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Sol LeRoot

This project investigates using robot primitives to create drawings in the style of Sol LeWitt. The drawings are done using an off the shelf drawing robot, Root with custom appendages developed by the authors. The robots have no global reference frame and a narrow view of their environment, only being able to see a 3.5” wide row of color underneath the robot. As the robots draw, they stigmergicly augment their environment, affecting the path and decisions of future robots.

Fabricated attchements for the root

Videos

Color decode chart for sensors

Color 1 Color 2 binary value decimal value
White white 00000000 0
Black white 00010000 16
Red white 00100000 32
Green white 00110000 48
Blue white 01000000 64
White black 00000001 1
Black black 00010001 17
Red black 00100001 33
Green black 00110001 49
Blue black 01000001 65
White red 00000010 2
Black red 00010010 18
Red red 00100010 34
Green red 00110010 50
Blue red 01000010 66
White green 00000011 3
Black green 00010011 19
Red green 00100011 35
Green green 00110011 51
Blue green 01000011 67
White blue 00000100 4
Black blue 00010100 20
Red blue 00100100 36
Green blue 00110100 52
Blue blue 01000100 68

Remember for use

turn on bluetooth

sudo bluetoothctl to talk to BlueZ power on exit

Install

Bluetooth GATT SDK for python