🪑 Walking Coffee Table

A robotic coffee table that actually walks.

Powered by two 24V DC brushless motors and controlled via an Arduino Nano RP2040, this project brings a whimsical 12-legged (6 per side) walking mechanism to life. The table can be controlled remotely via Bluetooth or navigate autonomously using radar-based obstacle tracking.

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🔧 Hardware Overview

• Controller: Arduino Nano RP2040 Connect
• Motors: 2x 24V brushless DC gear motors
• Legs: 12 total (6 per side) using a custom linkage system
• Power: 24V battery pack
• Control Modes:
  • Bluetooth RC Mode (default)
  • Autonomous Radar Mode (with Rd-03D FMCW sensor)

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🕹️ Mode 1: Remote Control via Joystick

In this mode, the table is driven by a custom joystick controller using a second Arduino. It communicates wirelessly over Bluetooth.

📡 Communication:

• Bluetooth UART between two Arduino boards.
• Joystick position (X/Y) is sent from the controller to the table.

📁 Key Files:

• Controller_V3.ino — Code for the joystick controller.
• Table_V3.ino — Code running on the table receiving movement commands.

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🤖 Mode 2: Autonomous Radar Navigation

Utilizes the Rd-03D FMCW radar module to detect motion and avoid obstacles. This millimeter-wave radar detects movement up to 8 meters with ±60° azimuth and ±30° pitch coverage.

🧠 Features:

• Tracks human presence and motion.
• Table halts or redirects when an object is detected.
• Perfect for demos or haunted house effects 🧟‍♂️

📁 Key Files:

• radar_test.ino — Basic radar parsing and visualization.
• radar_clap.ino — Detects claps and triggers movement.
• clap_test.ino — Calibrates for audio-based triggers using PDM mic.

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🔬 Test & Calibration Scripts

These are standalone sketches to help calibrate or debug individual components:

File	Purpose
gyro_test.ino	Yaw integration and drift correction
P-Control.ino	Simple proportional control motor test
rotation_test.ino	Table turning/rotation testing

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🧠 About the Rd-03D Radar Module

• Frequency: 24.00–24.25 GHz (ISM Band)
• Max Range: 8 meters
• Detection Angle: ±60° azimuth, ±30° pitch
• Interface: UART @ 256000 bps
• Power: 5V / ~92mA typical
• Docs: Ai-Thinker Official Site

This sensor allows for accurate tracking of multiple moving objects and is robust against Wi-Fi and environmental interference.

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🔌 Wiring & Schematic

• Bluetooth: TX/RX between Arduinos (with logic level shifting if needed).
• Radar: UART RX/TX → RP2040 (5V input, use level shifter).
• Motors: Controlled via motor driver (H-bridge or similar) with PWM pins.

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🛠️ Getting Started

1. Flash Controller_V3.ino to joystick Arduino.
2. Flash Table_V3.ino to Nano RP2040 on the table.
3. Power the motors and controller.
4. Move the joystick and watch the table walk.
5. To try autonomous mode, flash radar_clap.ino and clap 👏.

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📜 License

MIT License. Build, remix, and walk your coffee table into the future.

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👷 Made by Concept Bytes

Follow along at YouTube and join the engineering chaos.

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