Hendrix by David M. Nicolson

Hendrix By David M. Nicolson

Hendrix is an autonomous mobile robot , inspired by the book: mobile
robots inspiration to implementation by Joseph L Jones and Anita M. Flynn.

His function is to serve as a learning platform for my self, and an excellent platform it as been.

The base is made of 1/8 thick by 8 in diameter aluminum stock. The circuit
board sits atop four aluminum posts in the center of the disk. under that sits the power
sours, four C size rechargeable NiCad,s for the motors and four AAs for the logic. The
circuit board is the Rug Warrior single board robot.

Its processor is a Motorola 68hc11A1 with 32K of RAM. It has An LCD screen for debugging and
sensor out put. An expansion header is mounted on the circuit board. The drive motors are
modified servos made to rotate 360 degrees. The robot is programmed in Interactive C.

The sensors include:

 A 360 degree bump skirt
 An IR emitter detector pair in front 
 A pair of Photo cells also mounted in front.
 A Microphone for sound detection.
 Shaft encoders for velocity monitoring.
 An Ultrasonic ranging system mounted  on top with a servo for
  180 degree scanning.

The only real problem I had was with the velocity monitoring circuit
and hardware so I made some modifications. I Salvaged some encoder disks
form a dead mouse and mounted then on brackets that hang over the wheels.
The shaft of the encoder rests on and spins with the wheel. circuitry was
built to count the tics of the encoder and indicate forward or backward
movement This information is then conditioned with software. this is
hocked into the boards original header pins  and circuitry minus the
resistors. It works great. 

It took about two months to build to a basic working robot and is
still in the works.

Cost was about $300.00

Email me at: nicolson@oeonline.com .
My web site is  http://oeonline.com/~nicolson/robot.html

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