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The MicroCode Studio ICD enables you to execute a PICBasic Program on a host PIC microcontroller and view variable values, Special Function Registers (SFR), memory, and EEPROM as the program is running Each line of source code is animated in the
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3 / Microcontrollers and PIC Programming
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FIGURE 310
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One button compile and programming using MicroCode Studio
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main editor window, showing you which program line is currently being executed by the host microcontroller You can even toggle multiple breakpoints and step through your PICBasic code line by line Using the MicroCode Studio ICD can really accelerate program development It s also a lot of fun and a great tool for learning more about programming PIC microcontrollers
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Now that the concept of programming and compiling code for microcontrollers has been covered, it will be easy to program the robots in the following chapters Using MicroCode Studio for creating your source code, compiling the code, and programming PIC microcontrollers makes development much faster
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Frogbotic: Build Your Own Robotic Frog
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Frogs and Toads
There are more than 4,100 species of frogs and toads, making them the largest group of amphibians The majority lives in tropical environments, mostly in or close to fresh water In adulthood, frogs and toads are characterized by the absence of a tail The frog s hind limbs are much larger than their front limbs, enabling them to jump very long distances There is much diversity among frogs and toads There are species that use their legs to swim, burrow into the soil, climb trees, and glide through the air, in addition to jumping and crawling The primary senses of frogs and toads are vision and hearing Many frogs and toads use loud calls to communicate with one another Frogs and toads typically lay their eggs in water The eggs hatch into larvae (tadpoles), which have spherical bodies and are herbivorous Adult frogs and toads are carnivorous, feeding mostly on insects They are generally only active at night The biologically inspired robot in this chapter is based on the frog and its capability to achieve locomotion by jumping This locomo51
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Amphibionics
FIGURE 41
A tree frog and its biologically inspired robotic counterpart
tion is achieved by releasing the energy stored in the frog s hind legs Figure 41 shows a tree frog, along with its biologically inspired mechanical counterpart
Overview of the Frogbotic Project
The robotic frog to be built possesses two spring-loaded hind legs that are used to achieve locomotion by jumping, as shown in Figures 42 and 43 The functions of the leg mechanisms, sensors, and leg position limit switches are controlled by a Microchip PIC 16F84 microcontroller The spring of each leg is independently loaded with a mechanism that uses a standard servo, modified for continuous rotation A close-up of the spring-loading mechanism is shown in Figure 44 When the servo is rotated to the position where the cam-like device is fully set and the spring is loaded, a limit switch is triggered At this point, the microcontroller stops the servo and holds this position until both legs are in jumping position
4 / Frogbotic: Build Your Own Robotic Frog
FIGURE 42
Robot frog leg mechanism outside view
FIGURE 43
Robot frog leg mechanism inside view
Amphibionics
FIGURE 44
Spring-loading mechanism with limit switch sensor
When both servos have been positioned so that the springs are loaded and the legs are in their jumping position, the microcontroller gives both servos the command to move forward This moves the lever past the position where the spring is loaded, at which time the spring quickly pulls the upper leg mechanism downward, giving the legs enough energy to leap the frog forward
R/C Servo Motors
The R/C servo is a geared, direct current motor with a built-in positional feedback control circuit, as pictured in Figure 46 This makes it ideal for use with small robots because the experimenter does not have to worry about motor control electronics A potentiometer is attached to the shaft of the motor and rotates along with it For each position of the motor shaft and potentiometer, a unique voltage is produced The input control signal is a variable-width pulse between 1 and 2 milliseconds (ms), delivered at a frequency between 50 and 60 Hz, which the servo internally converts to a corresponding voltage The servo feedback cir54
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