The OOPIC Snake
This was such a fun challenging project. The snake is made up of custom built aluminum segments. The head contains the oopic and sensors, the tail holds the battery pack. The project was a demonstration of sinusoidal locomotion. the trick is preventing the body of the snake from slipping lateraly. the small free spinning wheels on the snake acheive this prevention. when a sin wave is plotted in motion down the body of a snake, motion is acheived. the code is built around a sin wave generator. to reverse motion, the sin wave flow is reversed. to turn the snake, an offset is introduced into the sin wave, so in effect, the sin wave is curving more on one side of the 0 line than the other. the sensors provide feedback as to obstacles that it comes in contact with. this snake can turn around in a very small space. Very cool motion.