User's Guide
Introduction
Features
Requirements
Controller
Chassis
Assembly
Testing
Troubleshooting
Programming
Contests
Extending
Appendix
Hints
Polarized
Resistors
Capacitors
Servos
Batteries
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Printable Version 
Features
Goals
- Create electronics and mechanics that are useful not just for mini-sumo, but for general-purpose robotics
- Modular and adaptable with great potential for expansion
- Serial port programmable
- Supports as wide a range of computing platforms as possible
- "Open source" hardware, so others can use the design
Controller
- CPU - PIC16F877 20MHz. Circuit is derived from Rick Farmer's PIC EVB and is compatible with the OOPic
- PCB - 2.4" by 3"
- Mezzanine boards - stack on top of main PCB, provide prototyping and optional sensors
- Computer Interface - Standard serial RS232. DB9 connector. 8N1, no handshaking.
- 40-pin OOPic-compatible header for interfacing to mezzanine boards and/or OOPic-compatible expansion boards. All PIC lines brought out to header.
- Firmware - Rick Farmer's PICLoader
- Low-battery indicator
Mezzanine Boards
Mezzanine boards are optional.- Two mezzanine board designs:
- General-purpose prototype
- Multiple optional sensor boards
- Sensor mezzanine board has areas laid out for the following:
- Quad H-Bridge for DC motor control
- Two-axis accelerometer
- 8 12-bit Analog inputs
- 8 Digital inputs
- Handyboard-compatible Digital I/O
- Eltec PIR sensor
- Piezo speaker
Body
The body is 2 pieces: a chassis and a removable scoop. The controller board connects to the body with four 1.375 inch long standoffs. The design of the chassis, scoop, and standoffs is based on Dan Gates' prototype. The scoop may be detached and replaced with a caster wheel or other means of support. Wheels are custom-made, injection-molded out of ABS plastic.- Chassis drawing in PDF format.
- Scoop drawing in PDF format.
- Wheel drawing in PDF format.
- Alternate Wheel design in PDF format.
- Motors
- Use standard servo motors, user-modified with the Sandberg Servo Mod
- Power Source - Battery holder for 4 AA cells, either NiCd or Alkaline
Sensors (standard)
- Line Following. Use the Fairchild QRB1133 or QRB1134 photoreflector.
- Ranging. Use the Sharp GP2D12 infrared ranging sensor. Provide software for proximity triggering.
- Other sensors are optional and can be interfaced through the 40-pin header.
