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6 / Crocobot: Build Your Own Robotic Crocodile
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Insert the 16C71 into the 18-pin socket on the remote control circuit board Turn the power on at the robot, and then turn on the power to the remote control When the button on the remote control is pushed, the LED above the button will light up, indicating that a transmission has been sent At the same time, the piezo speaker on the robot will make a couple of tones each time the button is pushed You should also notice that the LED next to the receiver module on the robot s controller board will flash on and off rapidly, as data comes through If nothing happens when the button is pushed, check all of your wiring and battery supplies Once the units are working together correctly, you can check the range of the transmitter by walking away from the robot and holding the push button on the remote control down For later experimentation, you can program this button for other tasks
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'-----------------------------------------------------------------------------------------------------------------------------' Name : transmit-testbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Program to test wireless link using the ' : Linx 433LC series transmitter and receiver '-----------------------------------------------------------------------------------------------------------------------------' set PortA inputs trisa = %00011111 ' PortB set as outputs pin 2 input trisb = %00000100 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas" tx_baud txmit CON N2400 VAR PORTB0 255 PROGRAM 69
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transmit-testbas program listing
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PROGRAM 69
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transmit-testbas program listing (continued)
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txmit_led push_button start: low txmit_led
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VAR PORTB1 VAR PORTB2
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If push_button = 1 then serout txmit,tx_baud,["ZA"] high txmit_led pause 200 endif goto start
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PROGRAM 610
transmit-testhex file listing
:1000000063289200220884000930930003100D2019 :10001000920C930B072803140D2884139F1D1C2892 :10002000000820041F1D20068000841700082004FB :10003000031C20068000272800082004031C20063B :100040001F192006800084172009800527281F0D0E :1000500006398C0030208D008C0A302000004A28A0 :1000600000308A000C0882070134753403341534DB :1000700000343C340C34D9348F018E00FF308E07AD :10008000031C8F07031C5E2803308D00DF304A20DD :100090003E288D01E83E8C008D09FC30031C53285E :1000A0008C07031850288C0764008D0F50280C18FB :1000B00059288C1C5D2800005D2808008313031359 :1000C00083126400080083161F3085000430860008 :1000D000831286108316861064008312061D802802 :1000E0000630A2000130A00004309F005A300120E9 :1000F00041300120861483168610C83083123C20BC :0201000069286C :02400E00F53F7C :00000001FF
At this stage, we can bring all of the subroutines together into one set of robot remote control programs The only thing left to discuss is the use of the analog-to-digital (A/D) converters on the PIC
6 / Crocobot: Build Your Own Robotic Crocodile
16C71 These A/D converters will be used to convert the voltages from the control stick potentiometers to 8-bit digital values Each potentiometer is configured as a voltage divider so that a unique voltage represents each position along the X and Y axis The PicBasic Compiler also makes using the A/D converters very easy Using the ADCIN command, it is easy to set the number of bits in the result, set the clock source, set the sampling rate, and set the port pins to analog Once that has all been set up, simply read the channel value and store the result in a variable I have listed all of the A/D converter registers in the comments of the transmitter code if you are interested in exactly what is happening The program for the robot is called rx-remotebas and is listed in Program 611 Compile the code and then program the PIC 16F84 with the rx-remotehex file listed in Program 612 Insert the programmed 16F84 into the 18-pin socket on the robot s main board The program for the remote control is called tx-remotebas and is listed in Program 613 Make sure that the PIC 16C71 has been UV erased Compile the code and then program the PIC 16C71 with the tx-remotehex file listed in Program 614 Insert the programmed 16C71 into the 18-pin socket on the remote control circuit board Place the robot on the floor and turn on the power Turn on the power to the remote control Push the button on the front of the remote The robot should make a sound Try controlling the robot s direction using the control stick When everything is working correctly, place the top on the transmitter project enclosure and secure it in place with the screws that came with the box With the control stick sitting in the middle position, the robot will be stopped With the stick pushed all the way forward, the robot will walk forward When the control stick is pulled backwards, the robot will walk in reverse When the control stick is positioned to the right, the robot will turn to the right, and when the stick is positioned to the left, the robot will turn to the left The potentiometer values were determined by taking the A/D readings and
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