These computer interfaces were digital to analogue and I/O cards I designed for the VIC-20 computer of about a thousand years ago (even before the Commodore 64).
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It had 3.5 k of memory (not a misprint) but was an easily understood computer and it was possible to program in 8 bit binary machine language as well as Basic. The input and output computer interfaces were possible due to simple commands to get information (slowly) in and out.
A printer plotter was also built but this worked directly from the computer bus to small servos.
Related pages
Vic-20 Computer printer plotter
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Photo Date: 1983