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The next program will test the robot leg motors and will ensure that the motor connector is oriented correctly Compile motor-testbas, listed in Program 63 Program the PIC 16F84 with the motor-testhex file listed in Program 64, and then insert it into the 18-pin socket on the main board When the power is turned on, the left leg motor should rotate in a forward direction for 3 seconds, and then turn off The right leg motor should then rotate forward for 3 seconds The whole sequence will then repeat itself If either the left or right leg motors are rotating in the reverse direction during this test, then de-solder the wires connected to the offending motor, reverse them, and re-solder the connections If the first motor to run is the right motor, then unplug the motor connector (JP3), turn it around, and plug it back in The motors are controlled by first setting the L298 enable pins high on the desired channels The forward or reverse pins for each channel are then set high, depending on the direction in which you want the motor to travel If both the forward and reverse pins are set high, then the chip will perform a fast motor stop

'-----------------------------------------------------------------------------------------------------------------------------' Name : motor-testbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Program to test the leg motors '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs pins 0 and 1 inputs trisa = %00000011 ' PortB set as outputs pin 1 input trisb = %00000001 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas"

Pennsylvania Pennsylvania State University (BLA) Department of Landscape Architecture College of Arts and Architecture 210 Engineering Unit D University Park, PA 16802 wwwarchpsuedu

enable_right forward_right reverse_right enable_left reverse_left forward_left limit_left limit_right piezo

motor-testbas program listing (continued)

Temple University (BSLA) Department of Landscape Architecture and Horticulture 580 Meetinghouse Rd Ambler, PA 19002 wwwtempleedu/ambler/la-hort/ University of Pennsylvania (MLA) Department of Landscape Architecture and Regional Planning Graduate School of Fine Arts 119 Myerson Hall, 210 S Thirty-Fourth St Philadelphia, PA 19104-6311 wwwdesignupennedu/new/larp/indexphp

low enable_left low forward_left low reverse_left low enable_right low forward_right low reverse_right

There are auto upholstery and convertible top or sunroof shops listed in Yellow Pages across the country Most of these install ready-made tops, sunroofs, and seat covers Some re-cover car and truck seats from scratch or make convertible tops from the tired old ones But few such shops have the experience or patience to do acceptable restoration work A restoration upholsterer must know sources of original-type materials for seats, door panels, convertible tops, and carpets He or she must know where to buy and how to work with genuine leather and with period vinyl Such an upholsterer must be able and willing to replace battered original material tuck-for-tuck, seam-for-seam, using the old material as a pattern Stitching, done by skillfully operated sewing machines, must be flawless As you might expect, such perfect upholstery work commands far higher prices than installing an aftermarket sunroof or factory-made convertible top, running up a set of seat covers, or patching a torn seat

SOUND PIEZO,[115,10,50,10] start: high enable_left high forward_left pause 3000 low enable_left low forward_left high enable_right high forward_right pause 3000 low enable_right low forward_right goto start end

:1000000061288F00220884002009282084138F088B :1000100003195C28F03091000E0880389000F03011 :1000200091030319910003198F0303195C28182801 :100030002B2003010C1820088E1F20088E0803199E :100040000301900F252880060C28262800000F2881 :10005000841780055C280D080C0403198C0A803075 :100060000C1A8D060C198D068C188D060D0D8C0D35 :100070008D0D5C288F018E00FF308E07031C8F07CB :10008000031C5C2803308D00DF3048203C288D01A4 :10009000E83E8C008D09FC30031C51288C070318A6 :1000A0004E288C0764008D0F4E280C1857288C1C86 :1000B0005B2800005B28080083130313831264008D :1000C0000800831603308500013086008312061273 :1000D00083160612831206138316061383128612E2 :1000E00083168612831286108316861083120611D9 :1000F000831606118312861183168611053083122A :10010000A2000830A00073308E000A300120323087 :100110008E000A3001200616831606128312061777 :100120008316061383120B308F00B8303B20061263 :10013000831606128312061383160613831286147F :1001400083168610831206158316061183120B3050 :100150008F00B8303B20861083168610831206115C :0C0160008316061183128B286300B4285C :02400E00F53F7C :00000001FF

Rhode Island Rhode Island School of Design (BLA, MLA) Department of Landscape Architecture Division of Architecture and Design 2 College St Providence, RI 02903 wwwrisdedu

In the next program, the robot s four basic walking subroutines will be developed The robot will walk forward, turn to the left, walk in reverse, and then turn to the right As described earlier, in order for a two-motor, four-legged robot to walk successfully, it is necessary for one set of legs to be in the forward position when the other set of legs are in motion This ensures static stability Otherwise, the robot does not get maximum body lift or forward/reverse motion with each leg cycle For example, when the crocodile robot moves in a forward direction, the microcontroller first turns on the left leg motor A small delay is introduced so that the leg has time to move past the leg position

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University of Rhode Island (BLA) Landscape Architecture Program 6 Greenhouse Rd, Room 207 Kingston, RI 02881 uriedu/cels/lar