27 Sep 2006 Trilithon   » (Observer)

I am very new to this so please be patient with me. I am pretty familiar with most electronics, and am in the process of designing a robot which will serve a few household funtions.

I am currently building a PIC programmer, a bastardized version of one of Bojan's. I am going to us a 16F877 for my main controller, and one more to control a few peripherals, addressed by the primary controller as master.

This robot is self charging, self righting, and must navigate complex room interiors. This robot also must utilize voice recognition, though it will be limited to very few commands.

For locomotion, I am using 2 small TEAC steppers, which I canabalized from some very archaic floppy drives. I like to do things cheaply. I also like the fact that if one of my brakes fail, my MCU can sense this and revert to motor braking. Safety is job one. This is one of my largest questions, though... what are the disadvantages to these compared to DC's or servos? I am only using them for locomotion, and not braking, which will be handled differently. But are there any advantages to steppers in this application? Since the steppers are driving the wheels directly, the friction environment will negate the advantage of stepping, in my opinion.

All opinions are considered and appreciated. Thanx. Matt

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