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FIGURE 636
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6 / Crocobot: Build Your Own Robotic Crocodile
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Circuit board drilling and parts placement Use a 1/32-inch drill bit to drill all of the component holes on the PCB Drill the holes for the voltage regulator (U1) and the diodes (D2 D9) with a 3/64-inch drill bit Use Table 62 and Figure 637 to place the parts on the component side of the circuit board The PIC 16F84 microcontroller (U2) is mounted in an 18-pin IC socket The 18pin socket is soldered to the PC board, and the PIC is inserted after it has been programmed Note that Figure 637 also shows four jumper wires labeled W1 W4 that are not shown in the schematic These jumpers were needed due to routing conflicts when designing the PCB Use a fine-toothed saw to cut the board along the guide lines, and drill the mounting holes on the corners using a 5/32-inch drill bit Use 1/4-inch standoffs to mount the board Figure 638 shows the finished main controller board
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FIGURE 637
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Controller board PCB component side parts placement
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FIGURE 638
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Parts soldered to the finished PCB
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Check the finished board for any missed or cold soldered connections, and verify that all the components have been included The board will be tested later when programming the PIC microcontroller Adding the radio receiver module Locate the radio receiver module (RXLC-434) and flip it over so that the back is facing upward Solder the 7-inch antenna wire that was included with the module to the tinned area on the board where there is no solder mask Figure 639 shows the antenna soldered to the board The next step is to bend all of the connector pins of the receiver module on 90-degree angles toward the back of the module Use a pair of needle nose pliers to carefully bend each pin This is needed so that the module will sit parallel to the controller board when it is plugged into its connector Figure 640 illustrates how
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6 / Crocobot: Build Your Own Robotic Crocodile
FIGURE 639
Antenna soldered to the receiver module PCB
FIGURE 640
Receiver module connector pins bent 90 degrees
the pins should be bent Once the pins have been bent, insert the module into the 4-pin female connector (JP6) located in front of the diode array Orient the module so that it sits above the diodes when it is plugged in Figure 641 show the module plugged into the circuit board
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FIGURE 641
Receiver module inserted into connector on the main board
Putting It All Together
Now that the mechanical, electronics, and electrical systems are all finished, it is time to integrate them all together into a working robot Start by mounting the circuit board to the chassis at the head of the robot Attach the robot s tail section to the chassis with a 6/32-inch 1/2-inch machine screw and locking nut Tighten the nut with enough torque to let the tail swing freely Plug each of the connectors into the main controller, as indicated in Figure 642 Note that the motor power supply battery pack can t be connected until the top cover has been attached to the chassis Place a new AA battery into each of the three battery holders located on the top cover Figure 643 shows the robot with the tail section attached and all of the connecting wires plugged into the controller board Place a 9-volt battery into the battery clip located in the tail section Attach the battery strap to the battery Feed the antenna through the hole in the head section, then use three 6/32-inch 1/2-inch machine screws and nuts to attach the top cover Plug in the motor power connector before you fasten the cover in place Figure 644 shows the completed robot with the
6 / Crocobot: Build Your Own Robotic Crocodile
FIGURE 642
Robot connection diagram
FIGURE 643
Robot with tail section attached and all wiring connected
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FIGURE 644
Completed robot with cover attached
top cover attached The PIC microcontroller will be programmed a little later, during experimentation Now that the robot is complete, the remote control transmitter will be built
Constructing the Remote Control Transmitter
The remote control transmitter will be used to control the robot s movements and may be customized to control other devices as well The hand held remote control device uses an analog X and Y axis control stick as the input to two analog-to-digital converters residing on a PIC 16C71 The remote control is pictured in Figure 645
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