Page 209 - Robots Androids and Animatrons : 12 Incredible Projects You Can Build

if b2 > 10 then lt in the lesser subroutine to read if b2 > 15 then
lt, we would create a robot that is more likely to turn to the right.
This robot offers many opportunities to robotists and experi-
menters for continued experimentation and development both in
hardware and software.
Parts list for the Walter tortoise robot

(1) 12″ 12″ sheet metal, 22 or 24 gauge
1
1
(1) ″ ″ 12″ long aluminum bar
8
2
(1) 42-oz torque hobby servo motor
(1) 100:1 gearbox motor (or similar)
3-48 machine screws and nuts
0-80 machine screws and nuts
1
1
(1) ″ ″ 32″ long aluminum bar
8 2
1
1
1
(1) ″ ″ 14 ″ long aluminum bar
8 2 2
(1) ″ ″ 2″ long aluminum bar
1
1
2
8
(1) 42-oz torque standard servo motor
188 (1) 100:1 gearbox DC motor
(1) 2″ diameter drive wheel—friction fit to 3-mm shaft
(1) 2-mm ID, 3-mm OD steel or brass tubing
(2) CdS photocells, 100K-ohm dark, 10K-ohm light
[4 (Q1-Q4)] 2N2222 NPN transistors
[4 (D1-D4)] 1N914 diodes
(1 D5) Red LED
1
[4 (R1-R4)] 1K-ohm, -W resistors
4
[6 (R5-R7, R9-R11)] 10K-ohm, -W resistors
1
4
1
[1 (R8)] 470-ohm, -W resistor
4
(4) 22-pF caps
[2 (C1,C2)] 0.1- F capacitors
[2 (X1, X2)] 4-MHz crystal
[1 (Q5)] 7805 voltage regulator
[2 (IC1, IC2)] 16F84-04 PIC microcontroller
Miscellaneous: 5-40 machine screw and nuts, plastic 6-32 1″
machine screws, 6-32 brass nuts, 1″ long compression springs
(2 lb)

Team LRN
Chapter eight