The Tiny Wanderer is a complete robot design for beginning robot builders. It was built as a learning tool to accompany a set of tutorials done at the Dallas Personal Robotics Group (DPRG) in 2011.

This robot can move around on a tabletop without falling off the edge. Its smarts are provided by an AVR ATTINY microcontroller. It uses two edge sensors composed each of a discrete IR transistor and a discrete IR LED. The controller board is built with the idea that it could be re-purposed for other robot configurations.

Both laser cut and scroll saw / drill versions are included in this instructible.

The video below shows the Tiny Wanderer in action:

The Dallas Personal Robotics Group (DPRG), founded in June of 1984, is one of the nation’s oldest special interest groups dedicated to the development and use of personal robotics. DPRG members are interested in autonomous robots, movie replica robots, vintage robots, robot and kinetic art, as well as just about anything involving electronics, technology, or science.

The DPRG invites you to come visit if your travels take you to the Dallas, TX area. They meet every Tuesday night and every 2nd Saturday of the month,. see http://www.dprg.org for location details.

Step 1: Materials

Controller Board:
 1  --  switch with 200 mil pitch leads
 1  --  0.1 uF capacitor
 1  --  100 uF capacitor (it can be a larger capacitive value)
 1  --  diode (almost any will do)
 1  --  10K ohm resistor
 1  --  150 ohm resistor
 2  --  100K ohm resistor
 1  --   strip of single row 100 mil pitch pin connectors that can be broken apart
 1  --   2x3  100 mil pitch double row pin connector  (6 pins)
 1  --  AVR ATTINY 85 micro-controller (ATTINYs with less memory could also be used)
 1  --  DIY PCB board or proto-board
Robot Chassis :
  2  --   11.5 x 12 inch pieces of either 1/8 inch Masonite or acrylic plastic (Plexiglas)
  2  --   12.5 inch pieces of 0.175 inch window screen spline
18  --   5/8 inch #4 screws
14  --   3/8 inch #4 screws
18  --   #4 washers
32  --   #4 nuts
  2  --   small tie wraps
  1  --   o-ring or window screen spline o-ring that fits the outer race of the inline skate bearing
  2  --   inline skate bearings
  2  --   1 inch long 5/16 inch bolts
  2  --    5/16 inch nuts

note: if you are making the scroll saw / drill version of the Tiny Wanderer you will also
need several 5/16 inch washers and some #4 nylon washers or spacers.

  2  --   continuous rotation regular size hobby servos (ex. Parallax or Pololu continuous hobby servo,
             the robot in the video is using modified T PRO SG-5010 -- not recommended for the beginner)
  1  --   four AA battery holder (original used a 2x2 holder with a 9V style battery clip from Radio Shack)
  4  --   AA batteries
  1  --   piece of Velcro to attach battery case to chassis

  2  --   940nm IR LED (ex. LTE4206 -- available from BG Micro)
  2  --   940nm IR photo transistor (ex. LTE4206E -- available from BG Micro)

   note: Radio Shack part 276-0142 - IR Emitter and Detector will work for the the parts above

  2  --   DIY PCB sensor boards or small pieces of prototyping board
  2  --   3 pin single row 100 mil pitch pin connector
  2  --   10 inch, 3 wire ribbon cable with 3 position single row female connector on each end

Can i use the same code on the atmega8?
The code would most likely need some changes. Atmel is pretty consistent in naming registers, and the bits within the registers, however between the Attiny 85 and Atmega8 I am sure there are differences.<br> <br> The things that would need to be looked at are pin assignments, register names,&nbsp;the names of the registers' internal bits and clock settings.<br> <br> The general algorithm and program flow should work.
How do i change it?
You need to get copies of the datasheets for the two processors (Attiny85 and Atmega8) to work out the items&nbsp;mentioned before.<br> <br> This link starting at step 13 shows you how to program the chip. <a href="http://makeprojects.com/Project/Tiny+Wanderer/1685/2" rel="nofollow">http://makeprojects.com/Project/Tiny+Wanderer/1685/2 </a><br> <br> You might consider using an Arduino instead of the Atmega8.
I'm a little confused about the AVR ATtiny 85 microcontroller... i tried finding it but i am unable to... which one do i have to use from these... http://www.atmel.com/devices/attiny85.aspx
Any of the dash -20 parts will work. However the Pdip package is the easiest for hobbists to work with. The Pdip part is ATTINY85-20PU.
Nice Work!!!
I love your edge sensor idea. It shoots and infrared light at the ground and if there is no reflection it is pointing off an edge.
this is abegginer robot?<br>
is it supposed to sligtly go left?<br>

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