Hylas Homepage

Mini Sumo Experiments

First attack. The tyres were from LEGO, I've got different ones now ... The scoop looks nice. It's from an old ink jet printer ... The whole robot is still a bit too light for a Mini Sumo ... some lead weights maybe ...

Next in the row of Sumos was a 'Bot called "JoBot".
The chassis is made of aluminium. It consists of a single piece of metal which is folded to form. I have a layout which I can print out in variable sizes. The wheels are from Pololu (great stuff they got ...).
I created the original control board for an 80C32 ( the empty areas on the PCB are meant for the external RAM/EPROM ). Since my 80C32 wasn't fast enough ( when programmed in BASCOM Basic at least ) I changed it against an AT90S4414. They are nearly pin compatible.

I have also used a DT107 by Dontronics.
You can see the sonar range module (SRF04, made by Devantech ).
The 'Bot was already programmable for "hunting".

Attaching the CNY70 sensors for line detection to the scoop with epoxy glue ...
What I don't show here is how I had to peel them off again because of a little fluke :) .
The sensors work pretty well.

One of my new MiniSumos. Here, I am using a different board which is based on Elektor's ATM18 project. The chip on board is an ATMEL ATmega88. Programming is mostly done in 'C'.

I am using different sensors here: these are TCRT1000 by Osram. They are attached to the scoop by adhesive tape used for putting up mirrors (great stuff :) ).
Right now I am having the problem of getting variable results from the sonar detectors depending on momentary motor load and remaining battery capacity. Lots of things to do ...
For debugging purposes I am using XBEE modules to send data to a pc.
The 'Bot's firmware (in 'C') features a state machine which does all the behaviour.

Mini Sumo fight.
Line Following.