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This is our first autonomous robot "Albert 1". It has a bumper at the front to detect collisions and rear steering,to get away. The design specification is to drive forward until an obstacle is met, then to turn the steering to the right and backup for 30 seconds. After this the steering will straighten out and Albert is to move forwards again.

The ladder logic for the control processor.

Timer1 is the reversing timer

x0 is the start switch

x1 is the bumper switch

x2 is steering set to straight switch

x3 is steering set to turn switch

y0 is motor 1 direction

y1 is motor 1 on/off

y2 is motor 2 on/off

y3 is motor 2 direction