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FIGURE 552
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Electrical wiring diagram for Serpentronic
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5 / Serpentronic: Build Your Own Robotic Snake
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Next, connect all of the servos to the robot controller board located in the head Figure 553 shows a diagram of the snake and each servo located in each body section, along with the corresponding connector on the controller board When attaching each servo to the connector on the controller board, the servo s yellow wire is always to the left, as indicated in Figure 553 The middle wire is red and the wire to the right side is black The last three servos labeled servo 4, servo 5, and servo 6 need wire extension connectors added so that they are long enough to reach the controller board Use 2-inch servo connector extension wires, like the one shown in Figure 554
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FIGURE 553
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Servo connection diagram
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FIGURE 554
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Servo connector extension wire
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A mode select push button will be added to the top of the robot s head so that different functions can be chosen when the robot starts up One of the main functions that the push button will enable is calibrating the infrared sensors Fabricate the push button connector using a momentary contact switch, a 1-K resistor, a 2-connector female header, a 1-connector female header, some heat-shrink tubing, and three pieces of connector wire cut to a length of 3 inches each Use Figure 555 as a wiring and soldering guide when creating the connector When the push button assembly is finished, mount the push button in the 1/4-inch mounting hole on the snake s head and attach the connectors to the controller board, as shown in Figure 556
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FIGURE 555
Mode select switch wiring guide and finished assembly
5 / Serpentronic: Build Your Own Robotic Snake
FIGURE 556
Mode select controller board connection diagram
To give the snake added friction when moving, rubber gripper pieces can be added to the underside of the snake s body If you decide not to add the rubber pieces, the robot will still function properly, but will not move as easily on slippery surfaces like carpet Any sort of rubber nonslip pieces that you can find at a hardware store will be suitable The ones that I used have a sticky back and were meant for the bottom of Sun System computers to stop them from slipping on a desktop Figure 557 shows the positions that worked well for me Make sure that the movement of each body segment is not hindered by the rubber gripper pieces
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FIGURE 557
Rubber gripper pieces added to the underside of the snake
Insert two 15-volt, AA type batteries into each of the battery holders in each body segment Add a 9-volt battery to the battery holder in the first body segment behind the robot s head and attach the battery strap The robot is now ready to test and calibrate!
Programming and Experiments with Serpentronic
To test the main controller board, the PIC 16F84 will be programmed to flash the LEDs, make some random sounds, and center all of the servos This will ensure that all of the components have been correctly soldered to the circuit board, and that the servos and batteries are all connected properly The first program is called snake-testbas and is listed in Program 51 Type the program into your favorite text editor, save, and then compile the program with PicBasic Pro, using the instructions in 3
5 / Serpentronic: Build Your Own Robotic Snake
Program the PIC 16F84 with the snake-testhex file listed in Program 52 When the chip has been successfully programmed, insert it into the 18-pin IC socket on the main controller board with the notch and pin 1 facing toward the LEDs and then turn the power switch to the ON position If everything is working properly, the LEDs should flash on and off while making random noises When the light and sound stops, the servos should all move to the middle position, making the snake straight If the snake is not relatively straight, keep the power turned on and readjust each of the servo horns so that it is straight If nothing happens when power is applied, then check all of the battery and circuit board connections Also, make sure that the PIC 16F84 was programmed properly
'-----------------------------------------------------------------------------------------------------------------------------' Name : Snake-testbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Program to test the main controller ' : board by flashing the LEDs, producing ' : sounds and setting each of the servos to ' : their middle positions '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs trisa = %00000000 ' PortB set as outputs pins 0-1 inputs trisb = %00000011 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables led_left led_right piezo servo_1 VAR PORTA2 VAR PORTA3 VAR PORTA4 VAR PORTB2 165
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