Tom in Jamaica

A picture of Tom. He is 6" in diameter, drives on two modified servo motors and a ski, has 3 IR ranging sensors, 2 flame detectors, 2 microcontrolers networked, a 2-servo arm/hand, and a nice blue skirt ;)

If you want to see some videos of Tom in our lab, click below:

Here to see a long (and 2MB big) mpeg of the slower first generation Tom.

Here for the second generation and speedier TOM.

Keep in mind that we are still testing, and the right wall following routine is giving us fits.

Note: the first generation Tom used timing pauses to send command to the slave processor (just couldn't get reliable 2-way comms at that point in time. Then a man by the name of Dennis Clark provided the key to 2-way I2C communication on the OOPic and you see the results in the 2nd generation.

The code can be downloaded here. Master code and slave code for the two OOPics. We used Java syntax. Don't worry, I'll be commenting the code soon ;)

Last update 4/18/03 1:29PM

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