Alt-BEAM Archive

Message #04888



To: beam@sgiblab.sgi.com
From: SG sparkyg@seark.net
Date: Sat, 26 Jun 1999 22:56:14 -0400
Subject: [alt-beam] A new life is born



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Hello All! Just like to introduce you to "Lotus I"
My first walker.
Based on Ian's "Almost compleate walker" circut found at
http://www.beam-online.com/Robots/Circuits/circuits.html
ALTHOUGH:
1.used 20 uf Cap instead of 30, this is for reverser, bigger cap, longer
reverse time, .. (20 even seems to be even too long for me)
2.couldn't get 1.6M resistors, so used 1.5M
3.guys at many diff shops told me there was no such thing as a 2.5M
resistor, had choice of 2.0 or 2.7, used 2.7M
4.used an IC socket, (i reccomend this for newbies when you get +and- mixed
up, you can replaced the ic you just fried.

I can say once and for all that YES this circut does werk and not too
shabby either in my opinion! The reverser works like a dream too although
i havn't got my Tactile sensor attached to the frame yet. touched the wire
to grnd, and it backed perfectly.
keep in mind this is my FIRST bot, havn't built a solar roller or
photopooper yet. Heck i havn't even touched a soldering iron till i started
this project!
Thanks to IAN! what a help your page has been! (watch the H-Bridge be sure
to read the NOTE on step 3. I think i'm the one that discovered this)
Also thanks to you folks on this mail list for your input too!
FRAME:
Aluminum angle bar (very light) 7" lng. notched for angle at front
held together with small machine screws. used rubber O-RINGS for washers
where IC PCB is attached to frame.
Has LED's showing when legs fire (very nice touch i thank whoever
reccomended this)
MOTORS:
two CS-61 Hobbico Standard Servos $10 each (boy i think they're ugly, i
much prefer the look of bg micros motors i've seen in pics)
LEGS:
Originally used 1/8" welding rod, but needed to practice on the leg
semmetry a LOT, now using COAT HANGERS. Too bad, welding rod was silver
like the frame. leg ends coated with plasti-dip. used longer (1-1/4")
machine screws for "stops"
POWER:
1.4V rechargable Batt. Manager at radio shack gave me ALL he had (5) for
$10, he wanted em off the shelf. (they getting rid of them? try making
offer to manager at R.S. in your area) attached to frame by electrical ties
(not bad!)
COMMENTS:
still need to werk on legs, havn't got the shape quite right, front lift
is only about 1/8 of an inch,... but other than that i feel like a proud
parent.
still need to add tactile sensor, i'll probably add two on each side of
front to give that "bug" look. (though you only prob. need only one)
lemme know yur comments i'm interested in wat you think.
-Sparky

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4889 Sat, 26 Jun 1999 21:51:01 -0600 [alt-beam] photovores sensor prob beam@sgiblab.sgi.com Sharon Williams I finished a photovore the other day, and it works very well, exept for
the tactile sensors. The bot seeks light perfectly, and aviods object
without even using the spring sensors ( must be the way I positioned the
PD's) anyway, the tactile sensors seem to have an opposing effect, it turns
toward the object!, I tried flipping the contact on the springs around,
still doesn't work properly, so I flipped them back. I am using the
photopopper circiut, with 680K resistors on the sensors. Any help?,
suggestions?
thanx,
Jeremy Williams.



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