A Robot by Bill Clingan
- This robot features (3) Sonars with 1 uS resolution each using 16 bit up
counters to measure the echo time returned. Each counter can be read through a 16 bit
port. One 8 bit down counter that controls the sonar inhibit circuit for all three sonars
at a 1 uS resolution which allows the sonars to detect objects down to 4 inches away. This
also allows all three sonars to be activated at the same time without any processor
- One degree resolution Vector 2X compass with
hardware circuit that will keep a port register
updated with the latest bearing. Again this
eliminates all processor involvement to obtain
the data from the compass.
- Used thirty magnets on each wheel with a
hal-effect transistor to keep track of wheel
movement. Each signal is feed into a 8 bit
down counter that controls each wheel. This
eliminates the slow rise time problems associated
with photo-transistors. The hall-effect transistor
is mounted on one of the nuts that mounts the
motor to the frame.
Has a NE555 timer circuit when
enabled that allows for a slower motor movement.
This allows me to have two motor speed (Fast
Two infrared proximity detectors
in front of each wheel to detect objects
that are not detected by the sonars.
Two 6 volt batteries used in
kids cars they ride in, to form 12 volts
and allow ample run time.
386 processor running at 25
MHz with 16 MEG of non-volatile storage and
512 Kbytes of ram. Battery backup clock calendar
chip. 34 Parallel I/O lines, etc.......