Page 185 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 05 3/24/03 8:44 AM Page 164
FIGURE 5.57
Rubber gripper pieces
added to the underside Amphibionics
of the snake.

Insert two 1.5-volt, AA type batteries into each of the battery hold-
ers in each body segment. Add a 9-volt battery to the battery hold-
er 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 pro-
grammed to flash the LEDs, make some random sounds, and cen-
ter all of the servos. This will ensure that all of the components
have been correctly soldered to the circuit board, and that the ser-
vos and batteries are all connected properly. The first program is
called snake-test.bas and is listed in Program 5.1. Type the pro-
gram into your favorite text editor, save, and then compile the pro-
gram with PicBasic Pro, using the instructions in Chapter 3.

164