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easy because all that is needed to coordinate this pattern is to give each of the servos two sets of movement positions The body segments will move through the complete range of motion between the two sets of points determined by the position values This means that we really only need to set the servo positions for all of the servos twice, and then repeat the pattern to get the snake to move forward The same holds true when sequencing the servos and body segments for a left or right turning movement Figure 559 shows the pulsout values for the extreme and middle positions, along with the microcontroller port address for each servo This information will be needed when putting the control program together To sequence the forward movement of the snake, a sine wave pattern can be generated by using the servo position values shown in Table 57 The servos that move the horizontal body segments also move in a slight side to side movement to aid in locomotion Figure 560 shows the sequence that the snake s body goes through when moving in a forward direction Frame number 1 shows the snake resting before the sequence begins Frame number 2 shows the body segment positions that correspond to the first set of positions in Table 57 Frame number 3 shows that the snake s body moves through the original position on its way to the
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FIGURE 559
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Microcontroller port addresses for each of the body segment servos
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5 / Serpentronic: Build Your Own Robotic Snake
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second set of positions in Table 57 Frame number 4 shows the body segment positions that correspond to the second set of positions in Table 57 When the sequence is running, the body moves in a sine wave pattern For the snake to continue moving forward, this entire sequence repeats In the control program, the servo positions only need to be set twice, and then the sequence repeats If you wish to experiment, you could program sequences with more intermediate positions for a smoother sine wave
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Body Position 1 Servo and port address 1 PortB2 2 PortB3 3 PortB7 4 PortB6 5 PortB5 6 PortB4 Pulsout value 157 210 143 100 157 210
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TABLE 57
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Servo Position Values to Sequence Forward Movement of the Snake
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Body Position 2 Servo and port address 1 PortB2 2 PortB3 3 PortB7 4 PortB6 5 PortB5 6 PortB4 Pulsout value 143 100 157 210 143 100
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Amphibionics
FIGURE 560
Sequence of body positions during forward movement
To make the robot snake turn to the left, the same sine wave pattern will need to occur in the vertical moving body segments, but the snake s body will also need to oscillate between the middle position and a position where the body is arched to the left The pulsout values needed to control this movement are listed in Table 58, and will be used when programming the snake Figure 561 shows the two positions that the snake s body will oscillate between to make a turn to the left I found that the snake has the ability to turn to the left or right much faster than it can travel in the forward direction Although a side-winding routine will not be covered in this chapter, with enough experimentation, the snake can be made to side-wind as its primary mode of locomotion When the snake is traveling forward and then moves quickly into a turn, the effect is quite surprising and very lifelike
5 / Serpentronic: Build Your Own Robotic Snake
Body Position 1 Servo and port address 1 PortB2 2 PortB3 3 PortB7 4 PortB6 5 PortB5 6 PortB4 Body Position 2 Servo and port address 1 PortB2 2 PortB3 3 PortB7 4 PortB6 5 PortB5 6 PortB4 Pulsout value 100 100 100 210 100 100 Pulsout value 150 210 150 100 150 210
TABLE 58
Servo Position Values Needed to Sequence a Left Turn
FIGURE 561
Sequence of body positions during a left turn
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To make the robot snake turn to the right, the same sine wave pattern will need to occur in the vertical moving body segments, but the snake s body will also need to oscillate between the middle position and a position where the body is arched to the right The pulsout values needed to control this movement are listed in Table 59 and will be used when programming the snake Figure 562 shows the two positions that the snake s body will oscillate between to turn to the right You might have noticed that when positioning the robot s body to the right, smaller pulsout values were used This is to take into account the extra weight of the servos that are positioned on the right side of the snake s body
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