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This is my first instructable and my first robot.

I decided to build a autonomous robot out of the Lynxmotion rover i got a few moths back.
This is a obstacle avoiding robot with ping sensor and panning servo, that continuously sweep
from side to side looking for any obstacle's.

Step 1: The Parts

This is what you need:

Hardware:
Arduino board
Ultrasonic Distance Sensor (3pin)
Proto Shield for Arduino
Lynxmotion Aluminum A4WD1 Rover Kit
Sabertooth Dual 12A
3 cell lipo
•Wires
•2 x microswitch
1 x servo (standar size)
4 x pin headers

Software:
Arduino IDE

Miscellaneous:
• Screw driver
• Computer
• Screws and nuts
• Soldering iron


Step 2: The Code & Breadboard

You can download the code from this link and upload it to your Arduino board.

Step 3: Putting It All Together

On the Arduino board, I use pin 3-5-6-9

•On the top side of the proto board, solder 4 pin headers as shown in picture.

•Now flip the proto board and solder 4 wires from pin 3-5-6-9 to each of the signal pins on the pin headers you just
added.

•Now place the proto board on top of the Arduino board, and connect:

- pin 3 (Ultrasonic sensor)
-pin 5 (To Turn on the Saberthoot) Only use GND and SIGNAL wire

-pin 6 (To Forward on the Saberthoot) Only use GND and SIGNAL wire

-pin 9 (servo contoling the ultasonic sensor)

I have used 2 micro switches between the Saberthoot/Arduino and the battery. I do this because I want to have the possibility to power the arduino and the sabertooth seperatly.

Now you just have to power it up and watch it drive around.

if you have any tips or improvment for the build/code. Just comment or contact me directly.



<p>Awesome :) ! how much torque do the motors provide ?</p>
<p>Sorry for the late reply. But the motors I use have a stall torque 4.6kg-cm. the setup is now used with a 4cell lipo. Very strong with this battery.</p>
<p>hey do you still have the code?</p>
<p>The link of dowloading code is not working</p>

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