This project design uses a single chip (MC68HC11A8) to control various motions of a cylindrical robot arm. The 68HC11 translates a three byte code, sent from a Turbo C program into control information. This information controls a grasping motion, a vertical motion, and a rotary motion. The 68HC11 controls a stepper motor, PWM to two D.C. motors, and receives feedback from encoders to determine velocity and position of the arm and limit switches that indicate when the limit of the field is reached. The 68HC11 also sends feedback to be displayed graphically on the monitor. 
 

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