Harry the Discbot

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Fabricating the bracket for the sonar sensor was probably the most difficult part of the whole project

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The majority of the breadboard is taken up by just the two H-bridges (4 transistors each) for controlling the two motors. Aside from that, pin 6 controls the servo to position the sonar, and pin 2 interfaces with the sonar itself

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That's one way to attach a foam model airplane tire to a servo control horn

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When all you have is a soldering iron, everything looks like a circuit

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Rear view. CDs conveniently provide a hole in the middle for routing wires between levels

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Front view

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Harry disassembled. The 4 rechargeable AAs provide (4 x 1.2v) 4.8v for the motors, while the sonar and microprocessor are powered by the 9V battery on the top level

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Testing is made a lot easier with a speaker (ripped from an old 486 PC) to play beeps and boops, but with nowhere to mount it, I just have to carry it behind him like a wedding train

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