Installing the final components - Bumper Switch Array
 
Once
      the robot is traveling using its sonar to measure the distance
      to its goal, and compass to set direction, it may have to deal
      with foreign objects that end up in its normally cleared path.
      Two bumper switches of a new design were added to deal with this,
      and will stop the robot in its tracks instantly and report an
      error code, waiting for rescue. This prevents the robot from
      watering places it is not supposed to!
 

      

Left:
      Perspective view of the robot, with the two new bumper plates
      installed on the front on both sides of the sonar. The red band
      on each one is a tribute to my first PIC robot - PAAMI in June
      2005.
 

      
Left: Details
      of the new design for bumper switches. Two black foam strips
      are sandwiched between two lexan plates and the two plates push
      in and out along two guide pins on top and bottom. Four inexpensive
      "Sense switches" which are micro push button switches
      from Digikey are in each corner and depress when the bumper is
      touched on the front.
v
 

      
Interested in learning
      more on the development of this robot? Here are previous uploads
      - LATEST
      AT THE BOTTOM:

      
Previous Articles
1. Plant watering sensors
2. Cbot basic concepts and project definition
3.  Docking sensor, battery charging and FSM explained
4.  Development of the water tank, pump and feed mechanism
5.  Development of the reservoir refill system
6.  Incorporating the Triple axis magnetometer for compass navigation

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