample maze-solving code we provide. The Main Loop(s) 8. See the blog post in external ilnks for details, code, laser files, etc. In this study, a single dipole magnet will be attached to the robot with 6-degrees of freedom. net that includes all necessary content like videos, GIFs, Pictures, Sources Codes and instructions manual. This is probably doable with Arduino. Maze Solving Robot. In today’s world, almost everything we see is either a robot or was made by one! In Exploring Engineering and Robotics, students will use engineering principles to design their own multi-function robots. Learn more about Arduino features, C++, state machine, and robot control theory. 2, fully assembled with 75:1 HP motors and a reflectance sensor array installed. It locks up the i2c bus when the EMON is polling the eeprom to give the data back to EVSE. Arduino code for IMU Guide algorithm. The construction is based on an Arduino microcontroller, using sonar and infrared sensors for the object avoidance algorithms. The 8th pins is Vcc2. The Arduino Servo library uses this timer, so be aware if you use it in your projects. Join LinkedIn Summary. Download. Driving Forward - While your robot is in this state it will be moving forward looking out for an approaching wall. In this project, we have designed an Arduino based Line Follower Robot. I got it installed in a line follower mobile robot, from Kokaro (Komunitas Kampung Robot) through Mr. SMIT Annual Fest 1 st Position Arduino C Programming Bitcoin Tracking Bot that tracks Bitcoin rates and sends alerts via Telegram. I don't understand how to make the code for this robot. I am releasing our code and a brief explanation of our approach on this GitHub repository. Back then, I had built it to solve a line maze but there wasn't a path shortening routine. How graph algorithms can be used in line follower maze solving robot. Online projects on Idealink. Now, all you need is the servo initialization to take place so that the rotator will be positioned correctly. Compile and upload the code. In this repository All GitHub ↵ Jump. The Touch Board uses Atmel’s ATMega32U4 Microprocessor to make the board easy to use, flexible and widely accessible. txt in your git repo, before moving on to the next problem. Encoder and Arduino. It uses the computer to write and upload computer code to the physical board. Read on for a full explanation. An algorithm can be simple, and add two numbers together to return the sum, or it can analyze your search trends and provide you with prognosticated likes of web content you didn't know existed. Maze-Solving The main maze-solving algorithm I used was the popular modified flood-fill. How to upgrade or downgrade raspberrypi's kernel? Lately, I got some problems with servoblaster and some other softwares because of the kernel version. You can take the source code customized here. Generally the maze solving competition three tries are…. Its structure is fully printed using additive manufacturing technologies and its electronics are controlled by the software Arduino. 0 we only provide the Arduino board package (SDK only) and no longer to have the one-click installation package. Of course, always turning right works too. 6 running a PID controller to keep the robot stable. For more than a decade, education researchers, policymakers, and industry leaders have recognized the importance of helping young people cultivate computational thinking, or the ability to use concepts from computer science to solve problems and understand the world in new ways (Wing. 2, fully assembled with 75:1 HP motors and a reflectance sensor array installed. program a robot to solve a maze. Generation of Assembly codes for microprocessors using plain-text English. Now, all you need is the servo initialization to take place so that the rotator will be positioned correctly. The Robot kit I’m building comes with three IR line tracking sensor modules. It was for a competition in Terna College Of Enginnering. The library was a great solution the Serial comms problem I was trying to solve. If Arduino steers off a cliff, just roll back a few versions and fork. Now the robot you will be having needs line sensors, preferably 5 (gives a much discernible measurement). There are 3 pins in this sensor 1 of them Positive 2 of Negative & 3 of Analog pin. There is excellent servo control code for most other ATtiny microcontrollers and they all make use of 16 bit counters. the computer or get a 9V battery to plug into the arduino when running the robot. Wiring diagram:. If you are using an Arduino, then you are in luck! We created an Arduino library that makes the APDS-9960 easy to use. It competes against other members of its species, racing as fast as it can. The first task is to set baud rates of SoftwareSerial library to communicate with GSM module. Learn Arduino, and there's no limit to what you can create. The problem is that the ATtiny85 only has 8 bit timers. Install MQTT for Arduino IDE. During the day, I am far away from my mailbox. , the authorized global distributor with the newest semiconductors and electronic components, announces a global distribution agreement with OSEPP Electronics, designers and manufacturers of open source Arduino-compatible products. The updated files for this project can be found at GITHUB. To use the APDS-9960, you will need some supporting software. I have solved grid using DFS search but do not know how to implement it actual line follower robot. (Aside: pruning unused variables from code is a feature, not a bug, of compilers. I'm currently pursuing master's degree in university of Texas at Dallas. Once the hardware is built, it's time for software development!. Here's a list of the 30 best Arduino projects you can do with a 3D printer, all varying in degree of difficulty, that can be 3D printed on your desktop 3D printer. One of the paths is longer than the other. txt in your git repo, before moving on to the next problem. ECE 3400, Fall’17: Team Alpha View on GitHub Sending the Maze. FPV Virtual Reality Arduino Controlled Tracked Robot: Have you ever tried to look at the world from a different point of view? With this project you can control a tracked robot with your brainwaves or with a joystick while you are watching its camera's live-stream in a virtual reality glass. I have only used sensors included on the basic mBot kit, and no aditional servos or sensors are needed. This type of algorithm will solve any maze that is free of loops, but randomness has to be added so it can solve any maze, regardless of whether it has loops. 7" diameter, 83 g/2. For a printed circuit board for this project see Secret Maze PCB. Bi has 4 jobs listed on their profile. As always, the full code can be found over on GitHub. solarbotics. i’ve change the BAU to several value and do not solve the issue. This maze solver implementation is very similar to our maze solving example for the 3pi robot , and the concepts and strategies involved are explained in detail in Section 8 of the 3pi robot user's. INTRODUCTION A maze is a complicated system of paths from entrance to exit. My project is a Maze solving robot and i have problem with the motors when am sending the same PWM the robot instead of moving in straight line, drifts to the right. So today we are going to demonstrate, Arduino Snake Game,. Compile and upload the code. I got it installed in a line follower mobile robot, from Kokaro (Komunitas Kampung Robot) through Mr. It inspires students to ask questions and to solve problems creatively. Hopefully I can contribute for others to learn more about electronics, robot, Arduino, etc. Here is a video of my Pololu 3pi robot (the same robots as from the Extreme Line Following video) solving a line maze. Quality components, a lot of room for further extensions, etc. It creates a directory in your home for Arduino source code; version 1. INTRODUCTION. 6 running a PID controller to keep the robot stable. The existence of Micromouse's has dated back to the 1950's and competitions are being held ever since. PoliArdo Arduino robot is designed to compete in pogramiranju robot. Once you have a robot with line following capabilities, the next natural step is to give him some degree of intelligence. Don't let the fact that it is c# bother you. Way back when, my colleague & I wrote a solver for a robot designed to solve the micro mouse maze - sadly the robot mechanics lagged way behind the solver code. The project took roughly 3 months for me to code and build. Flashfetch Backend Developer Nov 2015 - May 2016 A Hyperlocal market startup based in Chennai,India. Petroula has 6 jobs listed on their profile. Nick, Arduino and Raspberry Pi are for hobbyists and students. by Matthew, Laurin, Lucas Summary: Last time we started out writing code utilizing OpenCV to track moving objects through image processing. The arduino accepts this chain code and gives instruction to the motors of the robot , as the robot travels in the maze. Overview The 3pi robot is designed to excel in line-following and maze-solving competitions. The maze solving code part is (intentionally) simple non oop code. I want to know if there is best algorithm and technique to implement self learning maze solving robot in 8 bit limited resource micro-controller? I was looking for some well optimized algorithm and/or technique. The 16th pin of L293D is Vcc1. How To Make Line Follower Robot Using PID Controller | Maze Solver Robot Using Arduino At Home - Duration: 8:49. Create a Maze Solving Robot. Hey, I have to code maze solver robot using 3 ultrasonic. Maze Solver Robot using Arduino 1. Once the hardware is built, it's time for software development!. It has a small size (9. The edge of the chassis that is tapered is the front of the robot. I've built a two-wheel balancing robot which used a gyro and accelerometer to stay stable. I thought it would be neat to create a robot that was easy to put together with a single soldering iron and was also affordable. Way back when, my colleague & I wrote a solver for a robot designed to solve the micro mouse maze - sadly the robot mechanics lagged way behind the solver code. Robot task was to find the shortest path from starting point to middle of the maze. autonomous maze solving robot. I created an Arduino operated device that takes input via 3. Micromouse : Maze solving algorithm This is my maze solving robot project which worked out pretty well. The have used a sensor but in place of that you can use IR sensors too. A MSR (maze solving robot) is a clever little gadget with a silicon brain that finds its way through an arbitrary maze. This is a maze solving implementation of the Wall Follower algorithm. This is the page source GZIP’d and converted to HEX. Even the same variables can. allow the measurement of the alignment to the maze wall. Overview The 3pi robot is designed to excel in line-following and maze-solving competitions. An example of CNC robot. Come share your hardware projects with Arthur Duytschaever and other hardware makers and developers. See the complete profile on LinkedIn and discover Petroula’s connections and jobs at similar companies. Each kit contains two left mecanum wheels as well as two right mecanum wheels. hey guys can anyone plzzzz help me. Robot with a servo ultrasonic Sensor with the capacity of solve Maze. The top deck gets bolted on with 1" spacers. The code also converts the coordinates into chain code so that they become compatible to run on arduino. even with tempe to detect LOL and finally we change ALL the connecting wires and it worked 😀 Captain on Duty. A device to control the color temperature and brightness of an LED lighting fixture. Got the tools to make the parts? Here are the open hardware laser cutting plans. The microcontroller board providing the intelligence to the robot is Arduino Pro Mini. For a maze generated by this task , write a function that finds (and displays) the shortest path between two cells. The maze solving algorithm for the turtlebot’s first run through the maze was very simple. Pololu Optimized Line-Maze Solver. The sub folder src contains the main code for the node and our object detection library. The robot then moves backward and turns right. "by keeping one hand in contact with one wall of the maze the solver is guaranteed not to get lost and will reach a different exit if there is one". For solving mazes, prooved algorithms are available. In this tutorial, we’ll show you how to build a good-looking line following course and a line maze, step by step. GeekTechnophiles 26,346 views. Whether you are a beginner in robotics, or you are looking to get your kids interested in STEM, we are here to help you with our OSOYOO Arduino-controlled Robot Smart Car Starter Kit. The motors and wheels are the ones from my old maze solving robot. Got the tools to make the parts? Here are the open hardware laser cutting plans. potatopirates. I have simply plugged it to the computer via Micro-USB cable. GitHub Gist: star and fork ringodin's gists by creating an account on GitHub. You can read more about my experience with the kit in the mBot Ranger review. Arduino inputs such as control for the speed of the servos are output from the GPIO pins as well. They have not enough time to educate on real programming tools. I used an Arduino to be able to do. PDF | Maze solving problem is a very old problem, but still now it is considered as an important field of robotics. You can find all of the R code to implement the maze-building and maze-solving at the Github repository below. I soldered a female header in the upper right-hand corner of the LCD shield PCB so that I could plug in the MAX7219 8X8 Red Dot LED Matrix. Wiring diagram:. The maze solver uses the "Left Hand Algorithm" i. Arduino | Maze Solving Robot (MicroMouse) \ Wall Following Robot: Welcome I'm Isaac and this is my first robot "Striker v1. In this work we information like a human can. Incidentially, using an MPU was why I initially looked at using the STM32, as I found that the AVR Arduino was too slow and the single precision maths (even if you use the double data type), was not accurate to make the MPU's usable. java n * Dependencies: (30);} // solve the maze starting from the start state public void solve {for (int x. I've casually mentioned to several friends that integrating VEX with Arduino is super simple to do. Exploring the surface of a planet capable of sustaining life, few things can be more exciting. Arduino Code for obstacle avoidance Robot or Maze Solver Robot Or Micro Mouse robot. Join GitHub today. We will show you where the task robot solves the maze. The have used a sensor but in place of that you can use IR sensors too. Timer2 is an 8-bit timer that is very similar to Timer0. Build a Pololu 3pi Robot Programmable platform is field tested tough and maze-solving amazing. This works good for mazes when you have to cross a maze (start and exit outside of the maze). Running First Example. Me and my friend Sushrut Puranik made this robot in two days. With this setup, the powerful Raspberry Pi can take care of high-level tasks like motion planning, video. The robot can also be designed on any other microcontroller board. The code is more advanced (and complicated) than the sample maze-solving code we have just provided. So you just replace the time based pause with one that waits for a wall to be a set distance away, and you are good to go. program a robot to solve a maze. com/tonixiclana/Robot-Resuelve-Laberintos. The walls are colored in blue. The code running on this 3pi prototype—it has only one blue power LED on the bottom—is more advanced (and complicated) than the sample maze-solving code we provide. 0 out of 5 stars 10 $9. Every code block is configured in XML. of machine learning. A flamethrower is underrated, using Arduino, you can also build a fire breathing animal. ino * * Description: Gets the Arduino to spin a colorful pinwheel using a motor. Download Getting Started Sketch from the course repository and replaced Getting Started Sketch from RF24 library 3. I consider myself a responsible, creative, with initiative and punctuality, I accept with pleasure the challenges and goals that your organization could assign me, with good handle of the interpersonal relationships, ability to work in teams, ability to work under high pressure, so as to solve problems efficiently and. An autonomous maze solving robot that detects walls using ultrasonic sensors and tries to get out of the maze. ev3) was easy to implement (just one change, where an ultrasonic sensor is depicted, in stead of the infrared had to be made). I could have used another ATtiny, one that has a 16 bit timer, but all of those have more pins than the ATtiny85. Worked in a team of 5 students to design, fabricate, and test a small autonomous maze solving robot. Destro: The Maze Solver - An Arduino Project. The robot used a floppy disc drive to load the operating system and programs,. I tried to open Arduino extension but it doesn not display the correct code. Hackabot Nano is a very compact many-in-one plug-and-play Arduino Robot. Driving Forward - While your robot is in this state it will be moving forward looking out for an approaching wall. Maze Solver With Arduino and ArduMoto(Micromouse) V:1. If you are using an Arduino, then you are in luck! We created an Arduino library that makes the APDS-9960 easy to use. When i am storing character in an array my bot doesn't follow line and sometimes it hangs. In this article, I will describe the assembly CxemCAR for the Arduino. Autonomous Arduino Car Maze Solving with 3 Ultrasonic Sensors Autonomous Arduino Car Maze Solving with 3 Ultrasonic Sensors The field of robotics has advanced greatly in recent years, having a large field of research in finding solutions to everyday problems, such as problems solving mazes and test new designs. The Next Web features a quick look at an eyebrow-raisingly fast Rubik's Cube-solving robot , created by developers Jay Flatland and Paul Rose. by musfiqur rahman, id: 122015001 various duty cycle with arduino (motor speed) code 9 3. Sign up Code for a maze-solving robot using Arduino. For more on using R in Minecraft, check out the online book R Programming in Minecraft, which has lots of other ideas for building and playing in Minecraft with R. Facebook is showing information to help you better understand the purpose of a Page. As long as you have some Arduino, the same sensors, and motors then you should be able to get my code to work on your robot with minor changes. Our robot failed to complete the maze and record a time and only managed to from ENGINEERIN 140 at Oral Roberts University. Kids can experiment with coding and see how it affects the physical world. Your github repo should be called spis16-lab01-Name1_Name2 (where Name1 and Name2 are the pair names). debugging, trying every possibility. Micromouse is a small autonomous robot, which solves a maze in the shortest possible path and time. Decentralized Autonomous Interconnected Systems for Energy Efficiency - A blockchain based energy DAO. Hackabot Nano is a very compact many-in-one plug-and-play Arduino Robot. Maybe something good will come from looking back on what kind of decisions I made while working this monstrosity of an Arduino Delta Robot.