ALAVs Transitional Species Blubber Bot, Manual

19

4

. 

Fasten the envelope attachment to the 

carriage using a rivet. You can secure the rivet 
in place with a washer. Repeat for the other 
three. 

5

. 

Your final assembly should look similar to 

the one above. 

1

. 

Now it’s time to attach the rest of the sen-

sors and actuators on the PCB and the enve-
lope. (A) Insert the pin header of a photocell 
into the PCB marked “LEY” (left eye). 

2

. 

(A) Peel the backing off the photocell foam 

tape and secure it to the envelope, pulling the 
wires snug to prevent it from getting caught 
on obstacles. The photocell should be posi-
tioned on left side of the envelope, towards 
the front. (B) Repeat for the right eye, plug-
ging the pin header into “REY” (right eye).

NOTE: IT IS IMPORTANT NOT TO REVERSE THE RIGHT 
EYE WITH THE LEFT WHEN PLACING THEM ON THE 
ENVELOPE. YOUR BLUBBER BOT WILL NOT BEHAVE 
PROPERLY IF THE EYES ARE REVERSED.

3

. 

(A) Plug the pin header of the feeler into 

the PCB marked “BUM” (bump switch). (B) 
Peel the backing off the feeler foam tape and 
secure it to the front of the envelope, pulling 
the wires snug.

_

4.3 

FASTENING SENSORS AND ACTUATORS

4

. 

Secure each end of the feeler with a piece 

of double-sided scotch tape.

5

. 

(A) Plug the pin header of the speaker into 

the PCB marked “SPK” (speaker). (B) Using 
double-sided scotch tape, secure the back 
side of the speaker (NOT the side with the 
peel away tape) in the center of the left side of 
the envelope, pulling the wires snug. 

6

. 

(A) Plug the pin header of the vibrator into 

the PCB marked “VIB” (vibrator). (B)Peel the 
backing off the cable tie holder and secure 
it to the envelope, pulling the wires snug. (C) 
Position a square of duct tape (white) under-
neath the vibrator, acting as a protective layer.