FPV Wipermotor RC/Robot

This is really two projects in one:

1. An Arduino Uno-based, video-enabled RC robot (not autonomous)
2. An Arduino Leonardo-based DIY head tracker. It plugs into a fairly-generic 2.4ghz transmitter via the "trainer" port.

The drive motors are car wiper motors. They only turn at 60rpm, so it's not super fast, but it has a LOT of torque. It uses a couple of cheap servos and a cheap gimbal for the video. I'm using a fairly inexpensive goggle/video receiver, and the feeling is quite immersive.

I used an Arduino Leonardo for the head tracker because I also wanted it to work as a USB mouse to a computer. Leonardos have the ability to be a USB host device, whereas most other Arduinos can't do that.

The Turnigy 9x transmitter had to be flashed with the open-source firmware ER9X because the stock firmware doesn't support mixing PPM signals from the trainer port along with signals from the transmitter itself. That process is a whole nuther project in itself. It requires soldering a USB programmer onto the 9x circuit board.

Lots of parts went into this, and I'm not sure if I can round up the source for all of them, but I'll try.

• 4 x 1ft steel angle iron, from Lowes - around $5 each = $20
• Misc plywood strips from craft store - around $2 each = $8
• 2 x 12vdc wiper motors - $25 each = $50
• http://www.monsterguts.com/store/product.php?productid=17685
• 2 x Home/Garden lawnmower wheels from Lowes - $8 each = $16
• 1 x 3s LiPo battery - $10 from hobbyking.com
• 1 x L298 H Bridge - $5 or so from Amazon
• 1 x 5vdc cooling fan, for H Bridge (otherwise way too many amps pulled by these motors) - $3
• 1 x Arduino Uno to receive PWM from 2.4ghz transmitter/receiver - about $17
• 2 x small servos from hobbyking.com - about $4 each = $8
• 1 x goggle+transmitter+receiver+camera FPV kit from hobbyking - $100
• http://www.hobbyking.com/hobbyking/store/__63646__Quanum_Complete_FPV_Bundle_Set_w_Goggles_5_8GHz_32ch_Video_TX_RX_CP_Antennas_and_Camera_PNF_.html
• 1 x Turnigy 9x transmitter+receiver - $69 (today)
• http://www.hobbyking.com/hobbyking/store/__67087__Turnigy_9X_9Ch_Transmitter_w_Module_8ch_Receiver_Mode_2_v2_Firmware_AR_Warehouse_.html
• 1 x Arduino Leonardo for DIY head tracker - about $15
• 1 x Power supply for head tracker - $3
• 1 x Pololu gyro+accel for head tracker - $20
• https://www.pololu.com/product/2468

I have attached the Arduino vehicle code and the Arduino head tracker code as text files.