Let's Make Robots!

MO-Bot

 
Roming around using an SRF-04 for obsticle aviodance

This was built about 7 years ago, the idea for the chassis came from the BOE-BOT, the controller is an Out of production Stampbug 2 board, from Milford Instruments Ltd, in the UK. it contains a OEM Basic Stamp 2, small proto area, the only problem is it contains no voltage regulator, so i had to build my own.

I also build a board to power the servos, this provided the pins for the servo plugs, logic from the stamp and a seperate power supply.

It uses a Daventech SRF-04 ultrasonic sensor, for collision avoidence.

This is the code that the stamp is running, feel free to copy and use it if you wish.


' MO-bot roaming with Devantech SRF04'

counter VAR Word
Dist VAR Word
INIT CON 6
ECHO CON 7

' CONVERSION FACTORS: '
' The PULSIN command returns the round-trip echo time in 2us units
' which is equivalent to the one-way trip time in 1us units. '
' Filename: srf04-1.bs2 ' distance = (echo time) / (conversion factor) '
' use 74 for inches (73.746us per 1 in) ' use 29 for centimeters (29.033us per 1 cm) '

convfac CON 74 ' use inches '

main
GOSUB sr_sonar

GOTO main

sr_sonar:
PULSOUT INIT,5 ' 10us init pulse
PULSIN ECHO,1,Dist ' measure echo time
Dist=Dist/convfac ' convert to inches
IF Dist > 6 THEN forward
IF dist < 6 THEN left
PAUSE 10
RETURN

Forward:
FOR counter = 1 TO 10
PULSOUT 15, 500
PULSOUT 14, 737
PAUSE 20
NEXT
RETURN

Left:
FOR counter = 1 TO 24 'adjust this number till robot turns 90
PULSOUT 15, 750
PULSOUT 14, 750
PAUSE 20
NEXT
RETURN  

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In the video you will notice the robot turns to the left, upon invetigation the gears are worn in the left servo, i will replace the servo for MO-bot2.

Yeah that's cool. The caster and the big wheels look great on the robot.

Video uploaded Markamas, 7 years in the loft it's not running as well as it should, the power distribution board is cracked down the middle, the rear caster is very stiff and not rotating free, i am going to strip it down and rebuild it, look out for Mo-bot 2 in few weeks. :)

I'll get some new batteries tomorrow, and upload a video, lol

took it out of the loft tonight to take the picture. :)

Ok then I guess the video is coming soon :-).

Looks great! Do you still have the robot or did you dismantle it (since it's been 7 years)?