Turbot ( TURn - roBOT ) - Flippers

My First One
Two Motor WalkerSchematic
This one has a movie1.37MB MPG Movie, 320x200 resolution, 15 seconds..
Nihon Mini Motor Bug
The Gear SetGear Modifying Instructions.
Bridge Head
CyberArm revisited
Number 5 Page.
Symet Page
You're Here!1.37MB MPG file, first one.1.37MB MPG file, second one.
Biggie Page
Slider Pagewhine-whine-whine-WHINE-WAV file, 76K.
PIC-16LF84 chip, emulates a microcore.Schematic - JPEG image 925 x 683 pixels.Source file for GP16LF84.Hex File for programming into PIC-16LF84-04/P

This is the first one made.

The "black tape" areas are batteries.
Motors are Nihon mini-motors from www.BGMicro.com.
It uses a 74HC14 PNC Microcore tied to a 74AC245 for the motor driver.
It has PD's for the sensors, but only on the top. They can be seen on the larger pix,
laying over the caps and resistors along the top right edge of the board.
The springs on the corners and the round rubber bumpers are for helping to
reduce the "bounce" when it flips over.

This is the second one made.

Waiting for the "big helper" to flip the tiny "off switch".

Two Nihon Mini-motors, One controller - Lopsided BiCore controlling a MicroCore. Motors driven from MicroCore directly.
Paper tape holds the batteries in place, temporarily.

Chip - 74AC14.
MicroCore - Caps on MicroCore = 0.22uF, Resistors = 3.3M.
Gates, 1 in - 2 out, 13 in - 12 out, 3 in - 4 out, 11 in - 10 out.

BiCore - Leftover two gates of the 74AC14, Caps = one 0.1uF and one 0.22uF, Resistors - 3.3M.
Gates, 5 in - 6 out, 9 in - 8 out.
BiCore - Has the light sensing PhotoDiodes along with green LED's for visuals.
BiCore - Outputs 6 & 8 tied to the MicroCore inputs 1 & 3 through 2.2M resistors.

PhotoDiodes = Tie directly to the BiCore, facing each other and have a 68K resistor between the photodiodes.

Batteries =  Two each 3V Lithium, look like short, fat AA's.

To hold the circuit boards in place, three nuts were soldered to the frame, then screws put through the board into those nuts.
Soldered nuts are also holding the mini-motors.

These turbots seem to like to find an object in the room and then stay right next to it.
Kinda like a cat rubbing on your legs, forever.

The "legs" seem to get caught under objects and then like to bend themselves out of shape.
They may get changed to springs, long ones.

Paul T. Barton

This page updated: February/27/2002