CONSTRUCTION

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R
obotics is a fascinating sub-
jectmore so, if you have to
fabricate a robot yourself. The
field of robotics encompasses a num-
ber of engineering disciplines such as
electronics (including electrical), struc-
tural, pneumatics and mechanical.
The structural part involves use of
frames, beams, linkages, axles, etc. The
mechanical parts/accessories comprise
various types of gears (spurs, crowns,
bevels, worms and differential gear
systems), pulleys and belts, drive sys-
tems (differentials, castors, wheels and
steering), etc. Pneumatics plays a vital
role in generating specific pushing and
pulling movements such as those
simulating arms or leg movements.
Pneumatic grippers are also used with
advantage in robotics because of their
simplicity and cost-effectiveness. The
electrical items include DC and step-
per motors, actuators, electrical grips,
clutches and their control. The elec-
tronics part involves remote control,
sensors (touch sensor, light sensor, col-
lision sensor, etc), their interface cir-
cuitry and a microcontroller for over-
all control function.
Project overview
What we present here is an elemen-
tary robotic land rover that can be con-
trolled remotely using primarily the RF
mode. The RF remote control has the
advantage of adequate range (up to
200 metres with proper antennae) be-
sides being omnidirectional. On the
other hand, an IR remote would func-
tion over a limited range of about 5
metres and the remote transmitter has
to be oriented towards the receiver
module quite precisely. However, the
GP CAPT K.C. BHASIN (RETD),
S.C. DWIVEDI, SUNIL KUMAR
REMOTE-CONTROLLED
LAND ROVERA DIY
ROBOTIC PROJECT
cost involved in using RF modules is
much higher than of IR components
and as such, we have included the re-
placement alternative of RF modules
with their IR counterparts for using
the IR remote control.
The proposed land rover can move
in forward and reverse directions. You
would also be able to steer it towards
left and right directions. While being
turned to left or right, the correspond-
ing blinking LEDs would blink to in-
dicate the direction of its turning. Simi-
larly, during reverse movement, re-
versing LEDs would be lit. Front and
rear bumpers are provided using long
operating lever of micro switches to
switch off the drive motors during any
collision.
The decoder being used for the
project has latched outputs and as such
you do not have to keep the buttons
on remote control pressed for more
than a few milliseconds. This helps
prolong the battery life for remote.
A photograph of the working pro-
totype of the land rover including re-
mote is shown in Fig. 1.
The entire project is split into sec-
tions and each section is explained in
sufficient detail to enable you not only
to fabricate the present design but also
exploit these principles for evolving
your own design with added func-
tions/features.
Forward and reverse movement. To
keep our design as simple as possible,
we have coupled a 30-rpm geared 6V
DC motor to the left front wheel and
another identical motor to the right
front wheel. Both these front motors
are mounted side-by-side facing in op-
posite directions. Wheel rims (5cm di-
ameter) along with rubber wheels are
directly coupled to each of the motor
shafts. This arrangement does not re-
DWI VEDI & S KUMAR
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wheel needs to rotate
differentially with re-
spect to its counter-
part. When the car is
moving in a straight
line, the differential
gears do not rotate
with respect to their
axes. However, when
the car negotiates a
turn, the differential al-
lows the two wheels to
rotate differentially with respect to
each other.
3. All the four wheels are used for
driving as well as steering. Examples
are Kyosho (USA) 4-wheel drive/4-
wheel steering electric powered mon-
ster truck chassis.
4. Single front wheel is used for
driving as well as steering; e.g., in a
tricycle.
5. Two driving wheels that are in-
dependently controlled to turn; e.g., in
a tank.
In our project, to keep the things
simple, we have used Method-5 with
some modification. For the rear wheels,
we have made use of a single 5cm dia.
plastic castor wheel, identical to the
ones used in revolving chairs. Such a
wheel turns by 180 when you try to
reverse the direction of the vehicles
motion. This way the movement of the
rover becomes stable in both the for-
ward and reverse directions. The steer-
quire separate axles.
During forward (or reverse) move-
ment of the vehicle, the two wheel
shafts, as viewed from the motor ends,
would move in opposite directions
(one clockwise and the other
anticlockwise). For reversing the direc-
tion (forward and backward), you sim-
ply have to reverse the DC supply po-
larity of the two motors driving the
respective wheels.
Steering control. There are differ-
ent methods available for steering a
robotic vehicle. The commonly used
ones are:
1. Front wheels are used for steer-
ing, while rear wheels are used for
driving; e.g., in tractors.
2. Front wheels are used for steer-
ing as well as driving; e.g., in most
light vehicles. In these vehicles (such
as cars), the front wheels are coupled
using a differential gear arrangement.
It comes into play only when one
ing (clockwise or anticlockwise) mo-
tion is achieved by driving only one
wheel at a time. To turn the vehicle
towards left (as perceived by the
driver) we energise only the right-
hand-side motor, and to turn it to-
wards right we energise only the left-
hand-side motor during turning.
Drive circuit for the motors. Here
is a typical circuit for driving one of
the motors, in forward or reverse di-
rection, coupled to, say, the left-hand
front wheel. Simultaneously, the right-
hand motor has to rotate in the reverse
direction (w.r.t the left-hand motor) for
moving the vehicle in the same direc-
tion. It means that input terminals of
the motor drive circuit for the right-
hand motor have to be fed with re-
verse-polarity control signals com-
pared to those of the left-hand motor
drive circuit.
In the H-bridge motor drive circuit
(see Fig. 2) when A1 input is made
high and A2 is made low, transistor
T1 (npn) is forward biased and driven
into saturation, while transistor T2
(pnp), being reverse-biased, is cut-off.
This extends the batterys positive rail
to terminal-1 of the motor. Simulta-
neously, with input A2 at ground po-
tential, transistor T3 (npn) is cut-off,
while T4 (pnp) is forward biased and
driven into saturation. This results in
ground being extended to terminal-2
of the motor. Thus the motor rotates
in one direction.
Now, if the two inputs are logi-
cally complemented, the motor will
run in the opposite direction. When
both the inputs are at the same logic
level (Gnd or Vcc), the motor is at rest.
Thus we can control the movement
(forward, reverse and stop) as well as
the direction of rotation of the motor
with the help of logic level of the two
control input signals to the motor.
Motor control logic. As per the pre-
ceding explanation, the input logic lev-
els required at terminals A1 and A2 of
the left-hand motor drive circuit and
at input terminals B1 of B2 of the right-
hand motor drive circuit are shown in
Table I.
Table I can be re-arranged as Table
II, which can be further simplified as
Table III. The equivalent hex values of
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the binary control signals are indicated
in Table III. It transpires that if we con-
nect (short) input terminals A2 and B1
of the two motor control circuits to-
gether, we can control both the mo-
tors for forward, reverse, left and right
movement of the vehicle using the 3-
bit binary number shown in Table III.
This fact will be used while arriving
at the integrated circuit for controlling
the motors for appropriate movement
of the land rover.
Remote control. For remote control,
we have used Holtek encoder-decoder
pair of HT12E and HT12D employing
RF as well as IR principles. Both of
these are 18-pin DIP ICs. Their pin con-
figurations are shown in the test cir-
cuit of Fig. 3.
Operation of Holtek HT12E and
HT12D. HT12E and HT12D are CMOS
ICs with working voltage ranging from
2.4V to 12V. Encoder HT12E has eight
address and another four address/data
lines. The data set on these twelve lines
(address and address/data lines) is se-
rially transmitted when the transmit-
enable pin TE is taken low. The data
output appears serially on the D
OUT
pin. The data is transmitted four times
in succession. It consists of differing-
length of positive-going pulses for 1
and 0, the pulse-width for 0 being
twice the pulse-width for 1. The fre-
quency of these pulses may lie between
1.5 and 7 kHz depending on the resis-
tor value between OSC1 and OSC2
pins. The internal oscillator frequency
of decoder HT12D is 50 times the os-
cillator frequency of encoder HT12E.
The values of timing resistors con-
nected between OSC1 and OSC2 pins
of HT12E and HT12D, for given sup-
ply voltages, can be found out from
the graphs given in the datasheet of
the respective chips (included in this
months EFY-CD). The resistor values
used in the circuits here are chosen for
approximately 3kHz frequency for the
encoder (HT12E) and 150 kHz for de-
coder HT12D at V
dd
of 5V.
The HT12D receives the data from
the HT12E on its D
IN
pin serially. If
the address part of the data received
matches the levels on A0 through A7
pins four times in succession, the valid
transmission (VT) pin is taken high.
The data on pins AD8 through AD11
of the HT12E appears on pins D8
through D11 of the HT12D. Thus the
device acts a receiver of 4-bit data (16
possible codes) with 8-bit addressing
(256 possible channels).
The test circuit given in Fig. 3 will
help you in checking the functional
serviceability and synchronisation of
the frequency of operation. Once the
frequency of the pair is aligned, on
pressing of push switch S1 on the en-
coder, LED on the decoder should
glow. You can also check the transfer
of data on pins AD8 through AD11
(the data pins of the encoder can be
set as high or low using switches S2
through S5), which is latched on pins
D8 through D11 of the decoder once
TE pin is taken low momentarily us-
ing push switch S1. This completes the
testing of encoder decoder pair of
HT12E and HT12D.
RF transmitter and RF receiver.
The RF transmitter and receiver mod-
ules marketted by Aplus India,
Mumbai have been employed for RF
remote control. The RF transmitter
TX-433 is an AM/ASK transmitter. Its
features include:
1. 5V-12V single supply operation
2. On-off-keying (OOK)/amplitude
shift keying (ASK) data format
3. Up to 9.6kbps data rate
4. +9dBm output power (about
200m range)
5. SAW-based architecture
6. For antenna, a 45cm wire is ad-
equate.
The output power and current
drain of the RF transmitter for Vcc of
5V and 12V are tabulated in Table IV.
(Note. For details of OOK, refer
box).
The pin configuration of the trans-
mitter module is shown in Fig. 4. The
RF receiver RX-433 is a 433MHz mod-
ule. Its pin configuration is shown in
Fig. 5 and technical specifications are
given in Table V.
Remote transmitter. A complete
schematic of the remote control trans-
mitter-encoder circuit is shown in Fig.
TABLE I
Control Logic
Terminals
Motion A1 A2 B1 B2
Forward 1 0 0 1
Reverse 0 1 1 0
Left 0 0 0 1
Right 1 0 0 0
Stop 0 0 0 0
TABLE II
Control Logic
Terminals
Motion A2 B1 B2 A1
Forward 0 0 1 1
Reverse 1 1 0 0
Left 0 0 1 0
Right 0 0 0 1
Stop 0 0 0 0
TABLE III
Control Logic
Terminals
Motion A2/B1 B2 A1 Hex
Forward 0 1 1 3
Reverse 1 0 0 4
Left 0 1 0 2
Right 0 0 0 1
Stop 0 0 0 0
OOK transmitters
OOK is the modulation method of choice
for remote control applications where
power consumption and cost are the
pri mary factors. Because OOK
transmitters draw no power when they
transmit a 0, these exhibit significantly
lower power consumption than FSK
transmitters.
OOK modulation is a binary form of
amplitude modulation. When logic 0
(low data line) is being sent, the
transmitter is off, fully suppressing the
carrier. In this state, the transmitter
current is very low (less than 1 mA).
When logic 1 is being sent, the carrier
is fully on. In this state, the current
consumption of the module is at its
highestabout 4.5 mA with a 3V power
supply.
TABLE IV
Technical Specifications
of TX-433
V
CC
O/P Current
5V DC 0 dBm 1.0 mA
12V DC + 9 dBm 3 mA
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6. The receiver ad-
dress to be trans-
mitted can be set
with the help of 8-
way DIP switch DIP-SW2.
When any switch is open the pin
connected to that switch is at logic 1,
and when it is closed the respective
pin is at logic 0. The data pins are
pulled high via resistors R2 through
R5. In this condition, if TE pin is taken
low (by depressing STOP switch), the
binary data transmitted via pins AD8
through AD11 will be 1111 (decimal
15). When any other data pin marked
FWD, REV, LEFT or RIGHT alone is
pressed, a 0 will be sent at that data
position, while other data pins will
represent logic
1 state. The
logic circuitry
at the receiver-
decoder end
will decode
the data ap-
propriately for
controlling the
two motors of
the land rover.
IR-based alternative. The RF
modulator used in the remote can be
easily replaced with the IR modulator
circuit built around IC2 and transistor
T1. The RF/IR selection can be affected
by moving the shorting link of Con-1
connector. Similarly, the RF receiver
module in the RF receiver-decoder can
be replaced with the IR receiver mod-
ule shown in Fig. 7.
For using the IR-based encoder, the
D
OUT
signal pin (pin 17) of HT12E is to
be connected to D
IN
pin 5 of astable
oscillator IC CD4047 for modulating
its output. The frequency of the astable
at output pin 10 is dermined by the
timing components as follows:
Frequency =
This frequency is adjused for 38
kHz with pin 5 held at logic 1. The
modulated 38 kHz, after amplification
by Darlington pair of transistors T1
and T2, drives IRLED1 LD271 (or
equivalent).
RF receiver-decoder. The complete
RF receiver-decoder circuit employing
HT12D is shown in Fig. 7. Assuming
that identical address is selected on the
encoder and the decoder, when any of
the switches on the transmitter
(marked as FWD, REV, RIGHT, LEFT)
is depressed, the corresponding data
TABLE V
Technical Specifications
of RX-433
Parameter Value
Bandwidth 12 MHz
Sensitivity 103 dBm
Data rate 4800 bps
Max data rate 9600 bps
Standby current 1.2 mA
Antenna Whip, strip line or helical
Voltage 4.5V5.5V DC
4.71(R6+VR1)C3
1
Hz
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pin of the demodulator will go low.
The data outputs of HT12D are fed to
8-bit priority encoder CD4532 via in-
verters to generate appropriate logic
outputs in conformity with Table III
to control the left-/right-hand motors
for required motion of the land rover
as explained earlier.
However, when STOP button is
pressed on the remote transmitter, all
data pins (D8 through D11) on the de-
coder will latch to the high output
state. After inversion by NAND gates
N1 through N4, all the outputs will be
low and hence EI (pin 5) of CD4532
will go low to force all its outputs to
go low. As a result, both the motors
will stop running.
You may like to verify the code
generated at the outputs of CD4532
with the help of truth table (refer Table
VI). The following is the exact se-
quence of operation at the receiver
(Fig. 7) and the motor driver (Fig. 8)
when a specific push switch is momen-
tarily pressed on the transmitter:
1. Forward. The D8 output (pin
10) of IC3 goes low, which after in-
version by inverter N1 goes high to
switch on the front LEDs (LED2 and
LED3) via driver transistor T6 and
take D3 input (pin 13) of IC5 high.
This causes Q2, Q1 and Q0 going to
logic states 0, 1 and 1, respectively
(as per Table VI), and as a result, both
the motors will run in such directions
as to move the rover in forward di-
rection.
2. Reverse. The D9 output (pin 11)
of IC3 goes low, which after inver-
sion by inverter N2 goes high to
switch on the rear LEDs (LED4 and
LED5) via driver transistor T7 and
take D4 input (pin 1) of IC5 high.
This results in Q2, Q1 and Q0 going
to logic states 1, 0 and 0, respec-
tively (as per Table VI), and as a re-
sult, both the motors will run in such
TABLE VI
Truth Table
Input Output
E1 D7 D6 D5 D4 D3 D2 D1 D0 GS Q1 Q2 Q0 EO
1 X X X X X X X X 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 1 X X X X X X X 1 1 1 1 0
1 0 1 X X X X X X 1 1 1 0 0
1 0 0 1 X X X X X 1 1 0 1 0
1 0 0 0 1 X X X X 1 1 0 0 0
1 0 0 0 0 1 X X X 1 0 1 1 0
1 0 0 0 0 0 1 X X 1 0 1 0 0
1 0 0 0 0 0 0 1 X 1 0 0 1 0
1 0 0 0 0 0 0 0 1 1 1 0 0 0
X = Dont care Logic 1 = High Logic 0 = Low
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PARTS LIST
Semiconductors:
IC1 - HT12E Holtek encoder
IC2 - CD4047 monostable/
astable multivibrator
IC3 - HT12D decoder
IC4 - CD4049 hex inverter/
buffer
IC5 - CD4532 8-bit priority
encoder
IC6 L293D motor driver
TX1 TX-433 RF (ASK)
TX2 LD271 (or equivalent)
RX1 RX-433 RF (ASK)
RX2 TSOP1738 receiver
module
D1-D13 1N4148 switching diode
T1, T3, T6, T7 BC548 npn transistor
T2 2N2222 npn transistor
T4 BC557 pnp transistor
T5 2N2907 pnp transistor
LED1-LED5 - 5mm red LED
LED6, LED7 - Blinking LED
Resistors (all -watt, 5% carbon):
R1 1-mega-ohm
R2-R5, R9, R22 10-kilo-ohm
R6, R16, R17 4.7-kilo-ohm
R7 2.2-kilo-ohm
R8 - 22-ohm, 0.5W
R10, R25-R27 1-kilo-ohm
R11- R15, R21 470-ohm
R18 47-kilo-ohm
R19 3.9-kilo-ohm
R20 22-kilo-ohm
R23 330-ohm
R24 100-ohm
VR1 - 10K preset
Capacitors:
C1, C5, C6 - 10F, 16V
C2 0.1F ceramic disk
C3 390pF ceramic disc
C4 - 100F, 16V
Miscellaneous:
S1-S5 - Push-to-on switch
S6 On/off switch
S7 - On/off rocker switch
SW1-SW2 - 8-way DIP switches
S8, S9 Micro switch (optional)
with long operating lever
A, B - 6V geared motor (30
rpm), shaft dia. 4mm
Bat.1 - 6V battery
Bat.2 - 6V, 4.5Ah battery
*Mechanical:
Kit Part name Qty
part no.
610 4mm dia., 12.7cm
long axle 2
105 1.3cm (0.5-inch)
reverse-angle bracket 2
102 Angle bracket 4
108 Bent strip p.c. 4
922 49cm flanged plate 1
926 146.3cm flat plate 2
760 Brass collar with grub
screws 6
707 5cm pulley (for tyres)
with boss 2
712 Tyre for 5cm pulley 2
817 12mm long (3mm dia.)
bolt 24
819 Nuts for above 24
820a Washer thick (for bolts) 24
X1 5cm dia. castor wheel
(plastic) 1
X2 10cm (3mm dia.) screws 4
*For details/drawing of part numbers, please refer
Entech_Parts.pdf document included in this
high. This results in Q2, Q1 and Q0
going to logic states 0, 0 and 1, re-
spectively (as per Table VI) and as a
result, only the left-hand-side motor
will run and the right-hand-side mo-
tor will be static. This causes the rover
to perform a right turn.
5. Stop. The D8 through D11 out-
puts of IC3 go high and, after inver-
sion by inverters N1 through N4, cause
blocking of diodes D5 through D8. As
a result, ground is extended to EI pin
5 through resistor R17 and all the out-
puts (Q2, Q1 and Q0) of CD4532 go
low to stop both the motors. All the
LEDs also stop glowing.
IR receiver alternative. The RF re-
ceiver module can be easily replaced
with the IR circuitry by moving the
shorting link of Con-2 connector appro-
priately. For the receiver to work in IR
directions as to move the rover in re-
verse (backward) direction.
3. Left. The D10 output (pin 12) of
IC3 goes low, which after inversion
by inverter N3 goes high to switch on
the left blinking LED7 after a second
inversion by inverter/driver gate N6
and makes D2 input (pin 12) of IC5
high. This results in Q2, Q1 and Q0
going to logic states 0, 1 and 0,
respectively (as per Table VI), and as
a result, only the right-hand-side mo-
tor will run and the left-hand-side mo-
tor will be static. This causes the rover
to perform a left turn.
4. Right. The D11 output (pin 13)
of IC3 goes low, which after inversion
by inverter N3 goes high to switch on
the right blinking LED6 after a second
inversion by inverter/driver gate N5
and makes D1 input (pin 11) of IC5
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HT12D. The rest of the circuit remains
unchanged for IR operation.
Drive circuit (Fig. 8). For controlling
the two drive motors, we have used the
quad half-H driver circuits contained
inside IC L293D to configure them as
two H-Bridge driver circuits (as ex-
plained with reference to Fig. 2). L293
does not require external free-wheeling
diodes as the same are built into the IC.
The control output from CD4532 of the
receiver/decoder circuit is connected
to the inputs of L293D in accordance
with the logic explained earlier in Table
III. The battery supply for the motor
drive circuit is routed via the normally
mode, it is to be ensured that the trans-
mitter is also working in IR mode. The
output of the IR circuit is to be con-
nected to D
IN
pin 14 of decoder HT12D.
The IR detector comprises IR receiver
module TSOP1738, whose output is am-
plified by Darlington pair of pnp tran-
sistors T4 and T5 before connection to
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made contacts of micro switches S8 and
S9, whose operating levers serve as part
of the front and back bumpers of the
land rover. In case these micro switches
are not used, short the switch terminal
points using jumpers.
Construction
Combined actual-size, single-side PCB
for the remote transmitter (Fig. 6) and
the receiver-decoder-driver (Figs 7 and
8) is shown in Fig. 9 and its component-
side layout in Fig. 10. The remote trans-
mitter part can be easily cutout from the
integrated PCB. A suitable FRC connec-
tor arrangement has been made on the
receiver-decoder-driver PCB for extend-
ing connections to the drive motors,
LEDs and battery mounted on the chas-
sis of the land rover.
Mechanical assembly
The working prototype, as shown in
Fig. 1, has been fabricated using
readymade sheet metal parts, wheels,
geared motors, axles, brass collars
(with grub screws), brackets, etc. The
overall dimensions (lengthwidth
height) of the rover, before mounting
the battery and the PCB, are approxi-
mately 1497.5 cm. The mechanical
parts used are shown under the Me-
chanical Parts List. There is much
scope for improving the aesthetics of
this prototype. Hopefully, the enthu-
siasts/hobbyists would devote extra
time and energy to give it a more pro-
fessional appearance.
The mechanical assembly of the
rover is followed by proper placement
of the battery (6V, 4Ah), mounting of
the PCB (over the battery) and finally
plugging the connectors from the bat-
tery, motors and various LEDs
(mounted on the rover) into the corre-
sponding connectors on the PCB be-
fore being able to control various mo-
tions of the land rover remotely using
either RF or IR principlesby simply
shifting the jumpers in the remote
transmitter and receiver PCBs towards
appropriate positions.
Here are some useful hints and se-
quence for successful assembly of the
land rover:
1. The geared motors that we have
used in the prototype have a 12.5mm
plastic flange with threads and a metal
nut for securing it in position. The shaft
(4mm dia.) protrudes from the centre
of the flange. The two flat plates (part
No. 926) used by us had only 4mm
holes (perforations). Thus for securing
the motors onto these plates, the 4mm
holes at 2.5cm position (from the front
and bottom edges) were increased to
13 mm and motors (with shafts facing
in opposite directions) were secured to
the two plates. With 2cm dia. wheels
pushed onto the motor shafts, we had
adequate clearance from ground. Giv-
ing slight clearance from the plate, the
wheel pulleys were secured on the mo-
tor shafts by tightening the grub screws
on boss of the pulleys.
2. After securing the motors and
wheels, we attached two angled brack-
ets part No. 102 (at front and rear-
middle positions) of the two flat plates
(part No. 926) for mounting LEDs (us-
ing Feviquick) for front and rear di-
rections. Also using reverse-angle
brackets (part No. 105), we suitably
mounted the direction-indicating LEDs
on the two flat plates.
3. The next step is to mount 5cm
dia. Castor wheel (plastic) at the rear
of the flanged plate in middle posi-
tion, roughly 2 cm from the edge. (The
flange is to face up.) Again we had to
enlarge a 4mm hole in the required
position to 10mm dia. as the diameter
of the threaded bolt of the castor wheel
is around 9 mm. Use two nuts (one
before passing the bolt through the
hole on the flanged plate and the other
after the flanged plate). This provides
for adjusting the height of castor
wheel, so that all the three wheels on
the rover are at the same level when
fully assembled. The castor wheel
should have clearance for 360
o
move-
ment, when assembled.
4. Join the flanged plate (refer step
3) to the two flat plates (refer steps 1
and 2) so as to form two sides of the
rover. The width of the flanged plate
needs to be increased by 2.54 mm so
that the motor ends do not fowl against
each other and the castor wheel has
360
o
free movement. This is achieved
by securing four bent strips (part
108)two on each side of the flange
plate using 12mm bolts and nuts. Also
use two axles (part No. 610) along with
collars (part No. 760) to maintain par-
allelism of the two side plates.
5. Fix directional LEDs on the strips
using Feviquick and wire/terminate
them on the connectors as per the cir-
cuit diagram of the receiver. Similarly,
terminate connections from the battery
and motors (A and B) onto the con-
nectors, which would mate with their
respective connectors on the receiver
PCB. Make a provision for reversing
the polarity to one of the two motors,
in case you find one of them rotating
in wrong direction due to the wiring
error.
6. Use some thermocole sheet on the
flanged sheet to ensure that the battery
sits over it, maintaining proper balance.
Use four 10cm long screws and nuts
through the flanged plate for mount-
ing the receiver PCB through its four
corner holes. The screws should secure
the battery and the PCB in position.
7. Now insert the connectors from
the battery, LEDs and motors into their
corresponding connectors on the re-
ceiver PCB. This completes the me-
chanical assembly of your rover. Good
luck!
EFY note. Parts of the kit will soon
be available from EFY associates
KitsnSpares.