Pogo

built by Alan McDonley

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Target Environment Locomotion Method
Indoors 2 Wheels
Sensors / Input Devices Actuators / Output Devices
Shaft/wheel encoders
visible light
microphone
bump detection
IR - IS1U60
battery voltage
ELTEC-442-3 pyro sensor
IR Illumination - Modulated
Sound
2x16 LCD
Battery low LED
Drive motors
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Motorola HC11 None
Programming Lanuage Weight
C
Time to build Cost to build
16 hours See comments
URL for more information
http://www.geocities.com/alanmcdonley
Comments
Programming Environment: Interactive C v3.2 on Windows 98, Emacs editor Bot's Operating System: Interactive C (Multi-process with interrupts) Host Interface: RS232, Port Adapter and Cable provided, 9600 bps Download time: Less than 20 seconds to completely fill program memory Memory:32K Battery Backup Processor:MC68HC11 - 2Mhz clock 1Mhz instruction cycle Drive Motors: 2 Long Life Gear Head Wheels: 2.5" Dia. Rubber Speed: 0.67 feet per second - fast enough but not fast (slow walk) Size & Shape: Circular Cylinder 7.3" Dia. 4.75" high Power: 6 NiMH "C" cells (8.3v fully charged - 4.6v at reset hold) Recharge Time: 15 minutes Battery Life: 10-12 hours no motion, 2 hours with constant motion Memory Backup in Off state: Manufacturer claimed current draw should protect program for several months over a year, but never tested. Cost: RWP kit - $599 ($525 from webbooks.net) 6 NiMH C cells - $30 MRC SuperBrain Recharger - $40 Expansion board and connectors - $40 ELTEC Pyro Sensor - $40 Additional Behaviors Implemented: track age variables (time since boot, max time since boot, time since load, total run time) track average, max, minimum sound levels warn of impending low voltage condition output strings in morse code sing "hava nagila" periodically say a few random phrases in morse code My minimum "dream" for this bot is to add: a) an IR beacon in the environment b) scanning and recognition of an IR beacon c) docking station with power contacts d) ability to dock with the docking station Then I hope to add: wall following behavior human following behavior obstacle "evaluation" behavior - (determine the shape of an obstacle - no useful value but ...) playful behaviors - dancing to music beat, spinning, waddling, squares, circles

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