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3-post header connector 25-mm spacing 1-post header connector 25-mm spacing 2-post header connector 25-mm spacing 4-MHz crystal Standard piezoelectric element 4-contact terminal block 18-pin IC socket soldered to PC board U2 See details in chapter
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Creating the Main Controller Printed Circuit Board
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To fabricate the printed circuit board (PCB), photocopy the artwork in Figure 538 onto a transparency Make sure that the photocopy is the exact size of the original For convenience, you can download the file from the author s Web site, located at wwwthinkboticscom, and simply print the file onto a transparency using a laser or ink-jet printer with a minimum resolution of 600 dpi After the artwork has been successfully transferred to a transparency, use the techniques outlined in 2 to create a board A 4-inch 6-inch presensitized positive copper board is ideal When you place the transparency on the copper board, it should be oriented exactly as in Figure 538
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5 / Serpentronic: Build Your Own Robotic Snake
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Circuit board drilling and parts placement Use a 1/32-inch drill bit to drill all of the component holes on the PCB Drill the holes for the voltage regulator (U1) with a 3/64-inch drill bit Use Table 52 and Figure 539 to place the parts on the component side of the circuit board Note that the PIC 16F84 microcontroller (U2) is mounted in an 18-pin IC socket The 18-pin socket is soldered to the PC board and the PIC is inserted after it has been programmed Use a fine-toothed saw to cut the board along the guide lines, and drill the mounting holes using a 5/32-inch drill bit Figure 540 shows the finished main controller board
Controller board PCB component side parts placement
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Parts soldered to the finished PCB
Check the finished board for any missed or cold soldered connections and verify that all the components have been included The board will be tested later when programming the PIC microcontroller
The Infrared Sensor Board
An infrared sensor board will be fabricated to give the snake obstacle avoidance capabilities The sensor board is comprised of an infrared LED and a Panasonic PNA4602M IR sensor module A single-channel sensor is being used because the sensor board will be mounted at the front of the robot s movable head The snake is able to move its head in an arc of 180 degrees, allowing it to sense objects in front, and to either side of its body as it explores the surrounding environment The sensor board schematic is shown in Figure 541 Table 53 is a list of all the parts needed to construct the board The 555 timer in the circuit is used to modulate the infrared LED at a frequency determined by C1 and R3 R3 is an adjustable 10k
5 / Serpentronic: Build Your Own Robotic Snake
FIGURE 541
Infrared sensor board schematic
potentiometer that will be used to find the optimum frequency during calibration In our application, we will use a frequency between 38 and 42 kHz, so that a meaningful signal will be sent from the PNA4602 sensor module to the microprocessor The PNA4602M shown in Figure 542 is designed to detect only infrared radiation that is modulated at 38 kHz, and rejects all other light sources This makes the module an ideal sensor for daylight conditions The features include an extension distance of 8 meters or more No external parts are required, and a resin filter makes the module unsusceptible to visible light Table 54 lists the PNA4602M module s main characteristics The output signals from the module will be processed and filtered by the microcontroller with a software routine, described later in the chapter
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TABLE 53
Parts List for the Infrared Sensor Board
Part
Quantity
Description
Semiconductors U1 IR1 1 1 LM 555 Timer integrated circuit Panasonic PNA4602M infrared detector modules Infrared light-emitting diodes
D1 Resistors R1 R2 R3 Capacitors C1 C2 Miscellaneous JP1, JP2, and JP3 Printed circuit board IC socket
1 1 1
220 1K
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