The Papilion which is mean butterfly in latin is control system for a simple two-wheeled, differential-steered robot based on ATMEGA169. The hardware consists of the AVR butterfly kit, a chassis which is made of aluminum, the two servo motors and a battery holder (providing 6V), a servo power switch and a little board for connecting the butterfly to the motors. A special pulse train was used to control two modified servos. The code is written in Basic and is compiled using BASCOM-AVR.
Project Firmware, Schematic and Documentation