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
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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