Hookbot: PIC controlled platform
Yet another product of going to the Robotics meetings in Fullerton is buying cool stuff from the many electronics and robotics stores in the area. Last weekend I swung by the Orvac Electronics and Tin Man Robotics ( http://www.orvac.com/ & http://www.tinmanrobotics.com/ ) stores and dropped some cash for parts. The loot included a twin DC motor gearbox, wheels, some SN754410E h-bridges, some cap and resistor refills along with other misc stuff that has slowly been depleted. The resulting monstrosity from the purchases is a little bot named ‘Hookbot’.
This is pretty much my first foray into mobile platforms; not counting senior lab or failed attempts in the basement years ago. The bot is controlled from a PIC16F872 using the SN754410 quad half-h drivers for power to the drive system. The gearbox is one of those Chinese imports made from plastic with a hex-bar axle, geared down to 203:1. I really do miss having a garage or basement with tools to make a drive system, but hey, a simple one for like $10 who can complain? The name hookbot is because I used the hook from a coathanger as the front skid. (Hey, use what you have right ;-) )
The code for the PIC was written in assembly using MPLAB from Microchip. I have to say MPLAB is a cool program with lots of tools for debugging the code on PC rather than on MCU. If you are looking to get into PIC programming take a look at it, and also at Bob Blick’s parallel programmer http://www.bobblick.com/techref/projects/picprog/picprog.html .
Right now the code just runs the bot in a demo pattern so I could start tweaking out the motors. I uploaded the source for anyone who wants to take a look at PIC assembly, http://geeksinside.com/files/hookbot.asm and also have some pics below.
Enjoy, I know I will making it roam around the apartment.
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