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|Target Environment||Locomotion Method|
|Sensors / Input Devices||Actuators / Output Devices|
stall current sensor
battery level sensor
|4 DC motors
|Control Method||Power Source|
|CPU Type||Operating System|
|Time to build||Cost to build|
|4 months||about $600|
|URL for more information|
This robot is controlled by a visual basic program (through the serial port), and can move in three different velocities by a pulse width modulated (PWM) signal generated by a PIC microcontroller (16F877).
The robot can be operated in two modes, "normal control" and "light tracker" modes. In the normal control mode, the robot can carry objects sized from 3 - 18 cm from place to another within 150 m. whereas in the light tracker mode, it follows the light in a dark room.
Many sensors were used, such as light sensors; tilt sensor, stall current sensing, battery level sensing, and some limit switches and touch sensors used in the hand. It can keep its speed constant when it goes on a hill (tilted) and automatically turns the light on when it becomes dark dark. Also to keep the IC's safe, it disconnects the current when it's stuck and the hand stops when holding something.