the respective controllers. For basic on/off control, I use Team Delta RCE 220 dual-ended switches since they provide
proven robotic combat fail-safe functions. Basically, they always default to off (or servo center commands) in case of a
power or control signal loss.
Ethel currently uses two of these to control her arms in an H-bridge mode for motor forward/backwards with the
optional position-limiting switch function enabled for up/down control. There are two more of them to control the
solenoid valves for her fire effects, plus one more to control video switching for her multiple video camera feeds.
Ethel’s frame was designed to be modular, and stack vertically like a wedding cake. Her base contains the drivetrain
motors, batteries, and speed control. Her next layer contains the VIA computer and two other 26 Ahr batteries that power
the computer, the Team Delta controls, the 250 watt AM/FM/CD Sony stereo and speakers, plus the DVD player and her
custom electronics. Ethel also has a custom-built 4 Ahr 6 VDC NiCad battery pack for her various servos, as well as several
independent power supplies to feed her various devices.
SERVO 08.2010 43
