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Next, the 3-volt battery packs, located in each body segment will be wired to provide 6 volts to the controller board The 6-volt supply will be used to directly power the servos To accomplish this, the first two battery packs will be wired in a series to create 6 volts The next pair of battery packs are also wired in a series to create 6 volts, as are the last two Each of these three pairs are then wired in parallel so that the supply is 6 volts, but capable of providing higher current and a longer robot operating time This is important since the robot will be coordinating the movement of six servos that may all be in operation at the same time The 9-volt supply is from a single battery mounted in the first body segment This supply is used to power the controller board The use of dual power supplies with a robot is preferred because it provides the

microprocessor with isolation from the noise introduced by the direct current motors in the servos It also allows the robot to run for a much longer time because the microcontroller can keep operating from the 9-volt supply, even if the 6-volt supply drops down to 4 volts The servos are capable of operating at lower voltages, but if the PIC s supply drops below 5 volts, it will go into a resetting loop By powering the microcontroller with its own 9-volt source, this problem is eliminated Table 56 is a list of all the parts needed to complete the wiring of the robot snake

Description 3 feet Battery straps with 8-inch leads Double-pole double-throw switch Momentary contact switch Male and female connectors 25-mm spacing 25-mm spacing 1/4-watt Sticky backed nonslip rubber 15-volt battery 9-volt battery

University of Oklahoma (BArch, MArch) College of Architecture 830 Van Vleet Oval Norman, OK 73019 http://coaouedu/

Push button switch 12-inch servo connector extension 2-connector female header 1-connector female header 1-K resistor

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Oregon University of Oregon (BArch, MArch) Department of Architecture 210 Lawrence Hall 1206 University of Oregon Eugene, OR 97403 http://architectureuoregonedu/ The accredited MArch program is offered on the Eugene and Portland campuses

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Refer to Figure 552 when wiring each of the 3-volt battery packs and the 9-volt battery to the DPDT switch and the controller board Start by mounting the DPDT switch in one of the 1/4-inch mounting holes on the top of the snake s head Wire each of the 3-volt battery packs in the body sections with the battery clips that attach to each holder It may be easiest to connect each of the battery clips together before attaching them to the battery packs Make sure that the connections are soldered in place and that insulating heat-shrink tubing is placed around each connection All of the wires should run inside the snake from one section to another Use the connector wire to attach the switch to the power terminal blocks on the controller board Place a 9-volt battery in the battery holder that is located in the first body section behind the head (see Figure 536) Attach the negative lead of the 9-volt battery clip to the 9-volt power terminal connector on the controller board, and solder the positive lead to the switch

Next, connect all of the servos to the robot controller board located in the head Figure 553 shows a diagram of the snake and each servo located in each body section, along with the corresponding connector on the controller board When attaching each servo to the connector on the controller board, the servo s yellow wire is always to the left, as indicated in Figure 553 The middle wire is red and the wire to the right side is black The last three servos labeled servo 4, servo 5, and servo 6 need wire extension connectors added so that they are long enough to reach the controller board Use 2-inch servo connector extension wires, like the one shown in Figure 554

Pennsylvania Carnegie Mellon University (BArch) School of Architecture 201 College of Fine Arts Pittsburgh, PA 15213 wwwarccmuedu/cmu/indexjsp

A mode select push button will be added to the top of the robot s head so that different functions can be chosen when the robot starts up One of the main functions that the push button will enable is calibrating the infrared sensors Fabricate the push button connector using a momentary contact switch, a 1-K resistor, a 2-connector female header, a 1-connector female header, some heat-shrink tubing, and three pieces of connector wire cut to a length of 3 inches each Use Figure 555 as a wiring and soldering guide when creating the connector When the push button assembly is finished, mount the push button in the 1/4-inch mounting hole on the snake s head and attach the connectors to the controller board, as shown in Figure 556