This week I soldered up the "secondary board" to my OOPic2
so I can attach the 40pin IDE connector to it without
soldering my OOPic board. From the secondary board, I have
8 outputs (enable,fwd,rev, and PWM-speed for left and
right) and 7 inputs (5 contact switches, 1 IR module, and 1
A2D for battery monitoring). BTW, solder flux RULES!
Since the switches are bolted to the outer shell of the
bot, the connections are made to an IDC header, that I can
connect the switches to. That way I can remove the shell
without having permanent wires attached. Using the
internal pullup resistors on the OOPIC is going to make the
switch circuits really simple and clean.
I got a couple emails about the wheels and gear motors. I
bought the motors from www.sciplus.com about 8 months ago.
They were from one of the battery operated kiddy cars. The
output shaft was unique in that it was 2.25" in diameter
and was divided into 10 sections. I was originally going
to just replace the shaft completly, but as luck
would have it, by breaking off every other section, it fit
exactly into my lawn mower wheels. (shell1.jpg
shows the wheel). This was an astounding bit of luck that
it matched size, radius, and depth! After that, I bought
two more motors as spares!