DR1 by William J. Boucher

Name: Dome Robot #1 (DR1)

Photos on my site: http://www.mnsi.net/~boucher/DomeRobo.htm

This is a robot I built from scratch in 1990. It is a micro-controller
 based system (Intel D8749H) which I designed & programmed entirely
 in my home lab. It has various lights, sounds, 2 drive motors, 
2 microphones, 8 infrared remote control receivers, a modulated 
infrared field emitter for navigation, selectable operating modes, 
a PC interface, a daylight sensor, ground sensors, a prioritized
 internal rechargable power supply, and an infrared hand-held 
remote control unit (in case you'd like to command it yourself).
It was built entirely as a learning tool for me. Boy, I learned a lot!
It's certainly old by now, but the basic principles remain typical.
The same design could be used today, but new sensors like Sharp's IR
 ranger, new processors like PIC, Atmel, Motorola, or Basic modules
 like BasicX-24 could go a long way to vastly improving performance.
 This is why this robot hasn't been worked on for a long time.
 It's actually usually easier to build a new robot than to 
extensively upgrade one. 

Programming: All assembler written by myself, programmed on my own
homemade programmer.

Processor: Intel D8749H

PCBs: all homemade custom designed on PadsDemo software & etched
with Toner Transfer paper.

Base materials: all etched PCB board

Dome: 1/2 Hamster ball

Parts: 2 modified-for-rotation servos, Honeywell prox-IR sensors,
Sharp IR receivers, nicads, assorted v-regs, LEDs, 2x H-bridge,
82C55A port expanders, ULN2803A darlington drivers, homemade
caster assembly, homemade wheels.
The green PCB photos show a manufactured version of my original Dr1
motherboard design. I have 100 in stock if anyone wants them.

Time to build: Designed and built in a coupla months. Initial 
programming took a coupla weeks, but evolved over a period of years
 as my skills & experience expanded.

Email: boucher@mnsi.net

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