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November 1998 - 'Bumper' Rev 1. This is 'Bumper'. Pretty much my first functioning Mindstorms bot. It has two bump sensors for solid obstacles and two down-facing light sensors so it can react to table edges. It's programmed to reverse direction upon encountering either 'problem', back up a random amount, turn away (left or right) from the 'problem', and continue on its way. Really cute! However, it will back off a table it solid objects are placed too close to the edge.
November 1998 - 'Bumper' Rev 1.
April 1999 - 'Bumper' rev 1.5. With an Infrared Proximity Detector from Dennis Clark. This has both a right and left IR emitter LED so that it can give directional information as well as if there's something directly in it's path.
September 2001. Rev 1 Bumper instructions.
September 2001 - 'Bumper' Rev 2. This version of bumper has down-facing light sensor behind and and in front of each track to help keep it from backing off a table. It also has a rear bumper for collision detection.
September 2001 - 'Bumper' Rev 3. This version uses the IR communications transmitter in the RCX combined with two forward facing light sensors to make a 'LEGO only' IRPD. The problem others have noted when trying this is that there is no way to synchronize a light sensor sample with an IR burst from the RXC. While looking into this problem I found that using only the peak response from each sample set yielded better results than using the average of a sample set.
December 2001 - 'Bumper' Rev 4. This little guy uses the same track drive as the Champosaur to shrink the size down a bit.
