Snake robot named Snaky - module closeup

Snaky is built around a powerful ATMEGA88 AVR microcontroller from Atmel, twelve miniature servo-motors and a few other components. On the software side the most CPU intensive section is the PWM generation, as 12 PWM signals are generated with a resolution of 20μs and a quite high pulse refresh rate. To achieve this target an innovative firmware architecture is implemented, managing two PWM channels at a time.

Snake robot named Snaky:[Download Project][View Project PDF]