Parallel Port Robot Control Pin-Out

This is very much a work in progress, just to keep me thinking about it.

I have used Parallel Port controllers as a very simple switch and sensor, this project is to develop a very low-cost simple computer controller for robot of a reasonable size.

The basic circuit above only shows one relay, but this chip will support up to 7 relatively large 12V relays.

Above are two examples of previous projects, one is made inside a D Connector, and the other is a test unit with LEDs and terminal block.

Output	Pin	State = 0	State = 1
D0	2	Left motor power off	Left motor power on
D1	3	Right motor power off	Right motor power on
D2	4	Left motor forward	Left motor reverse
D3	5	Right motor forward	Right motor reverse
D4	6	Left motor slow	Left motor fast
D5	7	Right motor slow	Right motor fast
D6	8	Light On - OK	Sound Alarm - Not OK
D7	9	Regenerative Brake Off	Regenerative Brake On
Input		This is a very simple circuit.	0V=State 0, +5V=State 1
Acknowledge	10	Motor power is Off	Motor power is On
Busy	11	No Obstruction	Obstruction Rear
Paper Out	12	No Obstruction	Obstruction Left Front
Select	13	No Obstruction	Obstruction Right Front
Error	15	Distance Pulse Off	Distance Pulse On

Notes:
1. Main motor controls are not powered up until system in right state (so it does not matter if PC data pins change state at boot-up).
2. Start control software to sets parallel ports to the right state
3. Find someone to help write code ;-P