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' move right leg high enable_right high reverse_right pause 300 while limit_right = 0 wend low enable_right low reverse_right next temp goto start end
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walk-routineshex file listing (continued)
The Lynx LC series transmitter and receiver modules were designed to facilitate a highly reliable wireless serial data link Once the units are powered up, serial data can be sent on a single pin of the transmitter and received on a single pin of the receiver This makes it very easy to use the modules with a microcontroller and a programming language like PicBasic Pro
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When using the serin command to receive data, PicBasic Pro lets you define a qualifier enclosed within brackets before any more data is received Serin must receive these bytes in exact order before receiving any data items If any bytes received do not match the next byte in the qualifier sequence, the qualification process starts over (ie, the next received byte is compared to the first item in the qualifier list) This makes it easy for us to program an identification code for each device or robot that we are going to control It also ensures that good data are being sent, and cuts down on erroneous interpretation of the received serial data Once the qualifiers are satisfied, serin begins storing data in the variables associated with each item If the variable name is used alone, the value of the received ASCII character is stored in the variable For our test program, we will use the qualifier Z to identify that the received data is coming from our transmitter Once the character Z has been received, the next byte of information will be stored in a variable We can then compare this information to certain control commands and carry out the tasks associated to them The line of code that will receive the serial data looks like this:
serin rxmit,rx_baud,["Z"],control
The serial data is received on pin rxmit (PORTB0) at a baud rate of rx_baud (2400) The program execution will remain in a tight loop, receiving serial data and comparing each received byte to the character Z When the character Z is received, the next data byte is stored in the variable named control We will then compare the contents of the variable control to the character A If the comparison is true, then the microcontroller will produce a couple of tones on the piezo speaker The receiver program is called receive-testbas and is listed in Program 67 Program the PIC 16F84 with the receive-testhex file listed in Program 68 Place the PIC in the 18-pin socket on the robot s main board
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'-----------------------------------------------------------------------------------------------------------------------------' Name : receive-testbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Program to test the wireless data link ' : between the Lynx 433LC series ' : transmitter and receiver '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs pins 0 and 1 inputs trisa = %00000011 ' PortB set as outputs pin 0 input trisb = %00000001 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas" rx_baud rxmit piezo control CON N2400 VAR PORTB0 VAR PORTA3 VAR BYTE
PROGRAM 67
receive-testbas program listing
SOUND PIEZO,[115,10,50,10] start: serin rxmit,rx_baud,["Z"],control if control = "A" then SOUND PIEZO,[115,10,80,20] pause 100 endif goto start end
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PROGRAM 68
receive-testhex file listing
:100000009F2864001120031801281C2008308F004D :100010001D2011208E0C0C288F0B08281D200E0887 :100020000800220884002008841780048413000537 :100030001F192006FF3E08001F171F0D06398C00F0 :100040002B208D008C0A2B201F1F7E281F138C0055 :10005000023095207E2800308A000C088207013487 :1000600075340334153400343C340C34D9348F00E7 :100070002208840020095E2084138F0803199A281F :10008000F03091000E0880389000F0309103031991 :10009000910003198F0303199A284E286120030148 :1000A0000C1820088E1F20088E0803190301900FDA :1000B0005B28800642285C280000452884178005BC :1000C0009A280D080C0403198C0A80300C1A8D062E :1000D0000C198D068C188D060D0D8C0D8D0D9A2822 :1000E0008F018E00FF308E07031C8F07031C9A2898 :1000F00003308D00DF307E2072288D01E83E8C00B9 :100100008D09FC30031C87288C07031884288C0772 :1001100064008D0F84280C188D288C1C91280000F9 :100120009128080003108D0C8C0CFF3E03189228B8 :100130000C089A28831303138312640008008316A3 :10014000033085000130860005308312A20008309C :10015000A00073308E000A30372032308E000A3013 :1001600037200630A2000130A00004309F0001209B :100170005A3C031DB7280120A40064002408413C18 :10018000031DD0280530A2000830A00073308E0077 :100190000A30372050308E00143037206430702001 :0601A000B1286300D12824 :02400E00F53F7C :00000001FF
The corresponding transmit-testbas for the PIC 16C71 microcontroller used in the remote control is listed in Program 69 This program uses the serout command to send serial data to the transmitter The baud rate is also set at the same rate as the receiver program Notice that the qualifier character Z is sent first, and then our control character, in this case A Program the PIC 16C71 with the transmit-testhex file listed in Program 610
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