Now, when you type the characters 1-6 in the serial monitor, when the snake is turned on, the characters should affect the motion. One of the main problems with the previous steps was that each piece of the project was constructed separately, but when added together it created problems in the programming. The photocell sensors required immediate reaction to control the motors, but the groups of LED and vibration motor needed different lengths of delays to control them. Also the LED groups blinked at the same time even though they are supposed to be three separate groups. To control everything in the code the way we need to, we require a timer. The vibration motor is added to simulate the a rattling tail on a snake. We were given our vibration motor from class, so we do not have a model number, but just like the other steps of this project, use the size motor that best fits the snake that you are building. We wanted the smallest motor possible, so that it would be able to fit on the small tail piece we were building. Sneel is the name of my snake / eel swimming robot. This is documentation of hardware, software and mechanical design of Sneel_003.

Play around with sensors. Shine a flashlight into them to make the readings spike, cover them to make the readings drop. Your readings may have different values than ours, this is okay. Each sensor is different and it depends on the ambient light in the room at the time. Soldering iron, laser-cutter, scissors, sewing needle, small screwdriver, wire cutter/stripper, strong flashlight When we replaces the wiring, we just twisted the end of the electrical piece and the wire together to connect the circuit. If you can, we recommend soldering these pieces together, it will create a stronger bond and be less likely to break. We needed to return some of our materials to the classroom, so we twisted the wiring together and wrapped each end in electrical tape to hold the bond together.We played around with the timing of everything before we decided on the final controls. One of problems we encountered was the delay at the end, we needed a delay for the lights and vibration motor, however, the photocell sensors would also be affected by this delay, which was rather undesirable. We settled on a quarter of a second delay, this gave us enough time for the LEDs and vibration motor to stay on or off for and was a small enough delay to the photocell sensors, it was nearly unnoticeable. The attached graphs show the output angle values of each servo mapped over time, slightly out of phase from each other. The difference is when there is a different offset (delay in the time it takes one servo to get to the angle of the previous one in the line of waves). So if you have the servo shield, solder on the screw terminal; two rows of headers where the 6V and GND from the battery are connected. Solder on male headers so it will mount in your seeeduino (or arduino) mega. I'm using the seeeduino again because i had it around, and because it is smaller so it fits better into the skin tube (the protective outer layer).

Run both buttons up through the vacuum reducer. Run the wire (containing power and ground) from the waterpump down through the hole in the vacuum reducer. So in total, the following wires should run through the vacuum reducer and the rubber pad : power and ground from both switches; one string; power and ground from pump. all you need now is the ability to dive... perhaps if you use gravity to cause the swimming motion my diving and surfacing you could also add longevity to the swim time. Traditional SnakeBots move by changing the shape of their body, similar to actual snakes. Many variants have been created which use wheels or treads for movement. No SnakeBots have been developed yet that can completely mimic the locomotion of real snakes, but researchers have been able to produce new ways of moving that do not occur in nature.I wrote a software library to easily generate wave locomotion based on oscillation. It calls on the Servo Arduino library to generate a sine wave propagating down the line of servos. It allows for modularity to change the sensory input, wave parameters, and number of servos. To control the motors, we will be getting the base reading from all three sensors first (these are stored in photocellReading#). You should get an integer returned, corresponding to the baud rate xbee is set at. To make sure it is set to 57600, type "ATBD 6" then ENTER. They're based in convenient locations including supermarkets, newsagents and train stations. Plus they're often open late and on Sundays. In this step we will be taking the three photocell sensors and using them to drive the motor speeds. In our code we will be refering the motors to Motor A or Motor B, based on where they are plugged into the motor shield, and the sensors will be Sensor 3, Sensor 4, and Sensor 5, based on where they are attached to the analog readings. Sensor 3 and Sensor 4 will be the directional sensors and Sensor 5 will be the ambient light sensor.