Montagne by Clay Harmony
Montagne was constructed to complement my extended essay for an International
Baccalaureate diploma in High School. Overall design, planning, construction,
and programming took almost exactly one year.
Body:
- Tamiya Clodbuster
- innards removed and modified
- front and rear servos for all-wheel steering
- electronic speed controller
Microcontroller:
- MiniBoard 2.0
- size of a business card
- Motorola 6811 8-bit microcontroller with 256 bytes internal RAM and 2K EEPROM (program memory)
- 16 inputs (8 analog / 8 digital)
- connects to desktop computer (for programming) over RS-232 compatible serial port
Sensors:
- 40kHz sonar unit for forward "vision"
- 2 Modulated 40kHz IR emitter/ Sharp GP1U52X IR detector pairs for peripheral "vision"
- microswitches acting as bump sensors (front and back) checked every 128ms
- paired IR LED emmiter/phototransistor. Speed is calculated and controlled as connection is made and broken from the reflection of silver painted inner treads on the tires.
Programming:
- done in Micro-C
- compiled with ICC11, a near-ANSI C cross compiler for Motorola HC11 microcontrollers
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