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|Target Environment||Locomotion Method|
|Sensors / Input Devices||Actuators / Output Devices|
|4 microswitch bumpers
4 modulated IR detectors
2 cadmium sulfide photocells
|2 servo motors|
|Control Method||Power Source|
|CPU Type||Operating System|
|Parallax B2-SX and a PIC12F629||None|
|Time to build||Cost to build|
|URL for more information|
|Ostracode is a completely autonomous mobile robot which travels exploring the upstairs level in our house. He is powered by twin processors, a Parallax B2-SX and a PIC12F629 microprocessors. Two Fituba servo motors power his movements, and an 8 AA pack Nickel Metal Hydride battery pack putting out 10.5 volts powers him. His weight is balanced toward the rear with the battery pack, and there you'll find the third caster type non driven wheel. A fourth encoder wheel rides exactly in the middle of the drive wheels and is used by the PIC to determine if he is slipping while driving forward.
Sensory input is from 4 front and rear microswitch bumpers, 4 Modulated IR Panasonic proximity detectors, two under and two over the mid section. Also, two front facing Cadmium Sulfide photocells provide for day night detection and photo tropic tracking. This is my fifth robotic project, the first being a 16F84A PIC microcontroller bot called "Twitchy", the second was the "Aurora Cam" Robotic Camera, the third Boe-Bot, Fourth "PIC BOT" with crude Subsumption architecture, and finally this robotic crustacean.