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PROGRAM 613
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tx-remotebas program listing
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PROGRAM 613
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tx-remotebas program listing (continued)
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bit5 - reserved bit4 - CHS1 bit3 - CHS0 bit2 - GO/DONE bit1 - ADIF bit0 - ADON ADCS1 and ADCS2 - bit7 and bit6 A/D conversion clock select: ADCS1,0 = 00: fosc/2 01: fosc/8 10: fosc/32 11: f rc (derived from internal rc oscillator) bit5 - reserved Analog channel select - bit4 and bit3 CHS1, CHS0 = 00: channel 0 (AIN0) 01: channel 1 (AIN1) 10: channel 2 (AIN2) 11: channel 3 (AIN3) GO/DONE - bit2: must be set to begin a conversion It is automatically reset in hardware when conversion is done ADIF - bit1: A/D conversion complete interrupt flag bit Set when conversion is completed Reset in software ADON - bit0: If ADON = 0 A/D converter module is shut off and consumes no operating current ADON = 1 A/D converter module is on ADRES = 09 hex = 9 dec A/D conversion result register INTCON = 0B hex = 11 dec interupt control register
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'-----------------------------------------------------------------------------------------------------------------------------' set PortA inputs trisa = %00011111 266
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PROGRAM 613 ' PortB set as outputs Pin 2 input trisb = %00000100 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas" tx_baud CON N2400 pot_y VAR PORTA0 pot_x VAR PORTA1 txmit VAR PORTB0 txmit_led VAR PORTB1 push_button VAR PORTB2 val_y VAR BYTE val_x VAR BYTE control VAR BYTE '-----------------------------------------------------------------------------------------------------------------------------' Set up the analog to digital converters DEFINE ADC_BITS 8 DEFINE ADC_CLOCK 3 DEFINE ADC_SAMPLEUS 10 ADCON1 = 2 start: low txmit_led ADCIN 0,val_y ADCIN 1,val_x ' read A/D converter - portapin 0 ' read A/D converter - portapin 1 ' Set number of bits in result ' Set clock source (rc = 3) ' Set sampling time in microseconds ' Set porta pins 0 and 1 to analog
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tx-remotebas program listing (continued)
If val_y < 20 then high txmit_led serout txmit,tx_baud,["ZA"]
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PROGRAM 613
tx-remotebas program listing (continued)
endif If val_y > 200 then high txmit_led serout txmit,tx_baud,["ZB"] endif If val_X < 20 then high txmit_led serout txmit,tx_baud,["ZC"] endif If val_X > 200 then high txmit_led serout txmit,tx_baud,["ZD"] endif If push_button = 1 then high txmit_led serout txmit,tx_baud,["ZE"] endif If ((val_y > 25) and (val_y < 190)) or ((val_x > 25) and (val_x < 190)) then serout txmit,tx_baud,["ZF"] endif goto start end
PROGRAM 614
tx-remotehex file listing
:100000008C2892002A0884000930930003100D20E8 :10001000920C930B072803140D288413A71D1C288A :1000200000082804271D28068000841700082804DB :10003000031C28068000272800082804031C280623 :100040002719280680008417280980052728270DEE :1000500006398C0030208D008C0A302000004E289C :1000600000308A000C0882070134753403341534DB
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:1000700000343C340C34D9348C008C0D8C0D0C0DB8 :100080003839C138880000308D000A304E200815FC :10009000081948288D01090887288D01E83E8C0041 :1000A0008D09FC30031C57288C07031854288C0733 :1000B00064008D0F54280C185D288C1C61280000EA :1000C000612808008D018F018E0001306C288D01A0 :1000D0008F018E0004306C2894000F080D02031D60 :1000E00073280E080C020430031801300319023083 :1000F0001405031DFF3087280038031DFF30040559 :10010000031DFF3087280404031DFF308728831355 :10011000031383126400080083161F308500043027 :100120008600023088008312861083168610003005 :1001300083123C20AE0001303C20AD00640014303E :100140002E020318B12886148316861006308312F7 :10015000AA000130A8000430A7005A300120413025 :1001600001206400C9302E02031CC42886148316A3 :10017000861006308312AA000130A8000430A700C0 :100180005A30012042300120640014302D0203183F :10019000D72886148316861006308312AA000130F1 :1001A000A8000430A7005A30012043300120640029 :1001B000C9302D02031CEA288614831686100630E7 :1001C0008312AA000130A8000430A7005A30012091 :1001D000443001206400061DFB2886148316861017 :1001E00006308312AA000130A8000430A7005A305C :1001F0000120453001202E088C00193062209E001D :100200002E088C00BE306720A0001E088400200845 :100210007C20A000A1002D088C0019306220A200D3 :100220002D088C00BE306720A4002208840024081A :100230007C20A400A50020082104840024082504B3 :100240008320A400A5006400240825040319322992 :100250000630AA000130A8000430A7005A3001205F :0602600046300120942845 :02400E00FD3F74 :00000001FF
PROGRAM 614
tx-remotehex file listing (continued)
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Turtletron: Build Your Own Robotic Turtle
Turtles and Tortoises
There are more than 270 living species of turtles and tortoises These creatures are found in terrestrial, fresh water, and marine habitats, and in both temperate and tropical regions The term turtle usually refers to a freshwater or marine species, while the term tortoise is normally used for terrestrial species Terrapin is the informal name for a freshwater turtle Turtles and tortoises belong to the order Testudines, which is divided into two suborders The primitive sideneck turtles (suborder Pleurodira) cannot fully retract their long necks When they are at rest, they must lay their heads sideways along the inside of their shells All of the 70 or so species of sideneck turtles live in freshwater The more advanced straightneck turtles (suborder Cryptodira) are a much larger group that lives on land and in water They are able to withdraw their heads completely into their shells Turtles and tortoises vary greatly in size, from the tiny Speckled Padloper, 2-1/2 inches long, to the massive Leatherback Sea Turtle, which can reach up to 6 feet in length
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