Finished construction on the Dual H-bridge board that will controll the two motors on the motor deck. A second board on the motor deck will send the PWM (pulse, width, modulation) signals to the H-bridges to control speed and direction. This second board is designed around a motorola 6808 mirco. This board is not going to be the brain of the robot; instead it will receive commands from the controll deck. This approach will has the affect of offloading the service routines for the PWM, wheel encoders and the line follower. The data from the encoders and the line follower can be made avilable to the controll deck through the command interface.
The hardware design for the controll deck is finished. I'll start working on bread-boarding the second board for the motor deck soon. I have several of the PWM service routines already writen and tested on my bench unit, this was done while I was finiallizing the design of the H-bridge.
My home webpage hasn't been updated since I started this project. I've taken some pictures and will post them along with images of the schematics and copies of the source code. Anyone interested in learning more about this project is encouraged to visit my website.