Found this link on r/electronics. It just made my day a bit better, thank you Thingist.

So now he's almost finished, my CD-ROM-tray-based robot. The code is in an early state, but it works quite ok. Just need to adjust the P/D-constants a bit maybe. Here is his entry on
The code will be uploaded here and on LMR when I'm finished with it. The only thing left to do on this robot is to mount the Arduino Mega a bit better and get a power-supply for it(since I don't mix motor and sensor/mcu power, saves a lot of trouble). Pictures are mandatory of course.
From the back.
And from the side

I've just found out that Stockholm Robot will hold a competition on the 3rd of December. I plan to participate.
I've started working on a simple line follower with PD-control. Images will be uploaded later.

The base is an old CD-ROM-drive-tray(long word:), the cpu is an Arduino Mega2560, since that happens to be free at the moment. It's driven by the same twin Tamiya gearbox that drove K.L.A.S, but with the gearing set a bit higher, so I can get more speed out of it. It uses three Pololu QTR-1RC digital reflectance sensors mounted on a piece of stripboard for the line sensing.
I've started working on the code and have a working example. Things left to do is to build a ball caster or find something that works as one, since now the sensors are sitting a tad low(straight on the floor).

The plan was to do some assembly of the CNC mill today, but for several reasons, we didn't. Instead I cleaned up the workshop a little. Jesse printed out a PT2399 based delay circuit. No etching done today though, not enough time.
I printed out an RBBB, "Really Bare Bones Board", an arduino-clone, but as you can see it's very small.
I found the one sided eagle drawings here. Make one yourself why don't you! Most people probably have everything apart from the resonator at home already anyways, I know I do. And the resonators are like 5 SEK or so, so I think I'll order some.

I've started some small work on a bot for this challenge.
I'm not sure how it will look in the end, but I certainly need to rethink the base, since it's a bit front heavy now, if it reverses to rapidly or goes over an obstacle the front mounted SRF02-sensor will think "neat! an obstacle within 24 centimeters!" and make the robot turn, which is not so good.
Pictures of the design so far.
The code is quite boring at the monent, so no post with that (yet).

My dear IRC-friend masterkorp just showed me this.
in Vim will "start" a fold. That is; input --}(in lua for example). What an awesome tip!

I just set up a honeypot on my home router, but I still want to be able to ssh in to it from a few selected outside addresses. So how do you accomplish such a task? It's quite easy! Below is an example of what a rule might look like that directs all traffic not coming from approved addresses to something else(here my kippo-server running on port 2222)

# which addresses that are allowed to do normal ssh

table <whitelist> {, }


# redirecting for the honeypot

rdr pass inet proto tcp from <whitelist> to $ext_if port 22 -> port 22

rdr pass inet proto tcp from !<whitelist> to $ext_if port 22 -> port 2222

Note the ! in front of on the second row. This rules basically means that anything that is not coming from the whitelist and wants to do some sshing to my external interface will get redirected to localhost:2222 where I have my honeypot running. I'm awaiting eagerly for someone to break the simple password and try to wreak havoc!

So I've decided to learn Python3 properly for various reasons. I have written a few applications in Python2 before, an LCDproc client to be specific. It simply took the output from MPD(my music player of choice) and displayed it on the 16x2 LCD-display I had connected to my machine at the time, that display now sits in my homerouter displaying netload, CPU and other stuff.
Anyways... I'm reading Dive in to Python3, and boy does it rawk my sox0rs off. This is just how a tutorial should be, concrete examples, good and clear explanations and such. The plan is to plow through this "tutorial" and then get that ircbot me and my friend, Niklasswe have started to work on, up and running. The bot already has some simple code actually.

import sys

import socket

import string

# These should all be set via a config file later

HOST='' # The server that we want to connect to.

PORT=6667 # The port we on $HOST we would like to connect to.

NICK='Ulugbot' # The bots nick.


REALNAME='Botty McBot'

OWNER='dunz0r' # The bot owners nick.

CHANNELINIT='#ulug' # The default channel for the bot

readbuffer='' # This is where we will store all the messages from the server.

# Create the socket.

s=socket.socket(socket.AF_INET, socket.SOCK_STREAM)

# Connect to the server.

s.connect((HOST, PORT))

#Send the nick to server.

# code goes here

# Identify to the server.

# code goes here

Quite simple code as you can see. As soon as I finish the tutorial I'll add code for taking over the world and what not to the bot.

I just found this awesome lecture-site; Khan Academy.
I've been watching some videos about algebra, since I felt I needed to freshen my algebra.
If I'm going to do awesome fuzzy logic and cool algorithms for my robots in the future, it's good if I understand what I'm doing.

After about a week of work(probably just under ten hours in actual time though) I've finished my H-bridge design. It's based on a design I found at
It should without problem be able to handle the two Lynx Motion GMH-03-motors I plan to use in my Robot-SM robot. I think I'll use the same bridges for the long term project too. Here's a picture. Enjoy