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6 / Crocobot: Build Your Own Robotic Crocodile
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FIGURE 650
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Remote control PCB foil pattern artwork
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successfully transferred to a transparency, use the techniques outlined in 2 to create a board A 4-inch 6-inch presensitized positive copper board is ideal When you place the transparency on the copper board, it should be oriented so that it is exactly the same as in Figure 650 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) with a 3/64-inch drill bit Use Table 64 and Figure 651 to place the parts on the component side of the circuit board Note that female sockets are used where certain components will be plugged in This is to make it easier to mount the control potentiometers, LEDs, and switches to the top cover of the project box The PIC 16C71 microcontroller (U2) is mounted in an 18-pin IC socket The 18-pin socket is soldered to the PC board, and the PIC is inserted after it has been programmed Use a fine-toothed saw to cut the board along the guide lines 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
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FIGURE 651
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Remote control PCB component side parts placement
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Remote control project enclosure Choose a project box that is at least 3 inches wide, 5 inches in length, and 1-1/2 inches deep Depending on the control stick that you are using, the box may need to be larger or smaller than the dimensions above I used a project box that had removable top and bottom panels to make it easier to work with Locate the 6-3/4 inch whip antenna and cut the coaxial cable to a length of 2-1/2 inches in length Strip 1/2-inch of the shielding off the end of the wire, and then strip the middle wire as well Drill a 1/4-inch hole in the top, right side of the case, and mount the antenna Solder the antenna lead wire to the small area on the back (the area without any solder mask) of the transmitter module Bend the connector pins of the transmitter module 90 degrees downward This is the same procedure that was performed on the receiver module Place the remote control circuit board in the case, and then plug the transmitter module into the female connector (JP3) Move the circuit to the top of the case, 1/2-inch from the top Use hot glue to secure the board in place Figure 652 shows the finished transmitter circuit board, with the antenna attached to the case and the transmitter module
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6 / Crocobot: Build Your Own Robotic Crocodile
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FIGURE 652
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Remote control circuit board with antenna connected
Mount the control stick, power switch, two LEDs, and push-button switch to the top cover of the project box in similar positions, as shown in Figure 653 You will have to drill a 3/4-inch hole for the control stick Depending on the project box that you are using, you may have to find the best positions for each of the components When the parts are mounted in the cover, use Figure 654 to wire the parts to the board I used wires with a length of 3-1/2 inches to connect each component to the appropriate connector Figure 655 shows the components wired to the connectors Once the parts are wired to the connectors, attach a 9-volt battery, but move the cover to the side to leave access to the 18-pin socket, so that the PIC 16C71 can easily be inserted and removed during the programming, debugging, and experimentation stages We are now ready to start programming the robot and transmitter
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FIGURE 653
Mounting placement of control stick, switches, and light emitting diodes
FIGURE 654
Transmitter wiring diagram
6 / Crocobot: Build Your Own Robotic Crocodile
FIGURE 655
Transmitter components wired to connectors
Programming Crocobot
To bring the crocodile robot to life, the leg sensor switches will be checked to make sure that they are working properly The leg sensor switches will be used to coordinate the walking gait of the robot With the two-motor, four-leg design that has been used, it is necessary for one set of legs to be in the forward position when the other set of legs are in motion Otherwise, the robot does not get maximum body lift or forward/reverse motion The first program that will be written is called crocobot-switchbas and is listed in Program 61 Enter the program into your favorite text editor, then compile and program the PIC 16F84 using the crocobotswitchhex file listed in Program 62 Insert the PIC into the 18-pin socket on the main board Move the legs by hand so that the limit switches are not triggered, and then turn on the power The robot should make a start-up sound and then go silent If tones are being produced without the switch being pushed, then turn the power off Make sure that the polarity of JP2 is correct, with 5
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