My first robot

This is my first complete robot project. It's my take on the "Start Here" project. It's made from K'Nex, with electronics I had mostly on hand.

I used mosfets to build two very basic H-bridges to get power to the two motors. It seems like overkill, but I already had them.

I did have to go out and buy a 5 volt regulator, a battery holder, and a couple of switches. This was about twenty one dollars.

The Sharp IR sensor I used is the digital variety, so although I started writing the assembler to use the ADC on the pic, I didn't use it. I admit, that builing with the K'nex went fairly quick, it isn't as rugged as I'd like.

It constantly scans as it rolls foward. When it detects an obstacle, it stops the motors and looks to the right. If nothing is detected,  it turns that way. If it "sees" something to the right, it looks to the left. Again, if the way is clear, it turns to the left. If both ways are blocked, it will back up, stop and blink an led for help.