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If you are really serious about electronics, then an oscilloscope, like the one pictured in Figure 115, is a great investment This is the Tektronix TDS 210 dual channel, digital real-time oscilloscope, with a 60-MHz bandwidth The TDS 210 on my bench also has the RS-232, GPIB, and centronics port module added, so that a hard copy of waveforms can be output The great advantage to using an oscilloscope is the ability to visualize what is happening with a circuit The new digital oscilloscopes also automatically calculate the frequency, period, mean, peak to peak, and true RMS of a waveform You will probably need to use a regulated direct current (DC) power supply and a function generator quite often as well None of the equipment shown in Figure 115 is required when building the robots in this book, but it will make your life as an

electronics experimenter much easier There is nothing more frustrating than finding out that a circuit you are working on is malfunctioning because of a dead battery or an oscillator calibrated to the wrong frequency If you use a good power supply and oscilloscope when building and testing a circuit, the chance of these kinds of problems surfacing is much lower I have always found that if I am working late at night and start to encounter a lot of small problems and make mistakes, the best thing to do is to shut my equipment down and get a good night s sleep Sometimes the difference between frying an expensive chip or the circuit s working perfectly on the first try is just one misplaced component

The robots in this book are constructed using aluminum and fasteners that are readily available at most hardware stores Five sizes of aluminum will be used The first stock measures 1/2-inch wide by 1/8-inch thick, and is usually bought in lengths of 4 feet or longer Many of the robot parts are constructed from aluminum, with the dimensions as shown in Figure 116

Kentucky University of Kentucky (BArch) College of Architecture, Pence Hall Lexington, KY 40506 ukyedu/Design/

The second type of aluminum stock that will be used measures 1/4-inch 1/4-inch, and is shown in Figure 117 It is usually bought in lengths of 4 feet or longer as well The third kind of aluminum stock is 1/2-inch 1/2-inch angle aluminum, and is 1/16-inch thick, as shown in Figure 118 The fourth type is 1/16-inch thick flat aluminum, as shown in Figure 119, and it is usually bought in larger sheets However, most metal suppliers will cut it down for you This thickness of aluminum is great for cutting out custom parts and it is easy to

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lets go, the robot does not always leap forward This introduces an interesting random element, and this is the key to actually controlling the robot s in-flight direction If you want to add sensors and direction control to the robot, try writing a routine that will let one of the legs release, and wait for a predetermined amount of time before letting the other leg go These values could be dependent on the information that the microcontroller receives from the sensor input Compile frogboticbas listed in Program 45, and then program the PIC 16F84 with the frogbotichex file listed in Program 46 Insert the PIC 16F84 into the 18-pin socket on the controller board Place the robot on a flat surface and turn on the power Note that the robot should not be used on hardwood or other types of flooring that scratches easily

Louisiana Louisiana State University (BArch) School of Architecture, College of Design 136 Atkinson Hall Baton Rouge, LA 70803 http://designlsuedu/architecturehtm

'-----------------------------------------------------------------------------------------------------------------------------' Name : Frogboticbas ' Compiler : PicBasic Pro MicroEngineering Labs ' Notes : Program to coordinate the jumping of ' : a robotic frog '-----------------------------------------------------------------------------------------------------------------------------' set porta to inputs trisa = %11111111 ' set portb pins 2 & 3 to inputs trisb = %00001100 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables servo_pos_l servo_pos_r timer1 timer2 timer3 temp1 VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR BYTE 111

frogboticbas program listing (continued)

'-----------------------------------------------------------------------------------------------------------------------------start: for temp1 = 1 to 5 SOUND piezo, [80,4,100,2] low led_l low led_r pause 50 high led_l high led_r next temp1 SOUND piezo, [100,4,120,2,80,2,90,2] low led_l low led_r right: if switch_r = 1 then high led_r servo_pos_r = 158 gosub right_servo else low led_r servo_pos_r = 200 gosub right_servo

Louisiana Tech University (BArch) School of Architecture PO Box 3147 Ruston, LA 71272 latechedu/tech/liberal-arts/architecture/SOAhomehtm Southern University and A&M College (BArch) School of Architecture Baton Rouge, LA 70813 http://susasubredu/ Tulane University (BArch, MArch) School of Architecture, Richardson Memorial Hall New Orleans, LA 70118 http://architecturetulaneedu/home/