SnakeBot II

built by jc

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Target Environment Locomotion Method
Indoors 3 Wheels
Sensors / Input Devices Actuators / Output Devices
bumper switches
IR proximity detectors
2 Futaba FP-S48 servo motors
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Motorola HC11 None
Programming Lanuage Weight
Time to build Cost to build
URL for more information
SnakeBot II is a small autonomous robot built around a Marvin Slyder style base and uses two Futaba FP-S48 hobby servo motors, modified for full rotation, for locomotion. The "brain" is built around the Motorola mc68hc11 microcontroller (the 'e2 version with 2048 bytes EEPROM, 256 bytes RAM, 38 I/O lines and a 2MHz system clock). The microcontroller sits in a BotBoard, a small, well designed and inexpensive board, perfect for robotics. The 'bot's programs are written in SBasic and uses a subsumption (behavior-based) architecture. Currently, the SnakeBot II has four sensors for navagating through its environment: right and left front bumper switches (full front-endcoverage) and right and left front infra-red (IR) proximity detectors(120 degrees of coverage). The IR detectors are mounted pointing forward and away from center at a 30 degree angle. The two IR emitters are mounted on the front center of the 'bot, pointing forward and slightly to the left and right. Power for the servo motors comes from four AA Ni-MH batteries (5.2 volts). Power for the MCU and sensors comes from a single six-volt lithium ion battery. Total dimensions are: 9.5 cm x 9.8 cm x 7 cm (L x W x H). Speed is approximately 15 cm / second. For SBasic code, hardware details, schematics and more photos, check out the SnakeBot II site at: or email me at:

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