Contest Entry: iRobot Create Protoype 3-Sensor Platform

I describe how to build a 3-sensor robotic platform that tracks toward a stimulus source and waits while the stimulus remains above a threshold. My own goal is to make a sound sensor platform, but my prototype here uses light sensors. The sensors are oriented forward and are separated by 60 degrees. There is a sensor and payload platform so that a recorder is delivered into proximity of a stimulus source.

There are two software programs to go with this robotic project. One permits the calibration, in sequence, of the three sensors used. The other provides a state-based control program to define the robot's behavior. If one watches the attached video, one will see that the robot is able to do at least some navigation around obstacles. This instructable is my entry for the iRobot Create Challenge.

Step 1 Gather Hardware Required

The following is my hardware list for this project:

(1) iRobot Create robot w/battery and charger
(1) iRobot Command Module for Create

(My thanks to the iRobot Create Challenge for providing the above via their mini-scholarship program, and for prompt replacement of a failed Command Module.)

(1) audio recording device (I used an Olympus WS-320M, ~$150.00)

(2) Element Direct eProto boards ($4.95 ea.)
(1) Element Direct eDisplay board ($19.95)
(1) DB-9 male solder-cup connector (~$2.00)
(1) DB-9 female solder-cup connector (~$2.00)
(1) piece perfboard (~$4.00)
(1) 20x30" piece of foamcore, white (~$5.00)

(3) Cadmium sulfide (CdS) photo-resistive cells (~$2.50 for a pack of five)
(3) 5K ohm potentiometers (~$1.00 ea.)
(3) PC terminal strips, two position (~$3.00 per pack of four)

Expendable supplies:

(1) roll gaffer's tape (~$12.00)
(1) package velcro, adhesive backed (~$15.00)
(1) tube solder (~$5.00)
(3) rolls 22 gauge hook-up wire (~$12.00)

Tools used:

(1) Soldering iron
(1) Wire-stripper
(1) Diagonal cutter
(1) Needle-nose pliers
(1) Volt-ohm-meter
(1) X-Acto Mat Cutter
(1) Desktop computer w/USB cable for programming the Command Module

Comments

[kucloth]

Why not just solder straight pin to pin and then twist the wires together afterward?  That way you don't have to worry about getting the right wires to the right places...

[Diane Blackwood]

Punkguyta, Thanks for the comment. I've changed the step so that there are just short descriptions and an instruction to download the attached files.

[Punkguyta]

Eh, great job, however, might wanna "compress" that code a little into a file, just being open minded for the dialup users who like to "bitch" alot.