# Zelda Guardian Robot Terrako Companion
## Overview
https://youtu.be/JRUPNIiRM3E
## Zelda Guardian Robot
Build your own Guardian Robot, Terrako from Zelda Age of Calamity. This is a shoulder-mounted companion robot!
## Magnetic Shoulder Robot
Our companion robot sits on your shoulder with a magnetic plate and metal backing hidden underneath.
## Circuit Python Powered
This little robot is powered by Circuit Python! Connect with a USB cable to update the code and recharge the battery!
The ItsyBitsy NRF52480 controls the servo, LEDs and is powered with a rechargeable Lipo battery.
## Terrako – Guardian of Time
A tiny Guardian who has traveled from the future to save Zelda. It was broken in the fight against the Calamity but has now been repair and reactivated thanks to the efforts of Link and the others.
## Parts
Components are housed in the body with built in on and off switch and USB port.
##
## 3D Printed
The parts are 3D Printed with an easy to assemble snap fit parts.
Magnets help attach the light weight body to a wearers shoulder!
### Adafruit ItsyBitsy nRF52840 Express - Bluetooth® LE
[Adafruit ItsyBitsy nRF52840 Express - Bluetooth® LE](https://www.adafruit.com/product/4481)
What's smaller than a Feather but larger than a Trinket? It's an **Adafruit ItsyBitsy nRF52840 Express** featuring the **Nordic nRF52840 Bluetooth® LE** processor! Teensy & powerful, with an fast nRF52840 Cortex M4 processor running at 64 MHz and 1 MB...
Out of Stock
[Buy Now](https://www.adafruit.com/product/4481)
[Related Guides to the Product](https://learn.adafruit.com/products/4481/guides)
### Micro Servo - High Powered, High Torque Metal Gear
[Micro Servo - High Powered, High Torque Metal Gear](https://www.adafruit.com/product/2307)
Add even _more_ power to your robot with this metal-geared servo. The tiny little servo can rotate approximately 180 degrees (~90 in each direction), and works just like the standard kinds you're used to but _smaller_. You can use any servo code, hardware or library to...
Out of Stock
[Buy Now](https://www.adafruit.com/product/2307)
[Related Guides to the Product](https://learn.adafruit.com/products/2307/guides)
### Magnetic Pin Back
[Magnetic Pin Back](https://www.adafruit.com/product/1170)
These magnetic pin backs have two pieces: a metal bar with adhesive strip and a plastic piece with two strong rare-earth magnets. Affix the metal bar to your FLORA projects-- it's just the right size! Then attach your FLORA project to any garment without poking holes in your clothes. The...
In Stock
[Buy Now](https://www.adafruit.com/product/1170)
[Related Guides to the Product](https://learn.adafruit.com/products/1170/guides)
### High-strength 'rare earth' magnet
[High-strength 'rare earth' magnet](https://www.adafruit.com/product/9)
Yow! These things are super powerful. .47" diameter and .18" thick discs. Great for use with your SpokePOV Kit. If you have an aluminium frame, use tape/foam sticky tape to attach it.
In Stock
[Buy Now](https://www.adafruit.com/product/9)
[Related Guides to the Product](https://learn.adafruit.com/products/9/guides)
### 1.25mm Pitch 3-pin Cable Matching Pair - 40cm long
[1.25mm Pitch 3-pin Cable Matching Pair - 40cm long](https://www.adafruit.com/product/4721)
When 0.1" is too big, and JST PH's too chunky, these ultra-slim 1.25mm connectors are a reliable alternative. These are only 1.25mm pitch, but have a nice clicky connection.
These cables are nice and long, 40cm in fact. They've got both small form factor and are a...
In Stock
[Buy Now](https://www.adafruit.com/product/4721)
[Related Guides to the Product](https://learn.adafruit.com/products/4721/guides)
### Lithium Ion Polymer Battery with Short Cable - 3.7V 420mAh
[Lithium Ion Polymer Battery with Short Cable - 3.7V 420mAh](https://www.adafruit.com/product/4236)
Lithium-ion polymer (also known as 'lipo' or 'lipoly') batteries are thin, light, and powerful. The output ranges from 4.2V when completely charged to 3.7V. This battery has a capacity of 420mAh for a total of about 1.55 Wh. If you need a larger (or smaller!) battery,
In Stock
[Buy Now](https://www.adafruit.com/product/4236)
[Related Guides to the Product](https://learn.adafruit.com/products/4236/guides)
### JST-PH Battery Extension Cable - 500mm
[JST-PH Battery Extension Cable - 500mm](https://www.adafruit.com/product/1131)
By popular demand, we now have a handy extension cord for all of our JST PH-terminated battery packs (such as our LiIon/LiPoly and 3xAAA holders). One end has a JST-PH compatible socket, and the other end has a matching plug. Between the two, 500mm of color coded wire. Handy for wearable...
In Stock
[Buy Now](https://www.adafruit.com/product/1131)
[Related Guides to the Product](https://learn.adafruit.com/products/1131/guides)
### Part: M2.5x5mm Screw
quantity: 1
M2.5x5mm PHILLIPS FLAT HEAD MACHINE Screw
[M2.5x5mm Screw](https://www.albanycountyfasteners.com/2-5-MM-x-45-Phillips-Flat-Head-Machine-Screw-p/1011-1002.htm?Category_Code=)
# Zelda Guardian Robot Terrako Companion
## Circuit Diagram
## Circuit Diagram
The diagram below provides a visual reference for wiring of the components. This diagram was created using the software package [Fritzing](http://fritzing.org/download/).
## Use Adafruit's Fritzing
parts library to create circuit diagrams for your projects. Download the library or just grab individual parts. Get the library and parts from [GitHub - Adafruit Fritzing Parts](https://github.com/adafruit/Fritzing-Library/tree/master/parts).
## Wired Connections
The ItsyBitsy nRF52840 is powered by 420mAh battery via the Lipo Backpack. This allows the USB port from the ItsyBitsy nRF52840 to charge the 420mAh battery. A slide switch is connected to the two switch pin on the Lipo Backpack.
- **BAT** from **Lipo Backpack** to **BAT** on **ItsyBitsy nRF52840**
- **Ground** from **Lipo Backpack** to **GND** on **ItsyBitsy nRF52840**
- **5V** from **Lipo Backpack** to **USB** on **ItsyBitsy nRF52840**
## Slide Switch
A 2-pin slide switch is wired to the switch pins on the Trinket/ItsyBitsy Lipo Backpack as shown in the diagram above.
## NeoPixel Ring
The Eye is illuminated by a NeoPixel Ring.
- **5V+** from **NeoPixel Ring** to **Vhi** on **ItsyBitsy nRF52840**
- **G** from **NeoPixel Strip** to **G** on **ItsyBitsy nRF52840**
- **DIN** from **NeoPixel Strip** to **Pin #5** on **ItsyBitsy nRF52840**
## Servo
- **Data (Yellow)** from the **Servo to** **A2 ** on **ItsyBitsy nRF52840**
- **5V+** **(Red)** from **NeoPixel Ring** to **Vhi** on **ItsyBitsy nRF52840**
- **G (Brown)** from **NeoPixel Strip** to **G** on **ItsyBitsy nRF52840**
# Zelda Guardian Robot Terrako Companion
## 3D Printing
## Parts List
STL files for 3D printing are oriented to print "as-is" on FDM style machines. Parts are designed to 3D print without any support material. Original design source may be downloaded using the links below.
- eggG-head.stl
- eggG-body.stl
- eggG-horn.stl
- eggG-eye.stl
- eggG-leg.stl
- eggG-foot.stl
[Edit Design](https://a360.co/3w56fLD)
[Download STLs](https://www.thingiverse.com/thing:4823945)
## Slicing Parts
Supports are required. Slice with setting for PLA material.
The parts were sliced using CURA using the slice settings below.
- PLA filament 220c extruder
- 0.2 layer height
- 10% gyroid infill
- 60mm/s print speed
- 60c heated bed
## Supports
- Support Extrusion Width: .2
- Support Density: 4%
- Support Z Height: .21
- Interface: On
- Support Roof: On
- Support Pattern: Zig Zag
- Support Roof Pattern: Zig Zag
##
## Build Plate Adhesion
- Type: Brim
- Line Count: 6
- Brim on inside + outside
# Zelda Guardian Robot Terrako Companion
## CircuitPython for ItsyBitsy nRF52840 Express
[CircuitPython](https://github.com/adafruit/circuitpython) is a derivative of [MicroPython](https://micropython.org) designed to simplify experimentation and education on low-cost microcontrollers. It makes it easier than ever to get prototyping by requiring no upfront desktop software downloads. Simply copy and edit files on the **CIRCUITPY** drive to iterate.
## Set up CircuitPython Quick Start!
Follow this quick step-by-step for super-fast Python power :)
[Download the latest version of CircuitPython for this board via CircuitPython.org](https://circuitpython.org/board/itsybitsy_nrf52840_express/)
## Further Information
For more detailed info on installing CircuitPython, check out [Installing CircuitPython](https://learn.adafruit.com/welcome-to-circuitpython/installing-circuitpython).
**Click the link above and download the latest UF2 file.**
Download and save it to your desktop (or wherever is handy).
Plug your Itsy nRF52840 into your computer using a known-good USB cable.
**A lot of people end up using charge-only USB cables and it is very frustrating! So make sure you have a USB cable you know is good for data sync.**
In the image, the **Reset** button is indicated by the magenta arrow, and the **BTLE** **status LED** is indicated by the green arrow.
Double-click the **Reset** button on your board (magenta arrow), and you will see the **BTLE LED** (green arrow) will pulse quickly then slowly blue. If the DotStar LED turns red, check the USB cable, try another USB port, etc.
If double-clicking doesn't work the first time, try again. Sometimes it can take a few tries to get the rhythm right!
You will see a new disk drive appear called **ITSY840BOOT**.
Drag the **adafruit\_circuitpython\_etc.uf2** file to **ITSY840BOOT.**
The LED will flash. Then, the **ITSY840BOOT** drive will disappear and a new disk drive called **CIRCUITPY** will appear.
That's it, you're done! :)
# Zelda Guardian Robot Terrako Companion
## Code
## Setup the ItsyBitsy nRF52840 with CircuitPython
We'll need to get our board setup so we can run the CircuitPython code. Let's walk through these steps to get the latest version of CircuitPython onto your board.
[Download Code]()
## The Mu Python Editor
Mu is a simple Python editor that works with Adafruit CircuitPython hardware. It's written in Python and works on Windows, MacOS, Linux and Raspberry Pi. The serial console is built right in, so you get immediate feedback from your board's serial output! While you can use any text editor with your code, Mu makes it super simple. [Instructions for Mu are available here](https://learn.adafruit.com/welcome-to-circuitpython/installing-mu-editor).
## Installing or upgrading CircuitPython
You should ensure you have CircuitPython 4.0 or greater on your board. Plug your board in with a known good data + power cable (not the cheesy USB cable that comes with USB power packs, they are power only). You should see a new flash drive pop up.
If the drive is **CIRCUITPY** , then open the **boot\_out.txt** file to ensure the version number is 4.0 or greater.
```python
Adafruit CircuitPython 5.0.0-beta.3 on 2020-01-08; Adafruit ItsyBitsy nRF52840 Express with nRF52840
```
If you do not have CircuitPython on your board, you can [add it or upgrade via this page on the ItsyBitsy guide](https://learn.adafruit.com/adafruit-itsybitsy-nrf52840-express/circuitpython).
## Download the Adafruit CircuitPython Library Bundle
In order to run the code, we'll need to download a few libraries. Libraries contain code to help interface with hardware a lot easier for us.
Use the [ItsyBitsy nRF52840 page on Installing Libraries](https://circuitpython.org/board/itsybitsy_nrf52840_express/) to get the library that matches the major version of CircuitPython you are using noted above, i.e. 4.x for the versions starting with 4, 5.x for the versions starting with 5, etc.
To run the code for this project, we need the three libraries in the Required Libraries list below. Unzip the library bundle and search for the libraries. Drag and drop the files into a folder named **lib** on the **CIRCUITPY** drive (which appears when your board is plugged into your computer via a known good USB cable) if the directory is not already on the ItsyBitsy nRF52840).
## Required Libraries
- **neopixel.mpy**
- **adafruit\_servokit.mpy**
- **adafruit\_pca9685.mpy**
Once we have all the files we need, a directory listing will look similar to above as far as files and directories.
## Double Check
See the directory listing above and double check that you have all the files listed to make this project function. If any are missing or in an incorrect directory, move them so they're in the right places.
https://github.com/adafruit/Adafruit_Learning_System_Guides/blob/main/Terrako_Robot/code.py
# Zelda Guardian Robot Terrako Companion
## Assemble
## Cut On / Off Trace
Use Flash cutters the remove the trace with the white box around it. This will enable the the slide switch to turn the circuit on and off.
## Slide Switch
Solder wires to the middle pin and **one** of the other two pins of the slide switch.
## Solder Lipo Backpack
Measure, cut and solder wires that will connect the Lipo backpack to the ItsyBitsy board.
## ItsyBitsy Connectors
Follow the circuit diagram to add male connectors to the ItsyBitsy pins. Use heat shrink to insulate the shared ground and power connections.
## Solder Backpack to ItsyBitsy
Solder the wire on the Lipo Backpack to the ItsyBitsy board.
## Mount boards
Align the USB port to the cutout with the metal shield facing up as shown. Press fit the ItsyBitsy board, at and angle, between the three walls on the "eggG-in-shell" part.
##
## Fasten Lipo Backpack
Use an M3x6mm long screw to secure the Lipo Backpack to the standoff on the wall, next to the slide switch mount.
## Press fit slide switch
The slide switch fits between the walls. Gently pull the metal tabs on the side to increase the tolerance.
## Shorten Servo cables
Measure, cut and replace the cable on the Servo with female molex connectors. Measure short to keep the wiring tidy.
## Servo cables
Align and pass the the servo cables through the cutout. The Servo press fits between the walls.
Use the included screw to secure the servo to the standoff on the wall.
## Lipo Battery Extension cable
Shorten a JST extension cable so the battery can reach the Lipo Backpack.
## Connect the JST cable
Pass the JST cable to reach the Lipoback pack. Use tweezers to help connect the cable.
## NeoPixel Ring
Measure and solder a female connector to the NeoPixel ring.
## Mount NeoPixel Ring
Pass wires through the cutout. Angle the NeoPixel Ring over the Servo so one side fits under Servo tabs. The opposite side of the NeoPixel Ring fits over the top of the Servo tab.
## Connect Servo and NeoPixel Ring to ItsyBitsy
Arrange the wires along the walls to keep the connections tidy.
## Servo Horn
Use the included Servo horn screw to attach the "eggG-horn" part to the shaft on the Servo.
## Leg Assembly
Press fit the ball joints into each segment. Connect 6 segments together and attach to the three sections on the "eggG-lid" part.
## Connect Lid
Fit two of the snap fit sections over the "egg-G-lid" part and press down over the third to connect the two parts.
## Diffuser Eye
Press fit the diffuser part at an angle.
## Attach Head
Align the Horn spokes between the peg inside the head part.
## Paint
Metallic multi surface Acrylic Paint form craft smart is used to complete the look.
The closest matching color is Espresso.
Allow the part to dry for about half a day before adding an additional coat of paint.
## Magnetic Pin Back
The Magnetic Pin Back includes a metal bar backing with adhesive strip. Affix the metal bar to your costume. Then attach Terrako!
## Featured Products
### Adafruit ItsyBitsy nRF52840 Express - Bluetooth® LE
[Adafruit ItsyBitsy nRF52840 Express - Bluetooth® LE](https://www.adafruit.com/product/4481)
What's smaller than a Feather but larger than a Trinket? It's an **Adafruit ItsyBitsy nRF52840 Express** featuring the **Nordic nRF52840 Bluetooth® LE** processor! Teensy & powerful, with an fast nRF52840 Cortex M4 processor running at 64 MHz and 1 MB...
Out of Stock
[Buy Now](https://www.adafruit.com/product/4481)
[Related Guides to the Product](https://learn.adafruit.com/products/4481/guides)
### Adafruit LiIon/LiPoly Backpack Add-On for Pro Trinket/ItsyBitsy
[Adafruit LiIon/LiPoly Backpack Add-On for Pro Trinket/ItsyBitsy](https://www.adafruit.com/product/2124)
If you have an ItsyBitsy or Pro Trinket you probably know it's the perfect little size for a portable project. This LiPoly backpack makes it really easy to do! Instead of wiring 2 or 3 boards together to make a charging system, this little PCB sits on top of the PCB and allows a...
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### Lithium Ion Polymer Battery with Short Cable - 3.7V 420mAh
[Lithium Ion Polymer Battery with Short Cable - 3.7V 420mAh](https://www.adafruit.com/product/4236)
Lithium-ion polymer (also known as 'lipo' or 'lipoly') batteries are thin, light, and powerful. The output ranges from 4.2V when completely charged to 3.7V. This battery has a capacity of 420mAh for a total of about 1.55 Wh. If you need a larger (or smaller!) battery,
In Stock
[Buy Now](https://www.adafruit.com/product/4236)
[Related Guides to the Product](https://learn.adafruit.com/products/4236/guides)
### Breadboard-friendly SPDT Slide Switch
[Breadboard-friendly SPDT Slide Switch](https://www.adafruit.com/product/805)
These nice switches are perfect for use with breadboard and perfboard projects. They have 0.1" spacing and snap in nicely into a solderless breadboard. They're easy to switch no matter what size fingers you have, but not so easy that they'll get flipped by accident. Work great as...
In Stock
[Buy Now](https://www.adafruit.com/product/805)
[Related Guides to the Product](https://learn.adafruit.com/products/805/guides)
### Micro Servo - High Powered, High Torque Metal Gear
[Micro Servo - High Powered, High Torque Metal Gear](https://www.adafruit.com/product/2307)
Add even _more_ power to your robot with this metal-geared servo. The tiny little servo can rotate approximately 180 degrees (~90 in each direction), and works just like the standard kinds you're used to but _smaller_. You can use any servo code, hardware or library to...
Out of Stock
[Buy Now](https://www.adafruit.com/product/2307)
[Related Guides to the Product](https://learn.adafruit.com/products/2307/guides)
### NeoPixel Ring - 16 x 5050 RGB LED with Integrated Drivers
[NeoPixel Ring - 16 x 5050 RGB LED with Integrated Drivers](https://www.adafruit.com/product/1463)
Round and round and round they go! 16 ultra bright smart LED NeoPixels are arranged in a circle with 1.75" (44.5mm) outer diameter. The rings are 'chainable' - connect the output pin of one to the input pin of another. Use only one microcontroller pin to control as many as you can...
In Stock
[Buy Now](https://www.adafruit.com/product/1463)
[Related Guides to the Product](https://learn.adafruit.com/products/1463/guides)
## Related Guides
- [Adafruit ItsyBitsy nRF52840 Express](https://learn.adafruit.com/adafruit-itsybitsy-nrf52840-express.md)
- [LO-LA59 Droid](https://learn.adafruit.com/lola-droid.md)
- [A NeoPixel Pomodoro Timer](https://learn.adafruit.com/a-neopixel-pomodoro-timer.md)
- [DRAFT PUNK](https://learn.adafruit.com/draft-punk.md)
- [Bluetooth LE MIDI Controller](https://learn.adafruit.com/bluetooth-le-midi-controller.md)
- [Watchmen's Sister Night NeoPixel Goggles](https://learn.adafruit.com/watchmen-sister-night-circuitpython-neopixel-goggles.md)
- [Trinket “Question Block” Sound Jewelry](https://learn.adafruit.com/trinket-question-block-sound-jewelry.md)
- [Happy Chewbacca Mask](https://learn.adafruit.com/happy-chewbacca-mask.md)
- [LED Trinket Tree Topper](https://learn.adafruit.com/neopixel-led-trinket-tree-topper.md)
- [NeoPixel Infinity Mirror Coaster](https://learn.adafruit.com/infinity-mirror-coaster.md)
- [Wireless BLE MIDI Robot Xylophone](https://learn.adafruit.com/wireless-ble-midi-robot-xylophone.md)
- [3D Printed LED Goggles](https://learn.adafruit.com/3d-printed-led-goggles.md)
- [NeoPixel Infinity Cube](https://learn.adafruit.com/neopixel-infinity-cube.md)
- [Green Goblin Pumpkin CPB Ornament](https://learn.adafruit.com/green-goblin-pumpkin-cpb-ornament.md)
- [IRIS LED and Prop Guards](https://learn.adafruit.com/iris-leds-prop-guards.md)
- [Galaxy Pendant](https://learn.adafruit.com/life-proof-led-necklace.md)