This is the new pic16f88 controller board for "Ally".
Circuit schematic for the classic PIC serial programming cable. There is also a high resolution version of the image, and a Scalable Vector Graphics source file for printing. Please note that the SVG file might not display properly in some browsers.
The waveform produced by a motor sensor.
The finite state machine which controls "Ally". There is also a high resolution version and a Scalable Vector Graphics version of the drawing. The original Graphviz file which produced the SVG file is also available.
An animated GIF file produced by the robot simulation software. The simulator is running the finite state machine developed to control "Ally".