I like this picture, it seems taller than it is : approximatively 26 cm / 10 inches.
All important components/function are visible here.
A view from the back, before the IR sensors had been removed.
The USB cable between the PC104 and the Board Of Education is used to upload programs to the Basic Stamp 2.
The USB cable between the PC104 and the Board Of Education is used to upload programs to the Basic Stamp 2.
The webcam on its tilt axis.
On the right part of the cam mount (left on the picture, screw sticking out), note the fine setting that allows to align the axle with the servo in order to get an horizontal image. Details matter, don't they ?
The ZIF / IDE adapter and the home made 44p x 2mm extension cable that required some small soldering...
In the back, the heat sink and the fan.
The connector at the bottom is the RS-232 that carry data between the PC104 and the BS2. It's very simple with only 3 lines : RX, TX, ground. It means that serial communication is only possible in asynchronous mode.
I might remove this connection and use the USB port for programs upload, debug and serial communication during missions. A less convenient set up, but doing so would free 2 I/O on the BS2, if needed...
2 views of the vehicle part. There are batteries holders everywhere !
Because the robot is way higher than a regular Boe-Bot, I changed the servos assembly to improve stability : they are now mounted on the outside of the chassis. The robot is 8 mm wider, and I got some room to fit a battery between the 2 servos.
If someday I build a gripper for this guy, it will need some balance improvement. I will have to rotate the servos to bring the wheels to the front of chassis, and it shouldn't need a counterweight.
View from below.
On the right of the picture, the power supply PCB (2010 version).
The voltage regulator, located next to the power supply PCB
