(actual size = 3.3" x 2.8")

The figure at the right shows a BOTCOP-WMC - Dual-Processor Walking Machine Controller board. The top socket mounts a Basic Stamp 2 or similar 24-pin module. The bottom socket mounts an OricomTech WMC12 walker-chip (as well as most 2nd-generation PIC microcontroller chips).

The WMC12 chip can control up to 12 R/C servos. Pins can also be used for general analog and digital I/O, with up to 5 A/D channels available. Up to 9 I/O lines can be used for alarm sensing. The walker-chip has its own dedicated eeprom, which is used to hold gait and behavioral information.

The 24-pin module has all 16 I/O lines connected to the headers, of which 2 lines are used in a 0-5v "local buss" for RS-232 comms, when the servo chip is installed. In addition, 2 I/O lines are connected to the push-button switches and LEDs at upper left. The module can also drive up to 8 R/C servos on a part-time basis, via the top header.

The 0.100" TIL headers lower-left corner and top-center directly interface R/C servos with Futaba pinout (signal-power-gnd).

RS-232 Remote Comms. Either 24-pin module or servo chip can be connected to the DB09-F connector for comms with a remote host, using standard RS-232 voltage levels. The walker-chip has its own on-board level translators.

A 1-Amp 5-v regulator supplies plenty of power for driving external loads, via connections on the headers. The buzzer can be driven by either processor. The Stamp has some very nice tune-generation functions.

Physical. 3.3" x 2.8" (85 x 71 mm) - small-sized, industrial-quality double-sided FR4 pcb with heavy buss traces, plated-through holes, solder masks and silk-screens.

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