Swivil by Shaun Parsons

Weight= 1.8Kg
Hight= 95mm
Width= 243mm
Length= 225mm
Ground clearance= 25mm

Power:
12v 1.1Ah NiCd
>From this we generate 22V @ 200mA, 6V @ 300mA, 5V @ 200mA,
                       -6V @ 30mA, and -15v @ 10mA
Running time= +- 4 Hours
Top speed= 0.2m/S
Torque= ??
The robot drives up a wall and falls on its back if I allow it.

Sensors and IO:
Optical feedback from left & right drive motors,
Motors have PWM control
4x 40Khz IR obstical avoidance,
2x 40Khz sonar range finding,
5 element line following sensor,
left and right light level sensors
2x audio mic's (L&R)with software controlled gain,
1x PWM audio out(speaker onboard)
ambiant temprature sensor(-45 to 135)deg C
angle of tilt X & Y,(1deg resolution)
battery (voltage, temprature & current),
4x bump switches
8x function keys on the sides of the 240x128 graphic LCD display

(could not afford a vector compass),it needs it.

Frame:
Aluminum tube and angle chassis with spring loaded swivling 
left and right tracks for mobility

Processor is an Intel 87C51GB 64PLCC running @ 18.432Mhz
RAM= 160KB, ROM= 64KB and a Xilinx XC9572 CPLD device.

The design is a test bed for my self to see what I can acomplish. 
I will then apply what I learn from this design to a more 
functional design.

cost:
+- R2000-00 South African Rand

Build time:
+- 550 Hours
Still lots of programing to be done.

http://www.webtronics.co.za/shaun_p/

Email: sparsons@iafrica.com