Finished the Ultimate TABLEBot article. Should be in the April issue of SERVO. The goal of the project is to use all 16 pins on the BS2 whether needed or not. Since the Scott Edwards Mini-Serial Servo Controller (MSSCII) controls 8 servos with one pin this proved challenging. In fact I'm currently only using 12 of the 16 pins and 6 of the potential 8 servos. I need to iron out the programming on what I have before adding more actuators and sensors... it can move a block into a shoebox at the end of a table (i.e. TABLEBot Challenge Phase III) and is very animated. ;-)

Camp

Got the servo thing straightened out Timmay and the dual 7805s seem to be working fine. I've verified the "palm" switch and mobility detector <check>.

Now I just need to tie all the programming together to deposit the block in the box while staying on the table.

Currently the robot can move forward staying on the table (downward facing IR) and when he blunders into the palm switch it triggers the gripper. When the gripper is actuated and it "feels" something in its palm the gripper stays closed tight.

One thing I need to do is insert code to use the lower differential sonar to find the block and then once acquired use the higher swivel servo to find the box.

Note: apparently lucky with the parallel 7805's. It seems but for the little bit of resistance in the solderless breadboard this probably wouldn't have worked.

It's on to the next step... what is the next step?

Oh yes, the upper gripper servo is kaput and I don't have another of the same size... will use smaller size replacement. <optimism> Maybe it'll work better </optimism>.

On second thought I'll use the standard servo... Futaba 3003.

Note: I have resolved Timmay's troubles by adding another 7805 in parallel.

Well I have hit the wall on Timmay 's power supply. As I was programming him for the TABLEBot Challenge it started acting erratic when I actuated all the servos... so I'll be breaking the power into two 9 volt sources... one dedicated to the MSSC II and the other the Stamp.