Hacking a floppy disk drive

I want to hack a floppy drive. I want to gain access to and control the movement of the Read/Write heads to read and write to a floppy disk.  
I am wondering if there is anybody out there who has already done this and could share some of this information? It would be very useful to know what floppy drive is the easiest to hack.
I would also be interested in encoding and timing diagrams for reading and writing.
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Why exactly are you wanting to do this?  It's been a while since I've done this previously, but I think the closest you could get is by writing what's termed assembly language code to do this.  The computer uses BIOS routines to access things like the hard disk, floppy disk etc.
It was all good fun back then when I did this, but I'm a bit rusty.  Was still fun though :)
CoolmainAuthor Commented:
Thanks for responding.
I want to test out an idea that requires me to move the heads radially and along the tracks also.  It would be cool if I could do this in assembly.
I can't remember exactly (because it was a while ago), but the CPU uses BIOS Interrupt routines to access disk drives (I think it's Int 13?).  I remember reading something about tracks and sectors etc.  Just do a search on google for bios interrupt routines.  Should be easy to find.  I warn you, it's a bit of a headache though.
Assembly is basically the lowest (sensible, human readable) level of coding you can do on a computer.  Don't know if you've done any before, but you'll need to get hold of an assembler to help you.

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CoolmainAuthor Commented:
Thanks very much. That's enough information to get me started. It was back in the 80s when I last used assembler so time for some fun!
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