ERO Rev. 1

ERO 1 began as a radio controlled monster truck known as the MRC Thunderking. After adding a microcontroller (Motorola 68HC11), an electronic speed controller (RCD HiTec SP-560), and a simple firmware program, ERO was officially born (i.e., autonomously moved about for the first time) on November 20, 1994.

*** Click on any image to enlarge ***

ERO 1.0 - Baby ERO = MRC Thunderking minus Radio Controls plus Microcontroller

ERO embryo
RCD HiTec SP-560 ESC
(Electronic Speed Controller)
Coactive Aesthetics GCB11
(Motorola 68HC11F1 dev board)
Power Supply

Full 2nd Floor View

Full ERO 1.0 Views

Left
Right

ERO 1.1 - Terrible 2's

The ERO 1.1 upgrades were completed in March, 1995.

  • Added 2nd aluminum deck with 4 IR sensor boards, digital I/F board, and speaker
  • Added elaborate front and back bumpers to...
    • Protect the furniture from ERO
    • Protect ERO from the furnture
    • Enable collision detection
  • Added wheel encoders and sensor boards to enable Proportional Integral Control (constant velocity / constant direction algorithms)
  • Added speech synthesizer - RC Systems V8600
  • Upgraded Electronic Speed Controller (ESC) - Tekin TSC 610-G

1st Floor Full

Tekin TSC-610-G ESC
(Electronic Speed Controller)
RC Systems V8600 Speech Synthesizer (TTS)
(Text-To-Speech)

Bumpers

Front
Back

Encoders

Full ERO 1.1 Views

Left
Right




ERO Rev. 2 ERO Rev. 3 return to ERO Home