HDTenEightyP/NetNews huggingface dataset:
From: fculpepp@norfolk.vak12ed.edu (Fred W. Culpepper)
Subject: Re: 6502 design book?
Organization: Virginia's Public Education Network (Norfolk)
Date: Wed, 30 Sep 92 03:41:55 GMT

sjhill@waikato.ac.nz writes:
> A friend of mine (who has plans to build a small robot) has a 6502 and a 
> couple of support chips (CIA,VIA), but no documentation for them.
> 
> I'm pretty sure I remember seeing a book written about 10 or so years ago
> on how to build your own 6502 computer. Maybe it was by Rodney Zaks or
> Lance Leventhal (I know they wrote books on 6502 assembly language programming)
> 
> Does anyone know of such a book? If so what's its exact name, author, 
> publisher?
> 
> Also, any other pointers to sources of info on 6502 singleboard computer
> design/construction would be much appreciated!
> 
> Stef'


If my memory has not slipped, I believe the instructions to
which you refer were a series of 3 articles which appeared in
late 70's in either Popular Electronics or Radio-Electronics.
The articles were on the making of a primitive (fantastic at
that time) personal computer.

Fred W. Culpepper
OLD DOMINION UNIVERSITY (Retired)
fculpepp@norfolk.vak12ed.edu
--
From: 2575brooksr@vms.csd.mu.edu (Ryan K. Brooks)
Newsgroups: comp.robotics
Subject: 68HC11 and Amiga
Date: 26 Sep 92 05:00:41 GMT
Reply-To: 2575brooksr@vms.csd.mu.edu
Organization: Marquette University - Computer Services
NNTP-Posting-Host: vmsd.csd.mu.edu

There seem to be a number of amiga people reading this newsgroup,
so:
	A new program ADev11.lha has popped up on aminet (most amiga
FTPs).  It is an updated DASM that has much better support for the 68hc11.
Also included are some other useful tools for development.  All in all,
its a nice package.  Check it out.

Ryan Brooks
2575brooksr@vms.csd.mu.edu
From: cyberman@toz.buffalo.ny.us (Cyberman)
Newsgroups: comp.robotics
Subject: Re: is there a public dom
Date: 26 Sep 92 00:31:14 GMT
X-Maildoor: WaflineMail 1.00r


   Ted Dunning was espousing about 'Re: is there a public dom',
   on [09-22-92  18:02] to All!
 TD> for the miniboard, programming in assembler is not terribly painful
 TD> because you can't write a very long program anyway.  the lack of a
 TD> simulator or much of any debugger hurts a bit.  if anybody wants to
 TD> write a simulator, i can help them a bit by providing a list of all
 TD> possible op-codes.

    Hmmm a simulator?  Are you speaking software here?  Do you
    mean simulate all the miniboard logic as well?  (that would
    be intresting)

 TD> in another week or so, i should be done with a very early version of a
 TD> simple compiler written in prolog which targets the 6811.  it
 TD> currently supports a syntax reminiscent of modula2 (easily adapted to
 TD> be more c like), and when first released will NOT do graceful error
 TD> detection.  it does include a simple (but effective) peephole
 TD> optimizer which should help it generate ok, but not good code.  things
 TD> like jumps to jumps, and some redundant loads will be cleaned up.

    this is intresting

 TD> i will probably distribute this code with a simple prolog system (such
 TD> as binprolog) so that others can modify the code.  i will also provide
 TD> an executable compiled under quintus prolog.  if there is anybody who
 TD> would like to help, they should speak up.

    AHHHHH! I spoke yes I would be intrested but have only MAIL
    access.  :(

 TD> this compiler will produce output in format acceptable to as11, but
 TD> may also include an assembler as a side effect of the optimizer.

    Hmmm (and double hmmm)

The small C one isn't to bad though.  I have a C grammer, with
LEX and YACC source just haven't got around top making a parser
from it.  If I do then adding a code generator would be to hard.
Hmmm.   Anyhow I would be intrested in the prolog source.

        Stephen Cyberman@Toz.Buffalo.NY.US
        Scripted at Thu  09-24-1992  12:40:26

... To every beginning there is an end
--- Blue Wave/QWK v2.10
                           
Newsgroups: comp.robotics
From: pdunster@cc.uow.edu.au (peter dunster)
Subject: miniboard PCB's
Organization: University Of Wollongong
Date: Fri, 2 Oct 92 05:48:35 GMT

I have had a few questions about methods of payment for the PCB's, thought I'd
better post to the group to clarify.
Payment may be by EFT. cheque or money order, so long as it is in
Australian dollars. For a cheque to be made out in Australian dollars it must
be purchased from a bank. Almost any bank will do this. In this way the bank
can calculate the current exchange rates and do everything for you.

As to the prices, the postal charge of A$5.65 is a one off charge PER ORDER 
not per board. The A$8.00 is per board.
 i.e. If you ordered 5 boards you should send me (5 * 8) + 5.65 = A$45.65
      (aprox. US$33.33).

Humblest apologies if my previous posting was a little ambiguous, if you have 
any questions please Email me.  There may still be time for last minute
orders.

My postal address is:
			Pete Dunster
			Dept. Mech. Engineering.
			University of Wollongong
			Northfields Avenue
			Wollongong
			N.S.W. 2522
			AUSTRALIA

Cheers

Pete

Newsgroups: comp.robotics
From: miller@ee.tamu.edu (Kelly M Miller)
Subject: DC servo motors
Keywords:  DC servo motor encoder 
Organization: Texas A&M University
Date: Wed, 7 Oct 1992 02:46:30 GMT


What is a source for dc servo motors? In particular,
how much would a PM DC brushed  servo motor cost?
With a peak torque of 300 oz-in? 1100 oz-in? 3000 oz-in?

How much do optical encoders cost?

Finally where can one get mounting and gear hardware for
the motors? Dynamometers? servo amps?

if any one out there works for a company that makes these,
please email me. 

I am trying to outfit  a real time control lab. 


kelly

 

Newsgroups: comp.robotics
From: tlhouns@ns.pacbell.com (Lee Hounshell)
Subject: public domain 6811 cross-assembler
Organization: Pacific Bell
X-Newsreader: TIN [version 1.1 PL6]
Date: Tue, 6 Oct 1992 16:15:34 GMT

The other day, I was searching netnews source archives, and came across
the "frankenstein" cross-assembler package that was posted to alt.sources
back in 1990.  If any of you are interested, this assembler supports a
variety of architectures, including the 6811, and best of all, it's free!

Those of you working on the miniboard project who can't afford the Dunfield
Compiler and aren't satisfied with the Motorola assembler may want to check
this product out.

I found the source on the "NetGems 91" CD-ROM.
If you don't have that, you can probably get it by searching "archie" also.

--
Lee Hounshell - (510) 823-2432
tlhouns@srv.pacbell.com
Alchemical Engineer and Virtual Realist
Newsgroups: comp.robotics
From: "glen mead" <glen.mead@canrem.com>
Subject: help - stepper motors
Reply-To: "glen mead" <glen.mead@canrem.com>
Organization: Canada Remote Systems
Distribution: comp
Date: 3 Oct 92 19:55:50 EST

Hi All,

  I have a project which I'm working on and I need help with the
operation and control of a stepper motor.  The specific stepper motor
is a Tohoku Ricoh type 7M100200 with ratings of 24Vdc, 0.2A, and 4.8W.
I do have the pin names (13-pin connector) but I have no idea how to
control this unit.  Any help with this motor would be greatly
appreciated.  I can supply a more in depth description of my usages for
this unit and the pin labels if needed.

Glen

PS: Anybody know how if there are any Ricoh technicians on the network
or that I can access through the network?
--
Canada Remote Systems  - Toronto, Ontario
World's Largest PCBOARD System - 416-629-7000/629-7044
From: cmcmanis@pepper.Eng.Sun.COM (Chuck McManis)
Newsgroups: comp.robotics
Subject: Re: GPS & Digital Compass vendors?
Date: 6 Oct 92 06:06:33 GMT
Organization: Sun Microsystems, Mt. View, Ca.
NNTP-Posting-Host: pepper

In article <1992Oct2.193224.12784@CSD-NewsHost.Stanford.EDU> vadim@cs.stanford.edu writes:
>I'm planning to incorporate a Global Positioning System and a Digital
>Compass into a wheeled robot for improved navigation.  If anyone is familiar
>with vendors that market either a GPS or such a compass, I would love to
>hear about it!  Thanks in advance!

Cool, I've played with one of these a bit and read the manuals a bit more.
Its not too useful on a robot while the military is "scrambling" it. They
dephase the signal enough so that the accuracy of a six receiver box
drops down to +/- 100' which isn't too good for a robot (but its great
for a car :-)) Now there are tricks you can play that improve this,
the most notable is the swedish "Put a GPS receiver or three in a
well known spot and compare the known position with the real position
and then send correction signals via RF to mobile sensors." Using such
a scheme resolutions below 10cm are possible. If you get the accuracy
up you don't really need a compass, just move a little bit and watch
your lat and long. Then you can calculate your direction really
easily. Motorola, Rockwell, and Magnavox all make GPS receivers that
dump out RS-232. Look for them to cost about $1200 single unit with
an antenna. You can get maps from a company called "MapInfo" which
will let you hook up a GPS receiver to a laptop computer and get a
moving map display in your car. This is _way_ cool and can give other
technodroids serious envy :-)

--
--Chuck McManis						    Sun Microsystems
uucp: {anywhere}!sun!cmcmanis   BIX: <none>   Internet: cmcmanis@Eng.Sun.COM
NIS+ Architect
These opinions are my own and no one elses, but you knew that didn't you.
Newsgroups: comp.robotics
From: pdunster@cc.uow.edu.au (peter dunster)
Subject: miniboard PCB's - prices
Organization: University Of Wollongong
Date: Wed, 30 Sep 92 00:59:26 GMT

Well, all the details are finished, the last prices in, so now we get down 
to the nitty-gritty. The last price I was waiting for was the cost of a copy
of the artwork from Douglas Electronics, the company who made the original
boards for Fred Martin.   Unfortunately (for me) I omited to tell them not to
send it by the most expensive means they could find...the couriers charged
me US$70!!. I think by Air Mail it would have cost ~US$7 and that is all I
will put on the boards, I will wear the rest.

So to the total costs, this is the way it worked out:  ( in A$ )

  Item                               Total                  Per Board
=========================================================================
  Tooling                             210                     2.1
  Boards                                                      5.0
  Artwork                              68                     0.68
  Artwork postage                      10                     0.10
  Board postage (to Wollongong)        12                     0.12
                                                          ============
                                                    TOTAL  A$ 8.00    
							  ============
      To convert to US$, A$8.00 * 0.73 = US$5.84ea.

Those of you who placed tentative orders for boards over the last few weeks,
if you would like to confirm your order by sending me the money I can start
to get things moving. I would like to place the order on 12th October, that
should be long enough for Air Mail from anywhere in the world to reach me. 
The boards will take less than 2 weeks to make so I should have dispatched 
them by the 26th October.
 Payment details: All payments, cheques or transfers, must be in
Australian Dollars, and for A$8.00 per board ordered plus A$5.65 to cover
postage and packing to you (outside Aus only). Payments can be made by cheque
or bank transfer, cheques should be sent to me at the address below on my
signature. 
If you prefer bank transfer, the bank details are:
		National Australia Bank
		University Branch
		Northfields Ave.               Branch No.  082-886
		Wollongong                     Account No. 03-811-0002
		N.S.W. 2500.
  Please also include your name and the word "PCB" so the accounts section
can identify it, put it in the right account and advise me.

If you have any queries or problems, please send me an Email.  

If you have not placed a tentative order but wish to buy some boards, please
notify me by Email first.

Cheers

Pete
====================================================================
Pete Dunster			| Email     p.dunster@uow.edu.au
Dept. Mech. Eng.                | Tel      +61 42 213597
University of Wollongong	| Fax      +61 42 213101
Northfields Ave.                |
Wollongong, N.S.W. 2522         |
AUSTRALIA      			|
====================================================================
Newsgroups: comp.robotics
From: rg9538@ehsn4.cen.uiuc.edu (Ronald E Garnett)
Subject: Re: construction of a hexapod robot...
Organization: University of Illinois at Urbana
Date: Sun, 4 Oct 1992 22:45:09 GMT

bushbo@hiramb.bitnet (Brian 0. Bush)  writes:

>hello!
>  i am currently in the design stage of a hexapod(six-legged) robot.
>the robot will be completely based on hydraulics(sp?) and there will be
>numerous computers controlling it(i.e. one per leg; different behaviors)
>almost like a subsumption based architecture. i am still trying to get the
>big picture of the project...but i have some places i do not know what to do.
>like, how am i going to get feedback from the legs (i.e. how far they moved)
>in a wheel based robot this is no problem, just use an encoder shaft, but with
>legs i do see an easy solution? i will more or likely be using miniboards,
>since they are so small and i will need a lot of microcontrollers on the 
>robot...(i got my boards oct. 2 yeah!) :) i would also like to know if there
>is somehow i may be able to get papers on robotic control systems and/or
>legged robot and their design? would anyone be interested in a periodic posting
>to this group on our progress? any help would be appreciated...thanks in 
>advance..

There was a student at the University of Illinois @Champaign-Urbana who
made a hexapod and got it walking a few years back.  He's still here,
but I have been unable to get in touch with him as of yet.  I am tenatively
doing my Master's Thesis on the creation of an expandable "nerve system"
of 68HC11EVBU boards networked together.  I have done very little so far.

If I can get in touch with the hexapod guy, then I might try my "nerves"
out on his oversized roach!  I'd be interested in hearing about your 
progress.

As for the sensors... his critter had no sensors and used compressed air
for movement (and some cylinders/pistons).  Sensors would be nice, but
I don't have any brilliant ideas for you at the moment!  Maybe something
like a pressure sensor mounted to a much smaller cylinder such that the 
pressure in the cylinder is a function of the position??

Ron Garnett, Grad student at large (and getting larger)!

Newsgroups: comp.robotics
From: doug@cc.gatech.edu (Doug MacKenzie)
Subject: Re: gcc cross compiler for the 6811?
Reply-To: doug@cc.gatech.edu (Doug MacKenzie)
Organization: College of Computing, Georgia Institute of Technology
Date: Mon, 5 Oct 1992 16:33:14 GMT

In article <BvKGxE.464@acsu.buffalo.edu> v078p6g8@ubvmsd.cc.buffalo.edu (Richard M Wasserman) writes:
>In article <lcp4fsINN2ln@exodus.Eng.Sun.COM>, cmcmanis@pepper.Eng.Sun.COM (Chuck McManis) writes...
>The nice thing about the miniboard is that it
>..
>>is _designed_ for robotics. Whereas most other "microcontroller" products
>>on the market today are "general purpose" (which means it can do anything
>>with a bit more hardware and software). At least the EVB board actually
>>has prototype space for you to add your hardware.
>> 
>>It seems that a reasonable design would be one with a "bus" at one end
>>of the card and several special purpose daughter board cards like :
>>	robotics daughter board
>>	sensor daughter board
>>	hicurrent controller board
>>	X-10 controller board
>>	keypad interface board.
>>(you get the picture.)
>> 
>>--Chuck
>
>	Actually as I've been thinking about designing such a bus card 
>oriented system based on the intel 80196kb series.  I'd be interested in
>feedback on what to include on the robotics card, best way to go about
>getting them made etc.  If anyone is intersted they can mail direct for more
>info.  This is just a new thought so all input will be taken into account -
>though I have built up 196kb designs that due work :-)
>	Thanks,
>	Rich Wasserman
>

How about using one of the Motorola 6833x micro-controllers and avoid the
whole 6811 compiler problem completely?  The new 68333 is a 68332 with
64K bytes of EEPROM, 4K battery backed ram & 8 channel 10bit A/D unit,
all on one chip.  In march, samples were $199, I assume the price is less
now.

The best thing is the family runs 68020 code directly, so you can use the
GCC without modifications.  Plus, the 6833x's are able to run multiple
PWM outputs (I think 8?) with on-chip timer coprocessor without impacting
the CPU-32's performance.  This allows driving Futaba actuators directly.
You also get a couple serial ports with their own on-chip co-processor.

You put one of those on a board with some motor drivers and maybe some
extra memory and I'll buy it.

I'm a Ph.D. student at Georgia Tech. working in mobile robotics.
If your interested, drop me a note.

		Doug MacKenzie
		doug@cc.gatech.edu
From: lewis@mensa.usc.edu (tony lewis)
Newsgroups: comp.robotics
Subject: Robotic Helicopters
Date: 30 Sep 1992 14:16:59 -0700
Organization: University of Southern California, Los Angeles, CA
Distribution: world
NNTP-Posting-Host: mensa.usc.edu
Keywords: Autonomous,Control,Helicopters


Does anyone have references to (pointers to article, names, phone #)
of anyone working on the problem of control of autonomous helicopers
or flying vehicles in general. I understand that there has been some
work at Purdue and also in Japan but I have been unable to locate
any references. 

-Tony Lewis
lewis@mensa.usc.edu
Newsgroups: comp.robotics
From: wtaylor@cs.ulowell.edu (Wendy)
Subject: MiniBoards?
Organization: University of Massachusetts at Lowell Computer Science
Date: Mon, 28 Sep 1992 00:02:10 GMT

hi,


	Is anyone selling MiniBoards anymore?  We would like to get at least
two of them.  


Respond by email please.


---------------------------------------------------------------------------
      Wendy Taylor				wtaylor@cs.ulowell.edu



Newsgroups: comp.robotics
From: huffman@crim.eecs.umich.edu (Scott Huffman)
Subject: Inverse Kinematics for Hero?
Followup-To: huffman@engin.umich.edu
Keywords: Hero, Inverse Kinematics
Organization: University of Michigan EECS Dept., Ann Arbor, MI
Date: Fri, 2 Oct 1992 21:33:44 GMT

Does anyone out there have/know of a solution to the inverse
kinematics problem for the Hero robot?  

If you do, could you please send me the equations, or a pointer to a
reference that has them?

Thanks-
Scott Huffman
From: Eric.Huber@mailbox.bison.mb.ca (Eric Huber)
Newsgroups: comp.robotics
Subject: Wanted: A few good roboticists
Date: 24 Sep 92 21:39:42 CST

Organization: MITRE Corp.

Position Title: Member Technical Staff

Location: near Johnson Space Center, Houston, Texas (it's very hot down here)

Job description: R&D of autonomous robot (primarily of the mobile type) 
control architectures for integration of robotics technologies/algorithms
applicable to space based tasks.

Educational Background Req.: Masters: EE, CS, or ME.

Applicable Skills:

            Experience in control of "real" (not just simulated) robots.

            Familiarity with Reactive, Deliberative, and Hybrid control
            architectures/paradigms.

            Experience with AI techniques/algorithms.

            Experience in writing device drivers.

            C, LISP, UNIX, XWindows, VXWorks, etc.

            Vision processing (stereo a real plus).

            Background in classical control theory

Contact: Send those serious inquiries/resumes to: huber@aio.jsc.nasa.gov

 * Origin: The Electronic Mailbox (1:348/7.0)

Newsgroups: comp.robotics
From: jrichard@cs.ulowell.edu (John 'MacGyver' Richardson)
Subject: Re: gcc cross compiler for the 6811?
Organization: /usr/ug/1993/jrichard/.organization
	<BvKGxE.464@acsu.buffalo.edu> <1992Oct5.163314.23669@cc.gatech.edu>
	<Bvp9Gu.GJL@research.canon.oz.au>
Date: Tue, 6 Oct 1992 17:43:26 GMT

   doug@cc.gatech.edu (Doug MacKenzie) writes:
   >How about using one of the Motorola 6833x micro-controllers and avoid the
   >whole 6811 compiler problem completely?  The new 68333 is a 68332 with
   >64K bytes of EEPROM, 4K battery backed ram & 8 channel 10bit A/D unit,
   >all on one chip.  In march, samples were $199, I assume the price is less
   >now.

This sounds good, but we need a board designed for robotics that will use 
this CPU (and I'm sure others would too).  About how much power would a 6833x
use anyway?  Will Motorola ship us the spec sheets/books?  

Along those lines, are there any good books that can jump start CS 
grad/undergrads into the EE world of designing controllers?  This is the 
biggest problem we've run into trying to build robots...


John Richardson            |"sun dogs fire on the horizon        \ \   \
jrichard@cs.ulowell.edu    | meteor rain stars across the night   * *   \   /\
			   | ...the spark still flies                /\  * /  \
			   |           in another pair of eyes." /\ /  \/\/
                                                           ------  \   / /
Newsgroups: comp.robotics
Subject: construction of a hexapod robot...
From: bushbo@hiramb.bitnet
Date: 4 Oct 92 09:31:25 -0500
Organization: Hiram College
Nntp-Posting-User: bushbo

hello!
  i am currently in the design stage of a hexapod(six-legged) robot.
the robot will be completely based on hydraulics(sp?) and there will be
numerous computers controlling it(i.e. one per leg; different behaviors)
almost like a subsumption based architecture. i am still trying to get the
big picture of the project...but i have some places i do not know what to do.
like, how am i going to get feedback from the legs (i.e. how far they moved)
in a wheel based robot this is no problem, just use an encoder shaft, but with
legs i do see an easy solution? i will more or likely be using miniboards,
since they are so small and i will need a lot of microcontrollers on the 
robot...(i got my boards oct. 2 yeah!) :) i would also like to know if there
is somehow i may be able to get papers on robotic control systems and/or
legged robot and their design? would anyone be interested in a periodic posting
to this group on our progress? any help would be appreciated...thanks in 
advance...
					mechanically yours,
					  bri
-- 

brian o. bush
IN%"bushbo@hiramb.bitnet"

   /
   \ yber                       

Newsgroups: comp.robotics
From: tlhouns@ns.pacbell.com (Lee Hounshell)
Subject: Miniboard "C" Compiler/Assembler/Linker from Dunfield Development Sys.
Organization: Pacific Bell
X-Newsreader: TIN [version 1.1 PL6]
Date: Tue, 29 Sep 1992 22:49:16 GMT

A few weeks ago, I purchased source to the Dunfield 68HC11 "C" delelopment system.
I'm porting it to the Sun SPARC platform, and plan on giving the modified source
and binaries back to David Dunfield so that he can provide cheap SPARC binaries
for anyone wanting to program the miniboard on a Sun 4 platform.

It arrived last Friday.

So far, I think I've got just about everything ported.  I'm still having one
problem with the XASM assembler though.  It's apparently not correctly resolving
labels and addresses when trying to generate a .HEX file from a .ASM file.

I need someone who already has the Dunvield "C" cross-compiler for 68HC11's to
please send me copies of the .ASM files and resulting .HEX files produced by the
example "C" test programs supplied with the compiler.  (ie: "hello.c", "monitor.c",
and "ttt3d.c" (tic-tac-toe)).

I need these so that I can to determine if my port is correct.  Ideally, when I
produce a .ASM from the each of the example "C" programs it should match that
produced on an IBM PC.  Similarly, the .HEX files should match as well.  If they
don't for some reason, I'll at least be able to look at the output my compiler
generates and (hopefully) determine where the problem is without too much grief.

If you do email me a .ASM and .HEX file, please include the compile options you
used to generate it.  That way I will be able to reproduce the compile exactly.

Any help that anyone can provide will be greatly appreciated.  Thanks.

--
Lee Hounshell - (510) 823-2432
tlhouns@srv.pacbell.com
Alchemical Engineer and Virtual Realist
Newsgroups: comp.robotics