Mechanical engineer and YouTuber Clay Builds has is restoring a late-90s robot using a Teensy 4.0 and ESP32.

The Nomadic Technologies N150 was purchased at auction in a non-functional state. Clay is attempting to “rebrain” it with modern microcontrollers in order to use the original ultrasonic rangefinders and bump sensors in conjunction with modern SLAM (simultaneous localization and mapping) algorithms.

Teensy is used to read the ultrasonic array, limit switches and motor encoders, with the latter used for navigation via dead reckoning. It is also used for the motor drivers, which provide locomotion. Source code for the current iteration can be found on GitHub, and a detailed video can be found below.