Writing code for the Penguin is quite easy. First, the servo center and tilt/stride limits are set and written to EEPROM using the Penguin-ServoCalibration.bpx program. Subsequent programs use the values stored in EEPROM, making it easy to share Penguin code without having to adjust servo PULSOUT constants in each program.
Sensors are added into the subroutines, and a direction of travel is executed by assigning a value to the WALK variable (forward, back, left or right). Sensors are monitored between walking movements, without the headache of linking walking movements being handled by the rest of the PBASIC program.
The Penguin robot performs best on your desk or other hard surfaces. It is not designed for long-distance adventuring across thick carpet, but a tight, low-pile carpet is an acceptable walking surface. The Penguin's electronics are fully assembled and wired to an assortment of sensors and output devices.
- BS2px24 module chipset
- CNC-machined 6061 aluminum parts available in black, red, blue or nickel
- Hitachi HM55B Digital Compass sensor
- (2) photoresistors for light following/avoidance
- (2) infrared emitters and an infrared receiver for object detection or remote control using the Parallax infrared remote control
- Blue seven-segment LED for feedback
- (2) micro servos for tilt and stride
- Piezospeaker in body underneath battery pack
- Expansion port for the Ping))) Ultrasonic Sensor, Parallax RF Modules or other input/output components
- Power switch located adjacent to battery pack
- FTDI 232RL mini USB programming port
- (2) CR123 batteries for 6V power supply (included)
- Blue power indicator LED