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Hyper Sensing and Speed
This is the first robot I built that used the Sharp IR rangefinder (read that tutorial to understand more of the theory) and wanted to put it on a scanning servo. I had never seen anyone do this before and thought it could be really useful for mapping. This is also the robot that I got the idea to add multiple rangefinders that scanned together to halve the required scan time. I have since achieved much more amazing algorithms with future robots (again, check the rangefinder tutorial), but I'd still like to share this design for beginners.
I put two additional short range infrared emitter-detector pairs on the front as a sort of bumper sensor (see above image, in the front of the robot, on the left and right sides). The bumper sensor had priority using subsumption style arbitration (the anti-crash sensor gets final say). You will notice this in the video when Hyper Squirrel backs up occasionally.
The first step I took was to rip off the flashy car looking cover, then unscrewed the chassis. I needed to disconnect the two el-cheapo DC motors from the 27Mhz receiver (which I saved and used for a different project later) and attach them to my motor driver on my PIC-based Cerebellum microcontroller.
You can see the four motor wires coming out the back here:
Then I took a square shaped piece of HDPE (that white square plate on the robot), drilled a few well-placed holes in it to match holes I drilled into the Echo chassis, and used screws to fix it on. To attach my microcontroller, I used for metal spacers. I attached my 6V NiMH battery using Velcro right under the microcontroller (see above image).
The servo in front was attached using double sided sticky tape.
This is the Cerebellum board that was mounted on the robot:
A bottom view just for fun:
The whole chassis modding process took me about 5 hours. The rest of the time was used for uploading source code I modded from older robots I made.
Hyper Squirrel Source Code for PIC (May 2004)
Hypersquirrel with CMUcam: Bronto
Anyway, I called in Bronto (short for Brontosaurus, that long-necked dinosaur).
The CMUcam was attached using a sheet of aluminum that I folded and drilled a few times . . .
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