M.U.P.P.E.T - Odometry Advice

Hi all,

I’m currently working on my first large robot called M.U.P.P.E.T, take a look at my website for details beakz.net

I’ve completed the motor controller system, including 30A H-Bridge boards, Serial Interface (for initial remote control), and PIC16F628 motor controller.

I’m now looking to incorporate Odometry into the system (one of many systems on the list) and am looking for anyone with schematics or designs for Optical Interrupters, or anyone who can point me to some useful information.

I already have the Opto-Interrupters and am working out some ideas for creating a Pulsed output which I can dedicate a PIC to (I like PICs at the moment) and use this in combination with the motor controller to provide controlled movement for the robot.

If anyone has information/advice they can offer, please contact me and I’ll mention you on my site and include a link to your site (all helps with the search engines).