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CRANE GAME
by marc.cryan on February 8, 2010

Table of Contents

CRANE GAME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Intro: CRANE GAME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Step 1: Control a DC motor with variable resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Step 2: Control a stepper with joy stick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Step 3: Do two things at once! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Step 4: Second round of code for alternative stepper motor and driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Step 5: Build Test Rig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Step 6: Mount the motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Step 7: Spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Step 8: Shape the spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Step 9: Mount the spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Step 10: Spindle Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Step 11: Planning the claw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Step 12: Harvesting computer parts for the claw. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Step 13: Prepare the peices of the claw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Step 14: Assemble the claw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Step 15: Claw code and testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Step 16: Code for all the parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Step 17: Make it Big . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Step 18: Cut the the peices for the rails . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Step 19: Drill some pilot holes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Step 20: Make new wheels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Step 21: Assemble the rails . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Step 22: Motor assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Step 23: Mount the assembly in the doorway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Step 24: Wire-ing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Step 25: Attach the claw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Step 26: First run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Step 27: Make it better . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Step 28: Trying a different controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Step 29: Get rid of everything you don't need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Step 30: Wire the joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Step 31: Code using switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Step 32: Try out the new controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

http://www.instructables.com/id/CRANE-GAME/
 Step 33: Some more video . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

http://www.instructables.com/id/CRANE-GAME/
Intro: CRANE GAME
This shows you how to build an arcade style crane game out of scrap parts. The basic parts are: a motorized assembly that raises and lowers a claw, a track for the
assembly to move around on, and a ctontroller with some electronics.

Here is a video of the machine in action.

Video -

Emma after some practice-

Controls -

Pick up and drop -

Overview -
I like to document my work as I go along, so this instructable contains multiple versions with varying components. I think that this is useful because it seems unlickkly
that you would happen to have all the same scrap peices as I do. I have also tried to show how to build a moderatly complex system by bulding one peice at a time and
then combining them. By keeping things modular you are able to swap out large peices without having to rebuild the whole thing.

Here is a rough outline:

- Get each motor working by itself, I used a joystick with potentiameters to control the motors, one POT per motor
- Get all the motors working at once - by wiring all the motor drivers to the Arduino at once and combing the control codes, we are able to run everything at once.
This same setup will be used l to control the whole machine.
- Build a small test rig with just one axis - It is easier to work on something that you can put on a bench top then it is to work with something mounted the ceiling. So I
will show you how to cobble together a test set-up that will let us work out some of the details without having to build a large rig.
- Build a large rig - once everything is working on the test rig, we can go ahead and make it bigger. This required some different materials, but the wiring, code, and
motor setup don't nned to change.
- Test and improve - Once the system is working it is easy to see things that can be improved. I wound up replacing the original joysticks with a larger controller from
a kids game. The whole thing is pretty flexible so there is alot of room for modification and impruovemnt.

Parts -
Most of the project is built with salvaged computer parts. Here is a list of parts that you could salvage or buy.

Power supply - I used a power supply salvaged from a server. There are good instructions for hacking one of these here

http://www.instructables.com/id/CRANE-GAME/
http://reprap.org/bin/view/Main/PCPowerSupply I also pulled a 12volt power supply out of a printer that would have worked well.

Motors - At least 3 motors are needed. I used 2 DC motors and a pretty big stepper. The DC motors are both pulled from an Epson Printer/Scanner. The stepper is a
NEM23 from Keling Technology. A smaller one would be fine. You can get one here http://www.sparkfun.com/commerce/product_info.php?products_id=9238.

Drivers - You can build, buy, or salvage drivers for the motors. Buying is the easiest and they are not two expensive. I used a steppper driver and the DC motor driver
from the RepRap Gen2 electornics. The DC motor driver is here - DC Motor Driver v1.1 Kit http://store.makerbot.com/electronics/electronics-kits.html. Sparkfun as a
good stepper driver here - http://www.sparkfun.com/commerce/product_info.php?products_id=9402

This motor sheild from Adafruit would work well - http://www.adafruit.com/index.php?main_page=product_info&cPath=34&products_id=81

Microcontroller - The Arduino platform is fun and easy to use. http://www.arduino.cc/ I used the
Arduino Duemilonove with a hefty screw sheild http://store.makerbot.com/electronics/electronics-kits/arduino-breakout-shield-v1-4-kit.html

Controller - I started with thumb joystick controllers like on a PS2 - but I found that a controller from Leap Frog Baby worked out better.
http://www.amazon.com/LeapFrog-10210-LITTLE-LEAPS-PLATFORM/dp/B000EIV1OM

Claw - The claw is made from mouse shells and strips of plastics cut from a printer housing.

Wiring - Most of the wiring is discarded cat-5 network cable

Track - For the test rig I used wooden tracks, for the larger set up I used metal J-trim 1/2" x 10' - this was in the drywall section of home depot - it is the only thing
I bought specifically for this project.

http://www.instructables.com/id/CRANE-GAME/
http://www.instructables.com/id/CRANE-GAME/
http://www.instructables.com/id/CRANE-GAME/
http://www.instructables.com/id/CRANE-GAME/
Step 1: Control a DC motor with variable resistor

The first thing we will do is to get each motor working with a controller.

Use a joystick with potentiameter to controll the speed and direction of a DC motor.

This will be used to:

- raise and lower the claw
- open and close the clow

Hardware chain:
Joystick (potentiameter) -> Arduino with code -> DC motor driver V1.1 (make.rrf.org\dcmd-1.1) - > motor

Relies on: http://www.reprap.org/bin/view/Main/DC_Motor_Driver_1_1#Wire_up_test_devices

Here is the arduino code:

note: this only runs one DC motor

********************ARDUINO*****************
//******* POT to control a DC motor speed and direction ******//

// define pins and variables

int potPin = 2; // select the input pin for the potentiometer
int val = 0; // variable to store the value coming from the sensor
int j = 0;
int Dir_A = 4;
int Speed_A = 5;

void setup() {
pinMode(Dir_A, OUTPUT);
pinMode(Speed_A, OUTPUT);

Serial.begin(9600);
}

void loop() {

// Read location of joystick and calculate the distance and from center
val = analogRead(potPin); // read the value from the sensor
j = val - 517; // 517 is center positions - how far from center
j = abs(j); //absolute value

// put some bounds on j to keep PWM values useful

// below 100 the motor won't move and PWM max is 255
if (j >= 510){
j = 510; //the most the PWM pin can do is 255
}
if (j <=200 && j>=10){
j=200; //below 100 PWM the motor makes a high pich sound and does not move
}
if (j <=10){
j=0; // below 10 the joystick is very close to center
}

//Run DC motor A based on analog input from joystick

if (val >= 520){
digitalWrite(Dir_A, HIGH); // other direction
analogWrite(Speed_A, j/2); // PWM out (divide by 2 because max is 255)
}
if (val <= 510){
digitalWrite(Dir_A, LOW); //
analogWrite(Speed_A, j/2); //
}

if (val <=520 && val >= 510) {

analogWrite(Speed_A, 0); // turn off if the joystick is in the center
}
http://www.instructables.com/id/CRANE-GAME/
// print values for debugging
Serial.print(val); // send numbers to PC so you can see what it going on
Serial.print(",");
Serial.println(j);

Step 2: Control a stepper with joy stick

Next we need to control a stepper motor the potentiometer on the joystick.

Hardware:
Joystick -> Arduino (analog in) -> Arduino (digital out) -> Stepper driver -> stepper motor

I ran this using the EasyDriver from Sparkfun by www.SchmalzHaus.com/EasyDriver

It is well labeled and can run a medium sized stepper motor from the USB power supply. (in this example I am using a NEM17 from Keling Technology).

The screw sheild is by ZachHoeken: http://reprap.org/bin/view/Main/Arduino_Breakout_1_4

Code to control stepper motor from joystick potentiometer

/////////////////////// Arduino ///////////////////////

http://www.instructables.com/id/CRANE-GAME/
//******* POT to control a stepper speed and direction ******//

//declare pins
int potPin = 1;
int Step_X = 13;
int Dir_X = 12;
int Enable_X = 8;

//declare values
int Speed_X = 0; //step speed (delay between steps)
int val= 0;
int j = 0;

void setup() {
pinMode(Step_X, OUTPUT);
pinMode(Dir_X, OUTPUT);
pinMode(Enable_X, OUTPUT);

//Serial.begin(9600); // note that serial comm can be used to debug

// but it will slow down the code and slow down the stepper motor alot
//(and be confusing to me)
}

void loop() {

val = analogRead(potPin); // read the value from the sensor

j = val - 517; // 517 is center positions - how far from center?

j = abs(j); //absolute value
Speed_X = 70000/j; //This math inverts the value and scales as needed
//(value found through trial and error)
// The delay between steps will determine the speed of the motor
// So, delay up = speed down

if (val >= 520){

digitalWrite(Enable_X,LOW); // enable
digitalWrite(Dir_X, HIGH); // Set direction
digitalWrite(Step_X,HIGH);
delayMicroseconds(2);
digitalWrite(Step_X,LOW);
delayMicroseconds(Speed_X);

}
if (val <= 510) {
digitalWrite(Enable_X,LOW);// enable
digitalWrite(Dir_X, LOW); // Other direction
digitalWrite(Step_X,HIGH);
delayMicroseconds(2);
digitalWrite(Step_X,LOW);
delayMicroseconds(Speed_X);
}

if (val <=520 && val >= 510) {

digitalWrite(Enable_X,HIGH); // disable the stepper motor if the joystic is in the center
}
}

http://www.instructables.com/id/CRANE-GAME/
Step 3: Do two things at once!

The next thing to do code-wise is to jam together the controls for the stepper motor and DC motor so you can control both at once.

If you look at the code in the previus steps you'll see that I used diferent pins and variable names for each set of test code. This lets us jam them togehter without much
modification.

I've read that there are much better ways to combine blocks of code, but I am still learning, so all I have done is cut-and-past the two programs together.

I've incrased the anaolog values that are used as the 'center' position of the joystick. This helps to stop you from accidently running the wrong motor.

Latter we will have to splice in another batch of code to control the motor to open and close the claw!

Here is the Arduino code to control one stepper motor and one DC motor (labeled DC motor A, because we will be adding B latter)

/////////////////////// ARDUINO CODE //////////////////////////

//******* joystickj with 2 POTS to control a stepper and DC motor speed and direction ******//

//declare pins for Stepper

int potPin_X = 1;
int Step_X = 13;
int Dir_X = 12;
int Enable_X = 8;

//declare values for stepper

int Speed_X = 0; //step speed (delay between steps)
int val_X= 0;
int h = 0;

// declare pins for DC motor A

int potPin_A = 2; // select the input pin for the potentiometer
int val_A = 0; // variable to store the value coming from the sensor
//Declare variables for DC A
int j = 0;
int Dir_A = 4;
int Speed_A = 5;

void setup() {
// setup up stepper pins
pinMode(Step_X, OUTPUT);
pinMode(Dir_X, OUTPUT);
pinMode(Enable_X, OUTPUT);
http://www.instructables.com/id/CRANE-GAME/
 //setup DC motor A pins
pinMode(Dir_A, OUTPUT);
pinMode(Speed_A, OUTPUT);

//Serial.begin(9600); // note that serial comm can be used to debug

// but it will slow down the code and slow down the stepper motor alot (and be confusing to me)
}

void loop() {

///////// STEPPER READ AND CONTROLL /////////////

// read location of joystick and calculate values for stepper motor

val_X = analogRead(potPin_X); // read the value from the sensor
h = val_X - 517; // 517 is center positions - how far from center?
h = abs(h); //absolute value
Speed_X = 70000/h; //This math inverts the value and scales as needed
// 70000 value found through trial and error
// The delay between steps will determine the speed of the motor
/ / So, delay up = speed down

// control the stepper motor //

if (val_X >= 530){
digitalWrite(Enable_X,LOW); // enable
digitalWrite(Dir_X, HIGH); // Set direction
digitalWrite(Step_X,HIGH);
delayMicroseconds(2);
digitalWrite(Step_X,LOW);
delayMicroseconds(Speed_X);
}
if (val_X <= 500) {
digitalWrite(Enable_X,LOW);// enable
digitalWrite(Dir_X, LOW); // Other direction
digitalWrite(Step_X,HIGH);
delayMicroseconds(2);
digitalWrite(Step_X,LOW);
delayMicroseconds(Speed_X);
}

if (val_X <=530 && val_X >= 500) {

digitalWrite(Enable_X,HIGH); // disable the stepper motor if the joystic is in the center
}

////////////// DC MOTOR A - READ AND CONTROL ///////////////////

// Read location of joystick and calculate the distance and from center
val_A = analogRead(potPin_A); // read the value from the sensor
j = val_A - 517; // 517 is center positions - how far from center
j = abs(j); //absolute value

// put some bounds on j to keep PWM values useful

// below 100 the motor won't move and PWM max is 255
if (j >= 510){
j = 510; //the most the PWM pin can do is 255
}
if (j <=200 && j>=10){
j=200; //below 100 PWM the motor makes a high pich sound and does not move
}
if (j <=10){
j=0; // below 10 the joystick is very close to center
}

//Run DC motor A based on analog input from joystick

if (val_A >= 530){
digitalWrite(Dir_A, HIGH); // other direction
analogWrite(Speed_A, j/2); // PWM out (divide by 2 because max is 255)
}
if (val_A <= 500){
digitalWrite(Dir_A, LOW); //
analogWrite(Speed_A, j/2); //
}

if (val_A <=530 && val_A >= 500) {

analogWrite(Speed_A, 0); // turn off if the joystick is in the center
}

// print values for debugging

// Serial.print(val_A); // send numbers to PC so you can see what it going on
// Serial.print(",");
// Serial.println(j);

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Step 4: Second round of code for alternative stepper motor and driver
I used the EasyDriver from SparkFun along with a NEME17 stepper motor during my initial testing.

I have a bigger motor and driver board from my old RepStrap, (NEM23 stepper with RepRap stepper motor driver v1.2 by Zach Hoeken). Using this requires two minor
adujstemnts to the code.

1 - The enable pins are opposite.

EasyDriver: Low = Enable
Steper Driver v1.2 : High = Enable
2 - I can't seem to drive the NEM23 as fast as the NEM17. Both boards allow you to switch between full and half step. I'm probably half stepping the NEM23 and full
stepping the NEM17. Instead of figuring out the actual difference, I've just adjusted the delay between steps in the code.

Here is the code. I've added NOTES to the code to show where I have made changes.

//////////////////// ARDUINO CODE /////////////////////////////////////

//******* joystickj with 2 POTS to control a stepper and DC motor speed and direction ******//
//NOTE: modified to run NEM23 stepper with Stepper Motor Driver v1.2 from RepRap

//declare pins for Stepper

int potPin_X = 1;
int Step_X = 13;
int Dir_X = 12;
int Enable_X = 8;

//declare values for stepper

int Speed_X = 0; //step speed (delay between steps)
int val_X= 0;
int h = 0;

// declare pins for DC motor A

int potPin_A = 2; // select the input pin for the potentiometer
int val_A = 0; // variable to store the value coming from the sensor
//Declare variables for DC A
int j = 0;
int Dir_A = 4;
int Speed_A = 5;

void setup() {
// setup up stepper pins
pinMode(Step_X, OUTPUT);
pinMode(Dir_X, OUTPUT);
pinMode(Enable_X, OUTPUT);

//setup DC motor A pins

pinMode(Dir_A, OUTPUT);
pinMode(Speed_A, OUTPUT);

//Serial.begin(9600); // note that serial comm can be used to debug

// but it will slow down the code and slow down the stepper motor alot (and be confusing to me)
}

void loop() {

///////// STEPPER READ AND CONTROLL /////////////

// read location of joystick and calculate values for stepper motor

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 val_X = analogRead(potPin_X); // read the value from the sensor
h = val_X - 517; // 517 is center positions - how far from center?
h = abs(h); //absolute value
//Speed_X = 70000/h; //This math inverts the value and scales as needed (value found through trial and error)
// The delay between steps will determine the speed of the motor
// So, delay up = speed down
//NOTE: Speed_X=70000/h worked well for this combination: EasyDriver -> NEM17 stepper
Speed_X = 160000/h; //NOTE: Speed calculation for Stepper Motor Driver V1-2 (RepRap) -> NEM23 stepper
// control the stepper motor //
//NOTE:
// for EasyDriver: HIGH = disable
// for RepReap Stepper driver v1.2: LOW = Disable
if (val_X >= 530){
digitalWrite(Enable_X,HIGH); // enable
digitalWrite(Dir_X, HIGH); // Set direction
digitalWrite(Step_X,HIGH);
delayMicroseconds(2);
digitalWrite(Step_X,LOW);
delayMicroseconds(Speed_X);
}
if (val_X <= 500) {
digitalWrite(Enable_X,HIGH);// enable
digitalWrite(Dir_X, LOW); // Other direction
digitalWrite(Step_X,HIGH);
delayMicroseconds(2);
digitalWrite(Step_X,LOW);
delayMicroseconds(Speed_X);
}

if (val_X <=530 && val_X >= 500) {

digitalWrite(Enable_X,LOW); // disable the stepper motor if the joystic is in the center
// for EasyStepper: HIGH = disable
// for RepReap Stepper driver v1.2: LOW = Disable
}

////////////// DC MOTOR A - READ AND CONTROL ///////////////////

// Read location of joystick and calculate the distance and from center
val_A = analogRead(potPin_A); // read the value from the sensor
j = val_A - 517; // 517 is center positions - how far from center
j = abs(j); //absolute value

// put some bounds on j to keep PWM values useful

// below 100 the motor won't move and PWM max is 255
if (j >= 510){
j = 510; //the most the PWM pin can do is 255
}
if (j <=200 && j>=10){
j=200; //below 100 PWM the motor makes a high pich sound and does not move
}
if (j <=10){
j=0; // below 10 the joystick is very close to center
}

//Run DC motor A based on analog input from joystick

if (val_A >= 530){
digitalWrite(Dir_A, HIGH); // other direction
analogWrite(Speed_A, j/2); // PWM out (divide by 2 because max is 255)
}
if (val_A <= 500){
digitalWrite(Dir_A, LOW); //
analogWrite(Speed_A, j/2); //
}

if (val_A <=530 && val_A >= 500) {

analogWrite(Speed_A, 0); // turn off if the joystick is in the center
}

// print values for debugging

// Serial.print(val_A); // send numbers to PC so you can see what it going on
// Serial.print(",");
// Serial.println(j);

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Step 5: Build Test Rig
It is hard to work on something up over your head, so I built this smaller test rig.

This is made out of scrap parts, so I am not going to go into much detail about the construction. The import thing is that the two wooden rails are spaced such that they
will hold the stepper motor with some wheels on it.

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http://www.instructables.com/id/CRANE-GAME/
Step 6: Mount the motors
This steps shows the two motors mounted together on the test rig.

I am using small wooden weels that fit on the axis of the stupper motor. I used a large hose clamp to attach the DC motor to the bottom of the stepper.

I think the pictures are pretty clear. The details will depend on the motors you have.

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Step 7: Spindle
We are going to raise and lower the claw by winding up a string on a spindle attached to this large white gear on the DC motor.

I found a dowel that seems about right. I'll make it into a better shape in the next two steps.

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Step 8: Shape the spindle
The dowl might work fine as is, but it seems that it should be narrow in the middle and larger at each end. I have a wood lathe so I used that to turn the dowl down into a
shape that looked right.

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Step 9: Mount the spindle
I used some very hot glue to attache the wooden spindle to the plastic gear. I applied the glue to the bottom of the wooden peice and then jamed it onto the gear.

I expect that this will break off at some point.

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Step 10: Spindle Test
Here is my first test using the spindle. My younger daughter was very excited to try this, but then gets very upset during the video....

This works but it points out some problems we'll have to deal with -
1 - the thumb joystic is still little hard to control
2 - the spindle needs some sort of endstop. You can see that the little doll is flips over and comes down the other side. This will be a problem once there is a big
claw on the end of this string.

Here is a video:

Step 11: Planning the claw

Before making the claw I did a little planning. I drew a sketch of what I thought would work and then put together a cardboard mock up (made from an Amy's Vegatable
Pie in a Pocket box http://www.amys.com/products/category_view.php?prod_category=8)

This worked out well. There is a little video here:

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Step 12: Harvesting computer parts for the claw.
I took my paper model down to the basement and looked for computer parts that might work.

I used two mice along with strips of plastic cut from the case of an inkjet printer.

Here are the basic steps:

- Find 2 mice
-Gut and clean the mice
- Keep the the top shells of the mice and put the guts aside
-Cut strips of plastic from a printer housing, this printer was flimsy so it cut easily with an utility knife.
-You need about a foot of plastic

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Step 13: Prepare the peices of the claw
Now that we have some strips of plastic they will need to be cut to useful sizes. I am using some thin plastic so I cut them easly with light duty tin snips (we keep a pair
in the kitchen). I based the lengths roughly on the paper model.

Here is the cut-list -

- the peice that the motor mounts to is about 3.25" X 1.25"
- the two side peices are about 4"X 0.75"

Then you need to drill some holes.

The motor I am using is from a printer/scanner. It has a gear already on it that is 10mm wide. It also has 2 mounting holoes that are spaced 20mm apart.

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Step 14: Assemble the claw
I used the cardboard model as a template when assembling the mouse claw.

Steps -
- Hot glue a peice of plastic between the mouse parts to make a hinge
- Tape together the strips of duct tape to make more hinges
- Attach the motor to a scew - I used a peice of tubing which I filled with hot glue and quickly jammed over the motor shaft and the head of the screw. The motor shaft
already had a gear on it, I left that on.
-Mount the motor - I attached the motor to the plastic hinges with the small screws that where originally with the motor. The screw goes into a hole in the plastic hinge
between the mice.
- Attach the hinges to the mice - I used some short sheet metal screws to attach the hinged plastic to the mice sheells.

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http://www.instructables.com/id/CRANE-GAME/
Step 15: Claw code and testing

I found another thumb joystick, so we'll use that to control the opening and closing of the claw.
This is the same code used to control the spindle motor (for raising and lowering the claw), it just has different pin assignments and variable names.

If I dig up an old PS2 controller I will hack that and use it as the main controller.

After testing this it will be folded in with the rest of the code.

Here is a video. The code is below.

///////////////// Arduino Code ////////////////////

///Claw control/////
// declare pins for DC motor B // claw open/close

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int potPin_B = 3; // select the input pin for the pot
int val_B = 0; // variable to store the value coming from the sensor

//Declare variables for DC motor B

int k = 0;
int Dir_B = 7;
int Speed_B = 6; //pwm

void setup(){
//setup DC motor B pins
pinMode(Dir_B, OUTPUT);
pinMode(Speed_B, OUTPUT);
}
void loop() {
////////////// DC MOTOR B - READ AND CONTROL ///////////////////
// Read location of joystick and calculate the distance and from center
val_B = analogRead(potPin_B); // read the value from the sensor
k = val_B - 517; // 517 is center positions - how far from center
k = abs(k); //absolute value

// put some bounds on j to keep PWM values useful

// below 100 the motor won't move and PWM max is 255
if (k >= 510){
k = 510; //the most the PWM pin can do is 255
}
if (k <=200 && k>=10){
k=200; //below 100 PWM the motor makes a high pich sound and does not move
}
if (k <=10){
k=0; // below 10 the joystick is very close to center
}

//Run DC motor B based on analog input from joystick

if (val_B >= 530){
digitalWrite(Dir_B, HIGH); // other direction
analogWrite(Speed_B, k/2); // PWM out (divide by 2 because max is 255)
}
if (val_B <= 500){
digitalWrite(Dir_B, LOW); //
analogWrite(Speed_B, k/2); //
}

if (val_B <=530 && val_B >= 500) {

analogWrite(Speed_B, 0); // turn off if the joystick is in the center
}
}

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Step 16: Code for all the parts

Here is all the code jamed together. Now we can run the stepper motor back and forth along the track, raise and lower the claw, and open and close the claw.

I am getting a high pich squeal from somewhere... I'll just watch for smoke for now.

//////////////// ARDUINO CODE /////////////////

//******* 2 joysticks with POTS to control a stepper and two DC motors speed and direction ******//
//NOTE: modified to run NEM23 stepper with Stepper Motor Driver v1.2 from RepRap

//declare pins for Stepper

int potPin_X = 1;
int Step_X = 13;
int Dir_X = 12;
int Enable_X = 8;

//declare values for stepper

int Speed_X = 0; //step speed (delay between steps)
int val_X= 0;
int h = 0;

// declare pins for DC motor A

int potPin_A = 2; // select the input pin for the potentiometer
int val_A = 0; // variable to store the value coming from the sensor
//Declare variables for DC A
int j = 0;
int Dir_A = 4;
int Speed_A = 5;

// declare pins for DC motor B // claw open/close

int potPin_B = 3; // select the input pin for the pot
int val_B = 0; // variable to store the value coming from the sensor

//Declare variables for DC motor B

int k = 0;
int Dir_B = 7;
int Speed_B = 6; //pwm

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void setup() {
// setup up stepper pins
pinMode(Step_X, OUTPUT);
pinMode(Dir_X, OUTPUT);
pinMode(Enable_X, OUTPUT);

//setup DC motor A pins

pinMode(Dir_A, OUTPUT);
pinMode(Speed_A, OUTPUT);

//setup DC motor B pins

pinMode(Dir_B, OUTPUT);
pinMode(Speed_B, OUTPUT);

//Serial.begin(9600); // note that serial comm can be used to debug

// but it will slow down the code and slow down the stepper motor alot (and be confusing to me)
}

void loop() {

///////// STEPPER READ AND CONTROLL /////////////

// read location of joystick and calculate values for stepper motor

val_X = analogRead(potPin_X); // read the value from the sensor
h = val_X - 517; // 517 is center positions - how far from center?
h = abs(h); //absolute value
//Speed_X = 70000/h; //This math inverts the value and scales as needed (value found through trial and error)
// The delay between steps will determine the speed of the motor
// So, delay up = speed down
//NOTE: Speed_X=70000/h worked well for this combination: EasyDriver -> NEM17 stepper
Speed_X = 160000/h; //NOTE: Speed calculation for Stepper Motor Driver V1-2 (RepRap) -> NEM23 stepper
// control the stepper motor //
//NOTE:
// for EasyDriver: HIGH = disable
// for RepReap Stepper driver v1.2: LOW = Disable
if (val_X >= 530){
digitalWrite(Enable_X,HIGH); // enable
digitalWrite(Dir_X, HIGH); // Set direction
digitalWrite(Step_X,HIGH);
delayMicroseconds(2);
digitalWrite(Step_X,LOW);
delayMicroseconds(Speed_X);
}
if (val_X <= 500) {
digitalWrite(Enable_X,HIGH);// enable
digitalWrite(Dir_X, LOW); // Other direction
digitalWrite(Step_X,HIGH);
delayMicroseconds(2);
digitalWrite(Step_X,LOW);
delayMicroseconds(Speed_X);
}

if (val_X <=530 && val_X >= 500) {

digitalWrite(Enable_X,LOW); // disable the stepper motor if the joystic is in the center
// for EasyStepper: HIGH = disable
// for RepReap Stepper driver v1.2: LOW = Disable
}

////////////// DC MOTOR A - READ AND CONTROL ///////////////////

// Read location of joystick and calculate the distance and from center
val_A = analogRead(potPin_A); // read the value from the sensor
j = val_A - 517; // 517 is center positions - how far from center
j = abs(j); //absolute value

// put some bounds on j to keep PWM values useful

// below 100 the motor won't move and PWM max is 255
if (j >= 510){
j = 510; //the most the PWM pin can do is 255
}
if (j <=200 && j>=10){
j=200; //below 100 PWM the motor makes a high pich sound and does not move
}
if (j <=10){
j=0; // below 10 the joystick is very close to center
}

//Run DC motor A based on analog input from joystick

if (val_A >= 530){
digitalWrite(Dir_A, HIGH); // other direction
analogWrite(Speed_A, j/2); // PWM out (divide by 2 because max is 255)
}
if (val_A <= 500){
digitalWrite(Dir_A, LOW); //
analogWrite(Speed_A, j/2); //
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 }

if (val_A <=530 && val_A >= 500) {

analogWrite(Speed_A, 0); // turn off if the joystick is in the center
}

////////////// DC MOTOR B - READ AND CONTROL ///////////////////

// Read location of joystick and calculate the distance and from center
val_B = analogRead(potPin_B); // read the value from the sensor
k = val_B - 517; // 517 is center positions - how far from center
k = abs(k); //absolute value

// put some bounds on j to keep PWM values useful

// below 100 the motor won't move and PWM max is 255
if (k >= 510){
k = 510; //the most the PWM pin can do is 255
}
if (k <=200 && k>=10){
k=200; //below 100 PWM the motor makes a high pich sound and does not move
}
if (k <=10){
k=0; // below 10 the joystick is very close to center
}

//Run DC motor B based on analog input from joystick

if (val_B >= 530){
digitalWrite(Dir_B, HIGH); // other direction
analogWrite(Speed_B, k/2); // PWM out (divide by 2 because max is 255)
}
if (val_B <= 500){
digitalWrite(Dir_B, LOW); //
analogWrite(Speed_B, k/2); //
}

if (val_B <=530 && val_B >= 500) {

analogWrite(Speed_B, 0); // turn off if the joystick is in the center
}

// print values for debugging

// Serial.print(val_A); // send numbers to PC so you can see what it going on
// Serial.print(",");
// Serial.println(j);

Step 17: Make it Big

The test rig is meant to be scalable. All that you should need is longer strips of wood for the two tracks. However, once I started looking at longer strips of wood, I got
worried that the wood would bow out and the whole thing would fall on my head. So I hit the Home Depot to look for something else I could use.

I found some J-channel in the drywall section. It looks like it is made out of bent sheet metal. It is just strong enough and comes in 10foot lengths (2$ for 10ft).

For the first large scale setup I am working in a large doorway. It is about 5feet wide and happens to be right next to where I have been working.

So it is time to get to work!

The next few slides will show the build process for the larger setup.

Here is an image of what we are working towards.

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Step 18: Cut the the peices for the rails
The first thing to do is to cut the J-channel rails to length.

So, I measured the doorframe (about 5') and headed down to the basement.

When you cut thin pecies of metal like this, it is best to use a peice of wood for support.

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Step 19: Drill some pilot holes
The J-channel will be mounted to some MDF (wood) and then the MDF will be screwed to the door frame. It is a good idea to drill some pilot holes in the metal. About
50% of the time I drill my pilot holes in the wrong spots, so I have gotten in the habbit of drilling two sets of pilot holes.

The images below show me carefully planning where the pilot holes will need to be. Then I just drill a whole bunch, because I am frequently wrong.

I use a peice of wood to suport the metal when I drill the holes.

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Step 20: Make new wheels
Now that I have changed the railes from strips of wood to J-channels I also need to change the wheels I have jammed onto the stepper motor.

The new wheels will need to fit down into the channel. I didn't find any good parts for this in my pile of computer guts, so I just cut them out of some scrap luan (fancy
1/4" plywood) with a whole saw.

The hole saw cuts a 1-1/2" diameter circle with a 1/4" hole in the center. This works out just right to jam onto the stepper motor shaft and it fits into the J-channel.

Note: It is sometimes hard to get the round peice out to the hole saw. I have two tricks. I lubricate the inside of the hole saw with a 'Cut-ease'. I use this pretty much
whenever I drill or cut anything, because it makes everything easier and quiter ( I am usually working at night). I also have a tool I made that fits between the teeth of the
saw so you can pry ou the plug. I made this out of a screw driver, by grinding down the sides, bending over the tip, and then sharpening the tip. This tool is also useufl if
you are drilling a hole in drywall. You can drill partially through the drywall, leaving the plug in teh wall, then stick thie tip of the modiefied srew driver into the pilot hole
and pry out the plug. This is handy if you are interested in the hole instead of the plug.

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Step 21: Assemble the rails
Now it is time to bring all the peices up out of the basement and put it all together.

The J-rail will be mounted to peices of MDF. Just like the strips of wood are mounted to the test rig. I laid this all out on the floor. The motor will sit between the rails, so
there needs to be enough room to keep the shaft of the motor from hitting the wall of the J-channel. This makes the whole assembly slighly wider then the test rig, so I
have added some wooden shims.

Also - once I laid everything out I realized that one of the J-channels was nearly on inch too long. I found that this cut easily with sheers.

While everthing is still on the floor you can screw the peices together. This whole assembly can then be mounted in the doorway pretty easily.

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Step 22: Motor assembly
You will also need to take the motor off the test rig and reassemble to fit the J-channel rails.

The new 1-1/2" wheels are just pressed onto the motor shaft. The whole thing is held together with a hose clamp.

I've shown the assembly clamped together on its own, but you will acutally need to assemble this directly onto the J-channel rails. But this takes two hands, so I didn't
get a picture!

Step 23: Mount the assembly in the doorway

Now it is time to mount the whole get-up in the doorframe.

I used a milk carton to mark the heights of the rails. Then I lifted up the assembly while my wife drove screws through the MDF spacers and into the door frame. (this
took 4 hands, so there are no action pics)

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Step 24: Wire-ing
All the wiring should be the same as for the smaller test rig. You just need longer wires!

Network cable (cat-5?) works well for this because it is reasonably flexible and gives you 8 wires in one cable. I am keeping arduino and the driver boards on the bench
for now, and just running the power up to the motors with about 10feet of cable
-4 wires to the stepper
-2 wires to the DC motor to raise and lower the claw
-2 wires to teh DC motor to open and close the claw.

- I used a cable from an AC/DC power adaptor to run power from the network cable down to the DC motor on the claw.

Step 25: Attach the claw

I attached the claw to the wooden spindle like this -
- tie a loop of wire to the claw
- tie a string to this loop
- drive a short screw into the wooden spindle
-tie the string to the srew in the spindle

I ran the power down to the motor with a seperate cable.

Step 26: First run

Test run

Here is a short video -

Here is a long video - this was the first attempt

Step 27: Make it better

This setup works pretty well.

I want to make the whole thing fun and easy to use, so there are a few things that should be improved.

The controls are a little hard to handle. As of this test run, I am using two thumb joysticks that are just loose and connected to the electronics with jumper wires. I will
either need to mount these on something, or use something else fo the controler.

Once the claw is lowered, it swings like a pendulum when you run the stepper.

I am only working with one axis, so whatever you want to pick up as to be on the line directly below the rails.

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Step 28: Trying a different controller
I'm going to try using a different controller. I found a nice one that is for little kids. It is the Leap Frog Baby Little Leaps. This is a very sturdy controller and acutually has
two sets of controls mounted back to back. One set has

The joystick is made up of 4 buttons that are pressed by the joystick mechanism.

I cracked open the plastic case, and all the electronics out except for the 4 joystick buttons and the two other bottons.

Here are the pictures of the dessassembly:

-- First I cleaned this thing off with a magic eraser, these are like very fine sanding sponges, except that they dissolve with use, so you have to keep buying more.

--Then I took out all the screws and pryed off as much plastic as I could. The key was taking off the grey faceplate which covered a dozen or so screws.

-- The last image shows all the pecies spread out on the table

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Step 29: Get rid of everything you don't need
The joystick is made up of a plastic.. well joystick, that presses 4 momentary switches, depening on which direction the joystick is pushed. There are also 2 buton of to
teh sides that are on their own little boards.

Since we are only interested in the switches, I stripped off all the other components with a heat gun (I used a Plastic Welder from Harbor Freight).

Step 30: Wire the joystick

The wiring got a bit messy.

Basically every pushbutton is connected to a 10K pull-down resistor on one side and 5V on the other. The arduino pin for each button will be connected between the
button and the resistor.

So each button goes like this:

Button (one side)---> Arduino input pin --> 10K resistor -->ground on arduino
Button (other side)---> 5V on Arduino

Now when a button is open, the output to arduino will be low. When the button is pushed it will be high.

I used Cat-5 network cable for this.

Here is the wiring to the buttons on the controller and to the Arduino -

Wire - Button - Arduino Analog/Digital:

Blue - Up (joystick) - A0 / D14

Blue/white - Down (joystick) - A1 / D15
Orange - Left (joystick) - A2 / D16
Orange/white - Right (joystick) - A3 / D17
Green - Left button (claw open) - A4 / D18
Green/White - Right button (claw close) -A5 / D19
Brown - Ground (Arduino) - Ground
http://www.instructables.com/id/CRANE-GAME/
Brown/White - 5V (Arduino) - 5V

(note: the analog pins on the Arduino can be used as digital pins)

Step 31: Code using switches

Since this controller is just a bunch of switches, we can throw away all the code that had to do with the potentiameters that were in the thumb joysticks. This means that
we won't have control over the speed.

Here is the controller in action:

Here is the code to run the Crane Game using the Leap Frog controller. This just uses 6 push bottons to control the stepper motor and the two DC motors.

//////////// Arduino Code ////////////

// Speeds
int Delay_X = 1000; //step delay: microseconds (up delay = slower speed
int Speed_S = 255; // spindle speed 0-255
int Speed_C = 255; //clow speed 0-255

http://www.instructables.com/id/CRANE-GAME/
//STEPPER PINS
//Outputs
int Step_X = 13;
int Dir_X = 12;
int Enable_X = 8;
//Inputs
int Left = 16;
int Right = 17;
// variables
int val_Left = LOW;
int val_Right = LOW;

//SPINDLE PINS
//Outputs
int Dir_A = 4;
int Speed_A = 5;
//Inputs
int Up = 14;
int Down= 15;
//variables
int val_Up = LOW;
int val_Down = LOW;

//CLAW PINS
//Outputs
int Dir_B = 7;
int Speed_B = 6;
//Inputs
int Open = 18;
int Close = 19;
//variables
int val_Open = LOW;
int val_Close = LOW;

void setup (){

// setup up stepper pins
pinMode(Step_X, OUTPUT);
pinMode(Dir_X, OUTPUT);
pinMode(Enable_X, OUTPUT);
pinMode(Left, INPUT);
pinMode(Right, INPUT);

//setup DC motor A pins - for spindle

pinMode(Dir_A, OUTPUT);
pinMode(Speed_A, OUTPUT);
pinMode(Up, INPUT);
pinMode(Down, INPUT);

//setup DC motor B pins - for claw

pinMode(Dir_B, OUTPUT);
pinMode(Speed_B, OUTPUT);
pinMode(Open, INPUT);
pinMode(Close, INPUT);
}

void loop(){
// STEPPER READ AND CONTROL //
val_Left = digitalRead(Left);
val_Right = digitalRead(Right);

if (val_Left == HIGH){
digitalWrite(Enable_X,HIGH); // enable
digitalWrite(Dir_X, HIGH); // Set direction
digitalWrite(Step_X,HIGH);
delayMicroseconds(2);
digitalWrite(Step_X,LOW);
delayMicroseconds(Delay_X);
}

if (val_Right == HIGH){
digitalWrite(Enable_X,HIGH); // enable
digitalWrite(Dir_X, LOW); // Set direction (other direction)
digitalWrite(Step_X,HIGH);
delayMicroseconds(2);
digitalWrite(Step_X,LOW);
delayMicroseconds(Delay_X);
}

if ((val_Left == LOW) && (val_Right == LOW)) {

digitalWrite(Enable_X, LOW); //stepper off
}

// SPINDLE READ AND CONTROL //

val_Up = digitalRead(Up);
http://www.instructables.com/id/CRANE-GAME/
 val_Down = digitalRead(Down);

if (val_Up == HIGH){
digitalWrite(Dir_A, HIGH);
analogWrite(Speed_A, Speed_S);
}

if (val_Down == HIGH){
digitalWrite(Dir_A, LOW);
analogWrite(Speed_A, Speed_S);
}

if ((val_Up ==LOW) && (val_Down == LOW)){

analogWrite(Speed_A, 0);
}

// CLAW READ AND CONTROL //

val_Open = digitalRead(Open);
val_Close = digitalRead(Close);

if (val_Open == HIGH){
digitalWrite(Dir_B, HIGH);
analogWrite(Speed_B, Speed_C);
}

if (val_Close == HIGH){
digitalWrite(Dir_B, LOW);
analogWrite(Speed_B, Speed_C);
}

if ((val_Open ==LOW) && (val_Close == LOW)){

analogWrite(Speed_B, 0);
}

Step 32: Try out the new controller

Now it is time for a test run with the new controller.

The whole thing is nice and sturdy, and the kids understand what it is.

You can check out the videos.

You'll notice that the kids like to press one button over and over again. So they end up spinning the spindle to much, so it either flips over and up becomes down - or it
gets tangled from being lifted too high. Also, right now there is one button to open the claw and another to close it, so they tend to open or close it too far and it gets
jammed.

I think that adding some endstop style switches and mabye some automation to simplify the controls would help.

This shows my 4 your old after she has been practicing.

http://www.instructables.com/id/CRANE-GAME/
http://www.instructables.com/id/CRANE-GAME/
Step 33: Some more video
I just think this is funny:

Related Instructables

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Machine Game Claw by T86157 Puzzle by Module by carlyn Controlled T- by -henry-
(video) by davewking Slot XY Table by
T86157 CarlS

http://www.instructables.com/id/CRANE-GAME/
Comments
50 comments Add Comment view all 54 comments

dawsonj says: Mar 30, 2010. 11:02 PM REPLY

genius!

marc.cryan says: Mar 31, 2010. 6:36 AM REPLY

Thanks!

I was thinking about making a crane game kit.

Do you think anyone would be intersted?

-Marc

DizzyNYC says: Nov 11, 2010. 6:41 PM REPLY

That would be awesome! I wonder if you could use an existing claw from an arcade as well.

dawsonj says: Apr 6, 2010. 12:58 AM REPLY

yeah! I think it's a great idea. People would definitely like it.

Whitestar245 says: Mar 27, 2011. 8:52 AM REPLY

would be a great idea, but I've looked it up, and those claws can run over $100 each.
And I sincerely hope the mouse you used didn't cost that much.

marc.cryan says: Mar 28, 2011. 6:17 AM REPLY

Yeah - but claws are sort of becoming popular.

Spark fun has a 2 finger metal claw for 10$ !

http://www.sparkfun.com/products/10332

kal00 says: Nov 10, 2010. 1:35 PM REPLY

Incredible! Thanks for sharing, how would you do it to make it "stiffer"? Like the arcade games. Thanks!

cdousley says: Aug 22, 2010. 6:55 PM REPLY

you saved my life i was working on my own crane game and realized i had no idea how to make the claw until i saw this

SpeedStrikerXLR says: Aug 1, 2010. 6:28 AM REPLY

OMG its funzo from the simpsons

rasraster says: Jun 11, 2010. 11:47 AM REPLY

Great Instructable - congratulations! One quick question: would it maybe make more sense to use a machine screw for the center of the claw, rather than a
wood screw? For one thing, you don't risk drilling a hole in the object you're picking up. :-) Second, the wood screws have decreasing diameter near the tip,
which might make the mechanism slip. Finally, machine screws could give you finer and better control due to the diameter thing and typically more threads
per inch. Again - GREAT job!!

J-Five says: May 23, 2010. 11:20 AM REPLY

COOL

the kids are so adorable!!!

madmada says: May 10, 2010. 1:14 AM REPLY

"writhing funzo's in my sack, makes me happy, makes me hurt my back"

hamgravy says: Apr 8, 2010. 5:54 PM REPLY

i KNEW it was funzo. i was just thinking: that doll looks soooo familiar....

http://www.instructables.com/id/CRANE-GAME/
 marc.cryan says: Mar 31, 2010. 6:48 AM REPLY
Any interest in a Crane Game kit?

It would be an Arduino sheild with a Joystick, Buttons, and Motor Drivers.

I started using BatchPCB.com last night and boy is it fun!

downgrade says: Mar 27, 2010. 1:51 PM REPLY

We need an instructable on how to make that helmet next!

marc.cryan says: Mar 27, 2010. 8:10 PM REPLY

Yeah - until then you'll have to go to pre-school to learn that one!

downgrade says: Mar 27, 2010. 8:18 PM REPLY

Have her teach you, and make an instructable at the same time. That would be cute.

marc.cryan says: Mar 27, 2010. 8:23 PM REPLY

Thanks- that's a great idea!

Musicman41 says: Mar 1, 2010. 8:33 PM REPLY

Ive got another idea. Why dont you set up four motors, one in each of the corners of the room, which act as pullies? You can control the precise position in
all three axies, and have more stability.

marc.cryan says: Mar 22, 2010. 5:59 PM REPLY

Why dont you set up four motors, one in each of the corners of the room, which act as pullies?

You could certainly try this - but it sounds a bit tricky. I've had better luck with very short drive trains. In this project I've avoid gears and belts as much
as possible.

-Marc

Musicman41 says: Mar 27, 2010. 7:57 AM REPLY

You can do that, but it is not necessary. It only takes three strings and a weight at the end of the three connected strings to ensure stability. One
extra motor would make the crane capable of moving all over the room though.

marc.cryan says: Mar 27, 2010. 8:11 PM REPLY

Gotcha - that is an intersting idea.

Derin says: Mar 26, 2010. 12:12 PM REPLY

.How do you think this would be like in an arcade cabinet?

marc.cryan says: Mar 27, 2010. 8:11 PM REPLY

How do you think this would be like in an arcade cabinet?

Awsome!

It is fun to cheat - so I would leave out the glass.

http://www.instructables.com/id/CRANE-GAME/
 Kacheeker says: Mar 26, 2010. 6:13 AM REPLY
Really cool. I like the idea too! Makes me want to take apart my computer now. XD

wandererwolf says: Mar 8, 2010. 7:20 AM REPLY

I'm not sure which is better the project or the videos! Cool idea, thoughtfully executed and well documented. When will it be strong enough to pick up
something useful like say.. a bottle of beer? ;-)

marc.cryan says: Mar 22, 2010. 5:55 PM REPLY

I'm a Weiner!!!

Wanderwolf - I'm going to put a link to your Xmega board with USB bootloader.

Here it is -

http://www.bostonandroid.com/EVAL-USB-256.html

-Marc

domestic_engineer says: Mar 22, 2010. 3:56 PM REPLY

Congrats Husband on your big win. I can't wait to use "my" new netbook.
Oh, and you still need to fill in the holes in the doorway.

marc.cryan says: Mar 22, 2010. 5:49 PM REPLY

done!

paulosagatiba says: Feb 28, 2010. 9:40 AM REPLY

parabns pelo seu projeto, gostei muito da sua criatividade de usar materiais alternativos para construo.

marc.cryan says: Mar 1, 2010. 4:30 AM REPLY

Obrigado, estou contente que tenha gostado!

jsgraham says: Feb 28, 2010. 10:42 AM REPLY
The instructables I enjoy most are the ones that are comprehensive, well detailed, and even show the rush of the maker in their notes. e.g. misspellings,
etc. I'm not complaining. In fact, I'm extending a kudos. This was an A++ instructable. I don't know a lot about microcontrollers. I guess I'm afraid of
jumping in and screwing up whatever I'm trying to do. But your instructable has inspired me to get an Arduino and start exploring. Love the work you've
done. You've illustrated that robotics is in all aspects of our lives and we don't even think about it. On a side note, your "little helpers" are adorable. :-)

marc.cryan says: Feb 28, 2010. 11:53 AM REPLY

Great thanks!

www.Sparkfun.com and www.adafruit.com are good sources.

The "Getting Started with Arduino" book by by Massimo Banzi and Banzi Massimo is worth getting as well.

-Marc

1up says: Feb 27, 2010. 5:07 PM REPLY

I can't believe your wife let you put this in your doorway! And she even helped you with it. :P

Awesome project, by the way! Looks like fun. :) Now make one with two axes!

askjerry says: Feb 28, 2010. 7:41 AM REPLY

It does have two axis... Y and Z!
( y = left/right Z = up/down)

But yeah... go for a 3-axis x / y / x !

Build the gantry... one track on the first wall, the second on the other... do the whole room! (Evil grin)

1up says: Feb 28, 2010. 9:30 AM REPLY

Y and Z? Two axes? That's ridiculous!

Everybody knows X is left and right and Y is up and down!

Get your facts straight. :P

Only joking, of course. Once again, nice project.

http://www.instructables.com/id/CRANE-GAME/
 mrc4796 says: Feb 26, 2010. 8:55 PM REPLY
funzo?

domestic_engineer says: Feb 27, 2010. 5:41 PM REPLY

Our kids love the Simpsons, and they both wanted Funzos for x-mas. They cried when I told them funzo wasn't real, so I had to make Funzos for them,
the same way I made the Moe doll.
www.instructables.com/id/Make_a_Moe_Syzlak_Doll/

I'm glad someone finally noticed it was Funzo.

marc.cryan says: Feb 27, 2010. 4:35 AM REPLY

funzo?

Yup!

Made like this:

www.instructables.com/id/Make_a_Moe_Syzlak_Doll/

ac1D says: Feb 24, 2010. 2:19 AM REPLY

Really nice project!
I am a fan of crane game machine! I win every time :)
You know the crane machine you find almost everywhere, there is a trick to get free turn, you unplug/plug the machine, and it give you one free
shot (normally this shot is used to calibrate the machine)

I might attempt your project, it look hard and long to do, but it is so well detailled, almost everyone could do it!

marc.cryan says: Feb 26, 2010. 9:00 AM REPLY

I might attempt your project...

If I was starting over I would use this -

http://www.adafruit.com/index.php?main_page=product_info&cPath=34&products_id=81

ac1D says: Feb 27, 2010. 6:32 AM REPLY

Thanks for the link, but as you stated in your previous comment, I will be doing it without complex electronic (only motor/4way joystick/button)
I already have a plan in my head, and I started to collect what I will need.
Im wondering, how did you came to the idea of using computer mouse as the claw? Lol. Great idea, but it's really weird :-)

http://www.instructables.com/id/CRANE-GAME/
 marc.cryan says: Feb 24, 2010. 3:20 AM REPLY
Thanks! That is a good tip.

I should point out that this project is a bit more complicated then is really necessary. My intent was to build an Autonomous Robotic Crane Game - but
I am not sure if I will get that far before my MakerBot kit arrives! http://www.makerbot.com/

A simpler Crane Game could be made using only DC motors and mechanical switches, this would cut out the fancier electronics (Arduino and motor
drivers).

marc.cryan says: Feb 24, 2010. 5:29 PM REPLY

Thanks to Mike Szczys for the nice entry on Hack a Day!

http://hackaday.com/2010/02/24/bring-the-crane-game-home/

jimlovell777 says: Feb 24, 2010. 10:12 AM REPLY

+177 Points to your wife for allowing you do this
+200 For watching
+500 For even holding the camera
+100 For even enjoying it

Cool project. Cool wife. :)

It's stuff like this that makes me want to bring out the Legos, hot glue gun and motors.

marc.cryan says: Feb 24, 2010. 5:25 PM REPLY

Cool wife. :)

You are correct!

( I did have to promise to fill in the 2 screw holes in the door frame)

domestic_engineer says: Feb 24, 2010. 11:31 AM REPLY

Thanks. I may have been less enthusiastic if there wasn't a chance of winning a net book. :)
-the wife

jimlovell777 says: Feb 24, 2010. 12:57 PM REPLY

Sorry but now all I can picture is a claw machine full of Netbooks... How cool would that be ;)

DuhDuhDave says: Feb 24, 2010. 9:44 AM REPLY

Very nice project. I appreciate the way you show the design evolving rather than just showing the polished (well, maybe not polished , exactly) final design.
Cute kids, and clearly, you made it simple enough a 4 year old can make it work. I have a 4 year old of my own who would love something like this. Thanks
for posting it.

marc.cryan says: Feb 24, 2010. 5:23 PM REPLY

I appreciate the way you show the design evolving

Thanks, I'm glad. I like to write the instructable as I go along, then if (when) I break something, I can just go back and follow the intstructable!

view all 54 comments

http://www.instructables.com/id/CRANE-GAME/