# 4. Making the Circuit

FOLLOW THESE INSTRUCTIONS AFTER FOLLOWING ALL THE OTHER INSTRUCTIONS FOR MAKING THE ROBOT ITTSELF. THIS IS THE STEP RIGHT BEFORE PROGRAMMING , and the third to last step in all.

To make the circuit you will need the following:

2. Five 10K ohm resistors ( Color Code: Brown- Black - Orange ) (BUY NOW)
3. Six 220 ohm resistors ( Color Code: Red - Red - Brown) (BUY NOW)
4. Two .1uF Ceramic Capacitors ( Code : 104) (BUY NOW)

5. One regular LED / any color you want (BUY NOW)

6. Two 100 K resistors (Brown - black - yellow) (BUY NOW)

STEP 1: Place the the PIC16F616 microcontroller in pins 1-7 as shown in the picture.

STEP 2: Connect a wire from a point on row 1 of the breadboard( left side) to a point on the positive voltage column. Connect a wire from row 1 of the breadboard ( right side) to a point on the negative voltage column.

STEP 3: Connect one leg of a 10K resistor to row 2(right side). Then take the other leg and connect it to a point on the positive voltage column.

STEP 4: Repeat step 3 for rows 3,4,5, and 6( on the right side of the breadboard). One leg of the resistor into its respective row and one leg into a point on the positive voltage column.

STEP 5: Now on the left side of the breadboard, connect a wire from a point on row 8(left side) to a point on the positive voltage column. Take another wire and connect it from a point on row 9(left side) to a point on the negative voltage column.

STEP 6: Take a wire and connect it from a point on row 10(left side) and connect the other end of the wire to a point on row 6(left side)

STEP 7: Grab a wire and connect it from a point on row 11(left side) to a point on the positive voltage column. Now on row 12(left side) take another wire and connect it from a point on row 12(left side) to a point on the negative voltage column.

STEP 8: On row 13(left side) connect a wire to a point on that row and connect the other end to a point on row 2(left side).

STEP 9: Connect a wire from a point on row 14(left side) to a point on the positive voltage column. Take another wire and connect it from a point on row 15(left side) to a point on the negative voltage column.

STEP 10: On row 18(left side) connect a to a point on the row and connect the other end of your wire to one leg of your switch. Now take the positive wire( the red one) from the battery holder( we installed before) and connect the end of that wire to a different point on row 18(left side). Connect another wire from a point on the positive voltage column to the other leg of the switch.

STEP 11: Take the negative wire ( the black one) of the battery holder and connect the end of it into a point on row 19(left side). Now take another wire and connect it from a point on row 19(left side) into a point on the negative voltage column.

STEP 12: Take a wire from the photoresistor and connect it point on row 24(left side).Now take another wire and connect it to a point on row 24(left side) to another point on the negative voltage column. Take the second wire of the photoresistor and connect it to a point on row 22(left side).

STEP 13: Connect a wire from row 22(left side) to a point on row 3(left side). Take a 200 K ohm resistor. Connect one leg of the resistor into row 3(left side) and connect the other leg into a point on the positive voltage column.

STEP 14: Connect one leg of a 220 ohm resistor( red-black-red) to a point on row 25(left side). Connect the other end to a point on the positive voltage column. Take the Left( blue tape) sensor's signnal wire and connect it to a point on row 25(left side). Connect the other wire from the Left sensor( the power wire) to a point on row 27(left side). Take a 220 ohm resistor and connect one leg to row 27(left side) and one leg to a point on the negative voltage column

STEP 15: Connect a wire to a point on row 25(left side) and connect the other end to a point on row 3(right side).

STEP 16: Connect the signal wire from the outermost right sensor(aka RRight , its covered with green tape) to a point on row 30(left side). Connect the power wire of RRight to a point on row 29(left side). Connect one leg of a 220 ohm resistor to row 29(left side) and the other leg to a point on the positive voltage column.

STEP 17: Connect a wire from row 30(left side) to a point on row 4(right side)

STEP 18: Connect the signal wire from the outermost left sensor(aka LLeft , its covered in yellow tape) to a point on the row 30 ( right side). Then connect the power wire from the LLeft sensor to a point on the row 29.(right side)

STEP 19: Take a 220 ohm resistor and connect one leg of the resistor into a point on row 29 ( right side) , connect the other leg of the resistor into a point on the positive voltage column.

STEP 20: Connect a wire from a point on row 30(right side) to a point on row 5(right side)

STEP 21: Find the black wire coming from the line following sensor mount. Connect that to a point on row 23(right side). Now take the signal wire from Center sensor( red tape) and connect it to a point on row 24(right side). Connect the the power wire for the Center sensor to a point on row 26(right side)

STEP 22: Take a 220 ohm resistor and connect one leg into a point on row 26(right side). Connect the other end of the resistor to a point on the positive voltage column. Now connect a wire from a point on row 24(right side) and connect the other end of that wire to a point on row 6(right side). Connect another wire from row 23(right side) and connect the other end of the wire to a point on the negative voltage column.

STEP 23: Connect the signal wire from the Right sensor(white tape) to a point on row 20(right side). Connect the power wire to a point on row 21(right side).

STEP 24: Take a 220 ohm resistor and connect one leg to a point on row 21(right side) and the other leg to a point on the positive voltage column. Connect a wire from a point on row 20(right side) to a point on row 2(right side).

STEP 25: Find the two wires that are connected to the LED that is mounted next to the resistor. Connect one wire of the LED to a point on the negative voltage column and one wire to row 15(right side). Take a 220 ohm resistor and connect one leg to row 15(right side) and connect the other leg to a point on the positive voltage column.

STEP 26: Connect the servos and the sonar sensor as shown in the drawing. On the left side row 7(left side) should get one of the drive motor's signal wire( the yellow one) row 8 and 9 get that servo's positive and negative wires. Row 10(left side) gets the other drive motor's signal wire, and row 11,12 are for that servo's positive and negative wires. Row 13(left side) recieves the scannign servo's signal wire and row 14,15 get that servo's positive and negative wires. Row 7(right side) gets the sonar's signal wire and row 8,9 get the sonars positive and negative wires

STEP 27: Take the positive lead of a status LED and connect it to a point on row 5(left side) . Connect the negative lead of that same LED to a point on the negative voltage column.

STEP 28: Connect a wire from the left negative voltage column to the right negative voltage column. Connect another wire from the right positive voltage column to the left positive voltage column.

ALL DONE!