I have managed to destroy the timing circuit in HAL's power supply,a new one is going to cost $100 or more. I have taken out the circuit board and replaced it with a full wave rectifier. $5 at radio shack. HAL now works,but when he gets to the edge I have to turn him of and back on to reverse directions. Not ideal yet, but better. Next step is to solve the turn off-turn on cycle, looking at a timer relay, but still trying to figure out the best solution. Why didn't I keep up with my electrical engineering after I graduated!!!
I will keep you posted.