Page 267 - Robots Androids and Animatrons : 12 Incredible Projects You Can Build

pulsout 2,145
pause 18
next b0
for B0 1 to 60 ‘ Keep right legs forward
pulsout 0,172 ‘No tilt
pulsout 1,145 ‘ Bring left legs back
pulsout 2,200 ‘ Bring right legs back
pause 18
next b0
goto start
Not all servo motors are exactly alike or respond in an identical
manner to the same pulsout command. The servo motors you
purchase to build this robot will probably vary somewhat from the
servo motors I used. Keeping this in mind, the pulsout com-
mands that control the position of the servo motors may need to
be adjusted. Adjust the numerical value of the pulsout com-
mands to compensate for the particular servo motors used in your
hexapod robot walker.
While this PICBASIC program only provides for forward motion, a
little experimentation on the part of robotists can have this robot
turning to the left or right and walking backward. A few sensor
246 switches on the front can inform the robot when it has encoun-
tered an obstacle.

Parts list for the walker robot

Servo motors
16F84 microcontrollers
Aluminum bars
Aluminum sheets
4-40 threaded rods and nuts
Plastic machine screws, nuts, and washers
Parts are available from:

Images Company
39 Seneca Loop
Staten Island, NY 10314
(718) 698-8305

http://www.imagesco.com

Team LRN
Chapter eleven