Hopefully someone is interested in the source code. Click here for the MPLAB project (written in C, so you'll need a C compiler). AutoCAD files and PCB files also available at request.
Gizmo's parts, unlike my previous robots, were laser cut! It saves a lot of time and the cost of all the pieces (including shipping) was $50. I was surprised by the precision of the laser cutter. Interlocking pieces fit together so well that glue is not necessary.
So what are some specs on Gizmo?
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Primary Microcontroller: |
Microchip PIC16F877 @ 20 MHz |
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Power System: |
Panasonic 7.2 V 1550 mAh NiMH |
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Serial Communications: |
Bi-directional RS232 lines at 38400 bps (to CMUcam) |
| Transmit line RS232 at 9600 (to servo controller) | |
| I2C Bus | |
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Servo Controller: |
Mini SSC II |
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Obstacle Avoidance: |
Three SRF04 Ultrasound Range Finders |
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Motor Controller: |
Sozbots Dual H-Bridge |
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Display: |
16x2 Backlit Display by Matrix Orbital |
Here's a special mount I made so that the CMUcam would face the object at the correct angle, and have an array of bright LED's to light it's path.
That's Gizmo being assembled... many wires have yet to be added.
12.03.2003 William Summerfield Dubel IV