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Debot3
built by David Ellis
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| Target Environment | Locomotion Method |
| Indoors | 2 Wheels |
| Sensors / Input Devices | Actuators / Output Devices |
| 4 Sharp IS471F IR sensors 2 Hamamatsu P5587 encoders |
2 DC motors |
| Control Method | Power Source |
| Autonomous | Battery |
| CPU Type | Operating System |
| PIC Microcontroller | None |
| Programming Lanuage | Weight |
| JAL | 550g |
| Time to build | Cost to build |
| +40 hours | $95usd |
| URL for more information | |
| http://home.comcast.net/~ellis76016/robots/derobot03/ | |
| Comments | |
| Debot3's goal is to compete in the "Quick Trip", "Line Following" and "Wall Following" portions of the DPRG Table-Top Competition. It was desired to have it be faster than average, and fairly well equipped with sensors. 4 line sensors still have to be added. The constraints were
that it be relatively low cost. It uses a hacked $10 toy for the gears and motor. The motors are powered by a 4 or 6 AA battery pack. The wheel encoders and proximity detectors we assembled from scratch. A PARTS MarkIII Minisumo controller and sensor board with a Texas Instruments SN754410NE H-Bridge is the microcontroller for the robot. The programming language is Jal, "(Not) Just
Another Language". The 6" diameter 2 deck base is constructed of standard 3/8" plywood and 5/16" wood dowels from local lumber yard. The front and rear castors are constructed of 3/4" wood balls from a local arts and craft store and coat hanger wire. This worked surprisingly well. A power and signal distribution/patch panel is constructed from a Radio Shack General-Purpose Component PC Board, and 5 "40 Pin Headers" from Jameco. It is tied back to the Controller using a $2 40 IDE cable from Fry's. This patch panel makes expanding the robot incredibly easy. |
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