built by Bob Stull

Click on an image to enlarge it
* * * *
Target Environment Locomotion Method
Indoors 2 Wheels
Sensors / Input Devices Actuators / Output Devices
bumper switch
IR proximity detector
IR sensor
4 push buttons
DC motors
4 LEDs
Control Method Power Source
Autonomous Battery
CPU Type Operating System
BASIC Stamp None
Programming Lanuage Weight
Time to build Cost to build
URL for more information
Dual-motor driven programmable Robot capable of interacting with it's environment. Control is provided by a Parallax Basic 2 Stamp mounted on a BASIC Stamp Activity Board.


1. Herbach & Rademan - Herbug Robot
9" diameter plastic base
Dual motor gear assembly
Bumper micro-switch
4" Wheels

2. Parallax BS2-IC Stamp
PBASIC2 Interpreter
2048-Byte EEPROM
20MHz Resonator
5V Regulator
PC Serial Interface
16 User I/O Pins

3. Parallax BASIC Stamp Activity Board

4 Pushbuttons/LEDs
BS2-IC Socket
Strip header for I/O access

4. Lynxmotion, Inc Infrared Proximity Detector
Infrared detector
5V Regulator
Strip header for I/O access

5. Mondo-tronics Mini Dual H-Bridge Motor Drive
6V Max/300ma
TTL Compatible
4 Darlington pairs
Strip header for I/O access

6. 4ea. 1 1/2V AA Batteries (Motors)

7. 1ea. 9V Battery (Controller)


The BASIC Stamp is a microcontroller developed by Parallax, Inc. which is easily programmed using a form of the BASIC programming language. It is called a "Stamp" simply because it is close to the size of an average postage stamp. Since the Basic stamp is programmable using a computer the actual program sequence is up to the designer.

In the example linked to this page WACCO III is programmed to:
1. Navigate through a maze or obstacle course for 2 min.
2. Pause 2 sec.
3. Play a random tune (1 of 4).
4. Pause 2 sec.
5. Spin in tight circle for 3 sec.
6. Pause 2 min.
7. Repeat from #1.

Email: bstull@csrlink.net

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