built by Rick Bussinger

Target Environment Locomotion Method
Indoors 4 Wheels
Sensors / Input Devices Actuators / Output Devices
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Z80 None
Programming Lanuage Weight
Assembly N/A
Time to build Cost to build
URL for more information
Z80Steps is essentially a robot built out of spare parts from printers, floppy drives and mobile phone batteries. This project was begun 4 years ago and has not been worked on for several years, due to other commitments. The heart of the robot is a Z80 cpu running at 4mhz. The 2k eprom was loaded with hand assembled machine code as the compiler could not cope with the fact that there is no temporary storage ie ram on board. To cope with the need to have some variables . I used some unused register space as temporary ram. The Z80 was chosen as I have access to lots of old computer systems that used them , and so did not cost me any money!. The pcb was drawn with Turbocad then printed out directly onto the pcb copper by means of a home built plotter also built out of old printer & floppy parts. As it is , the robot runs forward at a speed that can be continuously varied by a bcd switch , which is scanned by the control program after every step the motors turn. If an obstacle is encountered it reverses in a half circle for a pre-determined time then again returns to forward motion. There are four microswitches located at the corners of the robot to sense obstacles. I eventually plan to include sonar sensors and IR as well for range finding.Another option was an LCD display to give feedback to the operator. The stepper motors drive the four wheels by friction which seems to work ok for a small robot like this one. Any more information can be had by email only at this time as my web site is not up and running as yet. Email: rick.bussinger@solution6.com

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