Software Installation Compiling a Program 35 using the EPIC Programmer to Program the PIC Testing the Controller Board MicroCode Studio Visual Integrated Development Environment 45 using a Programmer with MicroCode Studi MicroCode Studio in Circuit Debugger 4 Frogbotic: Build Your Own Robotic Frog 51 Frogs and Toads erview of the Frogbotic Proje R/C Servo Motors Modifying Servos for Continuous Rotation 55 Controlling a Modified Servo Mechanical Construction of Frogbotic mbling the le Attaching the Legs to the robot's Body Fabricating the Servo moun Constructing the Front Legs Leg position Sensors Wiring the Limit Switches
Software Installation 31 Compiling a Program 35 Using the EPIC Programmer to Program the PIC 40 Testing the Controller Board 44 MicroCode Studio Visual Integrated Development Environment 45 Using a Programmer with MicroCode Studio 47 MicroCode Studio in Circuit Debugger 48 Summary 49 4 Frogbotic: Build Your Own Robotic Frog 51 Frogs and Toads 51 Overview of the Frogbotic Project 52 R/C Servo Motors 54 Modifying Servos for Continuous Rotation 55 Controlling a Modified Servo 66 Mechanical Construction of Frogbotic 68 Assembling the Legs 77 Attaching the Legs to the Robot’s Body 82 Fabricating the Servo Mounts 84 Constructing the Front Legs 90 Leg Position Sensors 91 Wiring the Limit Switches 91 Amphibionics x Amphibionics 00 3/24/03 12:49 PM Page x
Frogbotic's Main Controller Board Creating frogbotic's Printed Circuit Board Fabricating the Power Connector Putting It All Toge Programming and Experiments with Frogbotic 5 Serpentronic: Build Your Own Robotic snake 117 1l7 Overview of the Serpentronic Project l19 Mechanical Construction of Serpentronic Constructing the Body Sections Constructing the Tail Section Constructing the Head Assembling the Snake's Mechanical Structure Connecting the Body Sections, Tail, and H 138 Serpentronic's Main Controller Board Creating the Main Controller Printed Circuit board The Infrared Sensor board 148 Constructing the Infrared Sensor Circuit Board 152 Calibration Sensor board xi
Frogbotic’s Main Controller Board 94 Creating Frogbotic’s Printed Circuit Board 96 Fabricating the Power Connector 98 Putting It All Together 100 Programming and Experiments with Frogbotic 103 5 Serpentronic: Build Your Own Robotic Snake 117 Snakes 117 Overview of the Serpentronic Project 119 Mechanical Construction of Serpentronic 120 Constructing the Body Sections 121 Constructing the Tail Section 130 Constructing the Head 132 Assembling the Snake’s Mechanical Structure 137 Connecting the Body Sections, Tail, and Head 138 Serpentronic’s Main Controller Board 144 Creating the Main Controller Printed Circuit Board 146 The Infrared Sensor Board 148 Constructing the Infrared Sensor Circuit Board 152 Calibration 154 Mounting the Controller and Infrared Sensor Board 155 Contents xi Amphibionics 00 3/24/03 12:49 PM Page xi
Wiring the Robot Programming and Experiments with Serpentronic 164 Motion Control nfrared Se Summary l88 6 Crocobot Build your own Robotic crocodile 191 Crocodilian Overview of the Crocobot Project 193 Mechanical Construction of crocobot 194 Constructing the Chassis Constructing the body Covers and Tail Section 202 Wiring the Limit Switches ting the le 211 Assembling the Legs 213 The Controller Circuit board 216 L298 Dual Full-Bridge Drive Creating the Main Controller Printed Circuit board 222 Putting It All Together 226 Constructing the Remote Control Transmitter PIC 16C71 232
Wiring the Robot 158 Programming and Experiments with Serpentronic 164 Motion Control 171 Infrared Sensor 177 Summary 188 6 Crocobot: Build Your Own Robotic Crocodile 191 Crocodilians 191 Overview of the Crocobot Project 193 Mechanical Construction of Crocobot 194 Constructing the Chassis 199 Constructing the Body Covers and Tail Section 202 Wiring the Limit Switches 209 Constructing the Legs 211 Assembling the Legs 213 The Controller Circuit Board 216 L298 Dual Full-Bridge Driver 218 Creating the Main Controller Printed Circuit Board 222 Putting It All Together 226 Constructing the Remote Control Transmitter 228 PIC 16C71 232 Amphibionics xii Amphibionics 00 3/24/03 12:49 PM Page xii
Creating the Remote Control Printed Programming Crocobot 239 Turtletron: Build your own Robotic turtle 271 Overview of the turtletron Project story Mechanical Construction of turtletron 275 Assembling the Gearboxes and ching lic Range finding 286 The remote co Programming Turtletron 300 Testing the SRFo4 ultrasonic Ranger 308 ultrasonic Range Finder Distance Measurement using an Optical Shaft Encoder Fabricating the Shaft Encoder Room Mapping using the Shaft Encoder and ultrasonic Range Findel 334
Creating the Remote Control Printed Circuit Board 234 Programming Crocobot 239 7 Turtletron: Build Your Own Robotic Turtle 271 Turtles and Tortoises 271 Overview of the Turtletron Project 272 The History of Robotic Turtles 273 Mechanical Construction of Turtletron 275 Assembling the Gearboxes and Attaching the Wheels 277 Electronics 283 Ultrasonic Range Finding 286 The Remote Control Transmitter 298 Programming Turtletron 300 Testing the SRF04 Ultrasonic Ranger 308 Obstacle Avoidance Using the Ultrasonic Range Finder 313 Distance Measurement Using an Optical Shaft Encoder 325 Fabricating the Shaft Encoder 327 Room Mapping Using the Shaft Encoder and Ultrasonic Range Finder 334 Contents xiii Amphibionics 00 3/24/03 12:49 PM Page xiii
Amphibionics 8 Taking It Further 345 Frogbotic 345 Serpentronic Crocobot Turtletron
8 Taking It Further 345 Frogbotic 345 Serpentronic 346 Crocobot 346 Turtletron 347 Bibliography 349 Index 351 Amphibionics xiv Amphibionics 00 3/24/03 12:49 PM Page xiv