COMB — Common Open Modular robotic platform for Bees

COMB is an open-source, modular robotic platform for experimental access to honey bee colonies. Hardware Files have been made publicly available at Zenodo Repository

License: MIT

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Why COMB

• Modular: swap subsystems without rewiring the whole rig.
• Open: C/C++ firmware and MATLAB tools included.
• Reproducible: documented build and flashing steps.
• Extensible: add sensors, actuators, and UI modules as needed.

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Repository layout

COMB-main/
├─ Controller_Code/                 # Firmware for different robot modules
│  ├─ DanceRobot/                   # Waggle dance robot (simulates bee dances)
│  ├─ ScannerRobot/                 # Scanner robot (maps and inspects comb structures)
│  ├─ WingFlapperSanDiego/          # Wing flapper robot (PCB wing actuators for local signaling)
│  └─ README.md
│
├─ Encoder_Code/
│  └─ virtual_motor_encoder_teensy/ # Teensy sketch emulating motor encoder signals
│
├─ Keypad_Design_Code/
│  ├─ Keypad/                       # Keypad firmware and build files
│  └─ Readme.md
│
├─ Dance_Model_Matlab/              # MATLAB models and tools
│  ├─ dance_model.m
│  └─ write_dance_model_to_cpp_variable.m
│
├─ LICENSE
└─ README.md

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Features

• Controller firmware for multiple robot types (dance, scanner, wing-flapper).
• Virtual encoder utility to simulate quadrature signals using a Teensy board.
• Keypad firmware for modular user input.
• MATLAB scripts to define and export dance models to C++.
• Fully open-source under MIT License.

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Requirements

• MCUs: ESP-IDF supported boards (for controller code), Teensy (for encoder utility), Arduino-compatible boards (for keypad).
• Toolchains:
  • ESP-IDF for controller code.
  • Arduino IDE or PlatformIO for Teensy and keypad.
  • MATLAB (R2020a+) for model scripts.

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Quick start

1. Clone

git clone https://github.com/praked/COMB
cd COMB

2. Build firmware

• DanceRobot / ScannerRobot / WingFlapperSanDiego
  • Use ESP-IDF:

idf.py set-target esp32
idf.py build
idf.py -p <PORT> flash

• Virtual encoder (Teensy)

  • Open Encoder_Code/virtual_motor_encoder_teensy.ino in Arduino IDE, select your Teensy board, and upload.

• Keypad firmware

  • Open Keypad_Design_Code/Keypad in Arduino IDE, set pin mapping, and upload.

3. MATLAB tools

cd('Dance_Model_Matlab');
addpath(genpath(pwd));
dance_model
write_dance_model_to_cpp_variable

4. Configuration

• Adjust pin mappings and constants in commands.h, gpio.h, and main firmware files.
• Virtual encoder ticks per revolution must match controller firmware expectations.
• Ensure all modules share common ground and correct voltage rails.