Climbing robot, brain storming

This project is an ongoing rapid prototype which is under development by Puya Afsharian & me …

Requirements :

4 x step motor
4 x El. Magnet
1 x Arduino
1 x Thin Aluminium plate

Components :

Magnet #1
Magnet #2
Magnet #3

Motor #1-1
Motor #1-2
Motor #2-1
Motor #2-2

Algorithm & states :

• Initial state :
  Mag. 1,2,3 -> ON
  Motor 11,12,21,22 -> OFF
• Lift state :
  Mag3 -> OFF
  Mag 1,2 -> ON
  Motor 12, 22 -> CCW ON
  Mag3 -> ON
• Move Up Right state :
  Mag2 -> OFF
  Motor 11 CW ON MAX
  Motor 12  CW ON -> Vertical(Parallel with chassis)
  Mag 2 -> ON
• Move Up Left state :
  Mag1 -> OFF
  Motor 21 CW ON MAX
  Motor 12  CW ON -> Vertical(Parallel with chassis)
  Mag 1 -> ON

and again to Lift state