Clifford Boerema wrote:
>
> I wanted to share a circuit that results in
> a bot with a form of Peripheral Vision.
>
> It's a Master/Slave form of the SC-Head.

Hi, Cliff. Very nice design.

By my quick analysis ...

1) Normal behaviour is both motors running "forward".

2) When the robot is pointing in the general direction of a light,
increased light on one of the "normal" photodiodes causes the motor on
that side of the robot to stop. This causes the robot to pivot about the
stopped wheel and face toward the light.

3) When "peripherial" photodiodes detect a difference between one side
and the other, they over-ride the "normal" PD's. The PD that detects the
brighter light reverses the motor on that side so the robot pivots
sharply about its center (one wheel forward, the other reverse) to face
more toward the light.

4) When the robot bumps into something on one side, it over-rides all
the PD circuits and reverses the motor on the OPPOSITE side, causing the
robot to pivot sharply away from the obstacle.

5) When both touch sensors contact an object, the robot backs up.

All done with a single 74HC14 (the '240 being a motor driver).

How's that for a back-of-the-envelope analysis?

Bruce