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Fabricate two standoffs using 1/4-inch nylon or plastic tubing cut to a length of 3/8-inch These will be used to raise the PCB up off of the robot s body when it is mounted Place the standoffs between the mounting holes and the circuit board and secure in place with two 6/32-inch 3/4-inch nylon machine screws and nuts Figure 460 shows the board mounted to the robot Follow the connection diagram in Figure 459 to connect all of the individual components The power connector cable that was just fabricated should be connected so that the female 2-post headers are plugged into the BT1 connectors, so that the terminals with the

Hawaii University of Hawaii at Manoa (BArch, MArch) School of Architecture 2410 Campus Rd Honolulu, HI 96822 archhawaiiedu/site/indexphp

positive (red) battery lead are connected to the top posts The switch is mounted in the 1/4-inch hole to the rear, right side of the body, and the battery clip should be positioned so that it is near the battery holder Figure 461 shows the power switch and the 6volt battery pack hooked up to the battery clip When the servos are plugged into the board, make sure that the yellow wires of the servo connectors are positioned to the inside of the board and the black wires are closest to the edge of the board Connect the left and right limit switches to the controller board, as indicated in Figure 459 The completed frog robot is shown in Figure 462

3 Buy a book or two in the format or subject closest to what you have in mind from either a bookstore or a mail-order company such as Classic Motorbooks Classic Motorbooks parent company, Motorbooks International, is a book publisher as well as a marketer Automotive books are for a specialized market Since they are not blockbuster sellers, they wouldn t interest a literary agent This is just as well, since the agent takes a 10 to 15 percent commission Payment is usually by royalties, which are anywhere from about 3 to 8 percent of the cover price or wholesale (net) price and are based on copies sold Advances money paid to you against eventual royalty sales will not be large sums Don t expect the publisher to bankroll your manuscript preparation time or photography costs When you ve had your proposal accepted, you will be asked to sign a contract setting forth the publisher s terms It indicates whether you are to supply photos and if you ll be paid extra for them The royalty terms, book length, and manuscript due date are also written out These terms are somewhat negotiable but only before you sign the contract Although you probably won t get rich, you ll have the joy of seeing your baby arrive, its words and pictures tucked between covers, anywhere from nine months to two years after you finish writing the book

Now that Frogbotic s hardware is complete, we will focus on programming the robot to read input from the limit switch sensors, control the leg servos, make sounds, and turn the LEDs on and off

Idaho University of Idaho (BArch) Department of Architecture Moscow, ID 83844 caauidahoedu/arch/

To test the main controller board, the PIC 16F84 will be programmed to flash the LEDs, make frog-like noises, and then start rotating the servos This will ensure that all of the components have been correctly soldered to the board and that power has been connected The first program is called frog-testbas and is listed in Program 41 Type the program into your favorite text editor and

then compile the code Program the PIC 16F84, as detailed in 3, with the frog-testhex file, listed in Program 42 When the chip has been successfully programmed, insert it into the 18pin IC socket on the main controller board with the notch and pin 1 facing toward the LEDs and then apply power If everything is working properly, the LEDs should flash on and off while making frog noises When the light and sound stops, the servos should start rotating in a forward direction toward the front of the robot If the servos are rotating in the opposite direction, then switch the two servo connectors on the controller board