My project for robotics class. Have an old ORT- Armdroid robot arm from the 80's. No controller or software.
Got to work last night reviving this little arm. Removed the original circuit board, a nice piece of work.
Next, I set out and build a stepper motor driver using a 555 for clock, 74194 shift register, 7404 driver inverter, and TIP120s.
I then moved each joint independently, and woke the little guy up.