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You will need an adjustable wrench (marked E in Figure 18), side cutters (F), pliers (G), needle nose pliers (H), a Phillips screwdriver (I), and a Robertson screwdriver (J) during construction of the robots A set of miniature screwdrivers may be useful as well The needle nose pliers can be used to hold wire and small components in place while soldering, bending wire, and holding machine screw nuts The wire strippers, shown in Figure 19 (A), are used to strip the protective insulation off wire, without cutting the wire itself The device is designed to accommodate a number of wire sizes you will need A pair of wire cutters (C) can cut wire when fabricating jumper wires and wiring power to the circuits You will need rosin-core solder (B) when soldering components to the circuit boards, creating jumper wires, and wiring the battery connectors and power switches To make soldering components to the printed circuit boards as easy as possible, buy the thinnest solder that you can find You will definitely need a chip-pulling tool (D) for removing the PIC 16F84 chips from the 18-pin sockets The PIC 16F84 will be inserted and removed from the sockets on the main controller boards many times, as the software is changed and the

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PIC is reprogrammed during experiments An adjustable work stand, like the one shown in Figure 110 (M), will be useful when soldering components to circuit boards, or holding wires when soldering header connectors to the bare wires A utility knife (N) will also be helpful when cutting heat-shrink tubing or small parts A soldering iron, similar to the one shown in Figure 111, will be required when building the main controller circuit boards and the sensor boards for each robot An expensive soldering iron is not necessary, but the advantage to buying a good one is that the temperature can be set A 15- to 25-watt pencil-style soldering iron will work and will help to protect delicate components from burning out An adjustable square (O) and a good ruler (P) will be required when measuring the cutting and drilling marks on the aluminum pieces that make up each robots body and legs You will need a hot glue gun (Q) and glue sticks at certain points in the construction See Figure 112

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proverbial short end of the stick as far as hardware and operating system features, because embedded device manufacturers were notoriously stingy on feature support Embedded device manufacturers typically needed to guard their hardware secrets closely, so they gave embedded device developers few libraries to call when trying to interact with a specific device Embedded devices differ from desktops in that an embedded device is typically a computer on a chip For example, consider your standard television remote control; it is not really seen as an overwhelming achievement of technological complexity When any button is pressed, a chip interprets the signal in a way that has been programmed into the device This allows the device to know what to expect from the input device (key pad), and how to respond to those commands (for example, turn on the television) This is a simple form of embedded device programming However, believe it or not, simple devices such as these are definitely related to the roots of early cell phone devices and development Most embedded devices ran (and in some cases still run) proprietary operating systems The reason for choosing to create a proprietary operating system rather than use any consumer system was really a product of necessity Simple devices did not need very robust and optimized operating systems As a product of device evolution, many of the more complex embedded devices, such as early PDAs, household security systems, and GPSs, moved to somewhat standardized operating system platforms about five years ago Small-footprint operating systems such as Linux, or even an embedded version of Microsoft Windows, have become more prevalent on many embedded devices Around this time in device evolution, cell phones branched from other embedded devices onto their own path This branching is evident when you examine their architecture Nearly since their inception, cell phones have been fringe devices insofar as they run on proprietary software software that is owned and controlled by the manufacturer, and is almost always considered to be a closed system The practice of manufacturers using proprietary operating systems began more out of necessity than any other reason That is, cell phone manufacturers typically used hardware that was completely developed in-house, or at least hardware that was specifically developed for the purposes of running cell phone equipment As a result, there were no openly available, off-the-shelf software packages or solutions that would reliably interact with their hardware Since the manufacturers also wanted to guard very closely their hardware trade secrets, some of which could be revealed by allowing access to the software level of the device, the common practice.

A, Pentium Pro, B, Pentium with MMX, and C, Pentium II, are incorrect because they were all developed before the creation of the technology used in the E and B variants and SIMD instructions

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