When setting up the project in previous steps, everything was attached pretty closely to the breadboard. If we want out snake to be the full length of the base, we will need to create wire extensions for various portions of the electrical.

We then take the differences between Sensor 3 and Sensor 5 (and store it in photocellDifference1) as well as the difference between Sensor 4 and Sensor 5 (and store it in photocellDifference2). This will tell us how much brighter the directional sensors are from the ambient sensor. Since the light will be shinning on these sensors, the difference readings should tell us how much light is being directed at each sensor.This section may be written from a fan's point of view, rather than a neutral point of view. Please clean it up to conform to a higher standard of quality, and to make it neutral in tone. ( August 2021) ( Learn how and when to remove this template message) We found it was easiest to plan the speed controls out in a table before writing the if else statements. This was our table:

Place the rubber into the vacuum reducer, and cut a small slit, large enough to pass the wires. Run the string through the vacuum reducer so that there is about 8 inches of string on the inside. There doesn't need to be too much on the outside because the tether will be located at the tail.We also found that each motor needed a minimum value of speed (ours was 100) to be able to pull the weight of the snake. There could never be a speed value of 0 going to a motor. If a motor would completely stop, it would then take too much work to get the motor moving again. Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad (Dec 2006). "Developments in Snake Robot Modeling and Locomotion". 2006 9th International Conference on Control, Automation, Robotics and Vision. pp.1–8. doi: 10.1109/ICARCV.2006.345142. ISBN 978-1-4244-0341-7. S2CID 2337372. Just string the other piece of string through. Leave about 10 inches of string on the inside, and a little more on the outside. This string acts solely as a tether. You can eventually lengthen it by attaching another string to it so that you can have a longer tether.

Note: an arduino mega is necessary not because of the numbers of outputs but because the flash memory space in the arduino UNO is not large enough. We used the following code to get the LED blink. We first turn the LED on, then pause for one second to leave the LED on. We then turn the LED off and pause again for one second, so that the LED stays off. This then causes the blinking action to happen.When setting up multiple sensors, just use the same circuit example as the first one. Each sensor must have its own line to power and ground and cannot be a part of the same circuit; this will make finishing the snake easier in future steps. Also, make sure your resistors are the same, since this affects the analog readings, we need all the sensors to be reading similar values. Find sources: "Snakebot"– news · newspapers · books · scholar · JSTOR ( September 2008) ( Learn how and when to remove this template message) This article needs additional citations for verification. Please help improve this article by adding citations to reliable sources. Unsourced material may be challenged and removed. We used a similar setup as the instructable example for our photocell sensors. When getting one sensor, it is exactly the same. Just make sure the analog pins are placed in pins 2-5, as the motors will be using 0 and 1 (even though they are not plugged into them). We have used analog pins 3, 4, and 5. Where 3 and 4 are the directional sensors and 5 is the ambient sensor. We played around with the timing of everything before we decided on the final controls. One of problems we encountered was the delay at the end, we needed a delay for the lights and vibration motor, however, the photocell sensors would also be affected by this delay, which was rather undesirable. We settled on a quarter of a second delay, this gave us enough time for the LEDs and vibration motor to stay on or off for and was a small enough delay to the photocell sensors, it was nearly unnoticeable.

Traditional SnakeBots move by changing the shape of their body, similar to actual snakes. Many variants have been created which use wheels or treads for movement. No SnakeBots have been developed yet that can completely mimic the locomotion of real snakes, but researchers have been able to produce new ways of moving that do not occur in nature. We then subtract photocellDifference1 and photocellDifference2 from each other and store it in lrValue. By taking this difference, we are able to tell how much more light each directional sensor is sensing. If this number is negative than it means Sensor 4 has less light than Sensor 3 and more speed should be directed at Motor B. If the lrValue is positive than it means that Sensor 3 has more light than Sensor 4 and more speed should be directed to Motor A. I'm using one button for the water pump (12V battery) and one for the arduino / servos (6V battery). The water pump cannot be turned on unless the snake is in the water or the pump will dry up. So I turn on the snake first then turn on the pump. See the next step for attaching the water pump.By using the circuit diagram, set up the one LED to the breadboard and arduino. For this step, we removed the photocell sensors, so it would be easier to see the LED circuit. We recommend doing this also, it makes it easier to complete each step without previous work getting in the way of the breadboard, and eventually we wanted to reorganize the breadboard so it was configured as optimally as we could get it. Most likely, you will need to reorganize your breadboard also.