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Attaching the antenna to the RF module Locate the 6-3/4 inch whip antenna and strip 1/2-inch of the insulator and shielding material from the connector wire Drill a hole in the second Frisbee, toward the edge, using a 1/4-inch bit Mount the whip antenna to the Frisbee by feeding the connector lead through the hole and then fastening the mounting nut Solder the wire to the antenna mount area on the back of the Lynx RXM-433-LC-S receiver module Bend the pins on the receiver module 90 degrees downward, if this was not done earlier in 6 The finished top cover with the antenna and receiver module attached is shown in Figure 723

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Now that all of the components are in place, it is time to wire everything together Use the diagram in Figure 724 to connect all of the components to the main controller board Drill a 5/32-inch hole in the base in front of each of the motors to feed the motor wires through to the controller board Plug the RF receiver module into the 4-connector female header on the controller board Attach the top cover with the antenna toward the back of the robot The top cover should fit snugly on the four aluminum cover support pieces Figure 725 shows the robot with all of the components and batteries connected to the main controller board Attach a fresh 9-volt battery and a 6-volt battery pack containing four AA batteries to the proper battery clips, as indicated in Figure 724

In the next section, we will program the PIC 16F84 to control the motors, interpret the information from the radio receiver module, and obtain distance measurements from the sonar ranger for obstacle avoidance and room mapping The final experiment will be to add an optical shaft encoder so that the robot will be able to keep track of the distance that it has traveled This will also be necessary when the robot is creating maps of its surrounding environment

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The first objective will be to control Turtletron s differential drive, using the remote control transmitter that was built in 6 The hand held remote control device uses an analog X and Y axis control stick as the input to two analog-to-digital converters residing on a PIC 16C71 To make the project easier, we will not change any of the programming for the remote control transmitter If you wish to create another remote control, follow the instructions in chapter 6 To make Turtletron respond only to the second remote control, simply change the qualifier in the serial transmit and receive code of the robot and transmitter The schematic for the transmitter remote control is shown in Figure 726 The circuit functions by using a PIC 16C71 to monitor the position of the analog control stick and then send serial commands to the transmitter module When the control stick moves along the X and Y axis, the resistance values of two 100K potentiometers change proportionally The control stick and the two attached poten298