Z80Steps by Rick Bussinger

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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