Datasheet

Chapter 5 • Tactile Navigation with Whiskers
148 • Robotics with the BOE Shield-Bot
Activity 1: Build and Test the Whiskers
Remember subsystem testing? First, we’ll build the whiskers circuits and write code to check
their input states before using them in navigation sketches.
Whisker Circuit and Assembly
 Gather the whisker hardware in the parts list.
 Disconnect power from your board and servos.
Parts List
(2) whisker wires
(2) 7/8″ pan head 4-40 Phillips screws
(2) ½″ round spacer
(2) Nylon washers, size #4
(2) 3-pin m/m headers
(2) resistors, 220 Ω (red-red-brown)
(2) resistors, 10 kΩ (brown-black-orange)
(misc) jumper wires
Building the Whiskers
 Remove the LED circuits that were used as signal monitors while testing the
servo navigation.
 Remove the two front screws that hold your board to the front standoffs.