Mega168 bot and servo control

At the picture you can see my bot improved. All wires hided inside the box. Scan algorithm was improved as well. Now I can release him for long autonomous traveling inside my house.

For servo coding I used my USB scope DSO-2090. All pulses was measured perfect.

This pulse controls the servo position. 1 ms - the servo edge position.

  

Mega168 bot

I built this bot from mega168, a few servos and proximity sensor. It looks around and founds a way to avoid obstacles. The program is written by me. Every day the software getting better. The servo control code is not so complicated. Here are some pictures.