to sense finger wiggles we use two tape sensors.  These consist of a led and phototransistor and the following circuit to provide the c32 microprocessor with logic level high when a finger is present.

the c32 microprocessor processes these finger wiggles and outputs a pulse wiDth modulation (PWM) to run the dodger’s motor.  A direction switch is used along with a hex inverter to tell the h-bridge which direction to run the motor.

and you cant forget crazy legs.  a simple n-channel mosfet was used to turn on the crazy legs, with the runner’s PWM line tied to the gate.  an h-bridge wasn’t necessary as the runner’s crazy legs only rotated clockwise.