Page 14 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 00 3/24/03 12:49 PM Page xiii
Creating the Remote Control Printed
Circuit Board
239
Programming Crocobot Contents 234
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

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