Ugo I

"Ugo I" is a small robot 15 cm long, 12 cm wide and 9 cm high.
I had built it in 1988 to take part to a competition organized by the italian magazine "Elektor" and on that occasion it won the first prize: a PC Amstrad 8086.
Its aim is to learn a path and later follow it again autonomously.
During a first phase you drive it along any path you choose, through a keypad connected via a flat cable.
In the second phase you remove the keypad and bring the robot back to the start position. You let it now run automously and it will follow the same path that it had learned before, untill it will reach the final position.

UGO I

"Ugo I" is provided with:

a control board with a Z80CPU, a Z80PIO, one 2KB EPROM and one 2KB RAM

two stepper motors (4 phases)

8x1.2V nichel cadmium batteries

The keypad has four keys to control the robot motion (forward, backward, left and right),
and three more keys to:

memorize the path

start the autonomous run

reset the robot

I programmed the Z80CPU directly in assembler. This was my first experience with microprocessors and therefore I did not use any specific assembler software. Instead I wrote the instructions on paper and then loaded them in the EPROM as hexabyte codes.

UGO I

Parts List:

Resistors:
· R1 ...... 10 Kohm
· R2,3 ... 470 ohm
· R4-9 ... 4.7 Kohm
· R10-17 ... 1 Kohm
· R18 .... 330 ohm
· R19 .... 220 ohm

Capacitors:
· C1 ...... 47 uF, 25 V electrolytic
· C2 ...... 10 nF
· C3 ..... 470 uF, 25 V electrolytic
· C4-6 .... 47 nF

Semiconductors:
· IC1 ............ CD4020
· IC2(A+B+C+D+E+F) 74LS04
· IC3 ............ LM7805
· IC4 ............ Z80 CPU
· IC5 ............ 2716 EPROM
· IC6 ............ 6116 RAM
· IC7 ............ Z80 PIO
· TR1-8 .......... BD679
· D1-9 ........... 1N4148

Other:
· XTAL1 ............. Crystal 2.4576 MHz
· 2 STEP MOTORS ..... 4 phases, 12 V, 0.16 A, 1.8 deg/step
· 8 NiCd batteries .. 1.2 V, 500 mA

Email: riccardo.rocca@hotmail.com

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