All right folks. The attached is my first attempt at writing a tutorial, so go easy. It goes over how I turned Li-Ion packs from obsolete equipment into usable packs for my SAGAR robot. For about $10 per pack, I built my own 14.4V 2.2Ah Li-ion pack, and in the attached pdf, I show you how I did it, so you can do it too.

Not all my projects are robotic in nature. This one, a simple water change system for our 40 gallon saltwater tank, is one of those non-robotic projects. For those who are unfamiliar with fish tanks, about once a week you have to change out roughly 10% of the water. The way we have been doing water changes involved two trips to the toilet with a mob bucket, and a lot of mixing of water in the shower. I decided to build a better way.

Here is a video of the LED Lab Coat with the better PWM code. If you are interested in how I programed 8 channels of software PWM, here is the source available for download.

Alright, alright. After the messages and people asking, I have decided to post my Motor-controller code. Please before you make fun, realize I am not a programmer. The code works, and I think it is a decent couple hundred of lines. Let me know what you think!!! Don’t forget to link to my site if you use/post it.

Part 2 of my documenting of my robot project focuses on the just completed “Smart Motor Controller”. I call it a smart controller because, unlike other motor controllers on the market, mine utilizes feedback from the motors to precisely set wheel speeds and report back how far the robot has traveled.The brain of the controller is an Arduino Pro mini, pictured in this post. The actually driver H-bridge  is a Ardumoto from SparkFun.