Capítulo 7:Robot de tracción a las cuatro ruedas

---

In this chapter we will study the Rigel 4WD robot kit, which is a four-wheeled robot from Budget Robotics. We will look at its construction and mechanics, electrical control, objects and their operations, and sample code to drive the robot. After going through mechanical construction of the robot, we will talk about the electrical components of the robot which will run the robot. Main electrical components are microcontroller (OOPic-R by Savage Innovations [24]) and servomotors. The objects related to Rigel 4WD robot are explained. How servomotors are driven by PWM signals is also briefly explained. Finally, two sample codes are provided to run the robot. The first code drives the robot forward. The second code drives the robot forward for a specified distance, turns the robot 180 degrees about its center, and finally drives it back to the start position.