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time It is best to use a small drill press, like the one shown in Figure 24, rather than a hand drill, when working with circuit boards This is to ensure that the holes are drilled straight and accurately 6 Soldering your board Removal of resist is not necessary when soldering components to your board When you leave the resist on, your circuit is protected from oxidation Tinplating your board is not necessary In the soldering process, the heat disintegrates the resist underneath the solder, producing an excellent bond
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In the next chapter, the PIC microcontroller and how it is programmed will be described 3 covers the use of compilers, hardware programmers, and the use of a development studio designed to speed up programming and debugging
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Microcontrollers and PIC Programming
Microcontrollers
The microcontroller is an entire computer on a single chip The advantage of designing around a microcontroller is that a large amount of electronics needed for certain applications can be eliminated This makes it the ideal device for use with mobile robots and other applications where computing power is needed The microcontroller is popular because the chip can be reprogrammed easily to perform different functions, and is very inexpensive The microcontroller contains all the basic components that make up a computer It contains a central processing unit (CPU), read-only memory, random-access memory (RAM), arithmetic logic unit, input and output lines, timers, serial and parallel ports, digital-toanalog converters, and analog-to-digital converters The scope of this book is to discuss the specifics of how the microcontroller can be used as the processor for the various robots that will be built
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Amphibionics
PIC 16F84 MCU
Microchip technology has developed a line of reduced instruction set computer (RISC) microprocessors called the programmable interface controller (PIC) The PIC uses what is known as Harvard architecture Harvard uses two memories and separate busses The first memory is used to store the program, and the other is to store data The advantage of this design is that instructions can be fetched by the CPU at the same time that RAM is being accessed This greatly speeds up execution time The architecture commonly used for most computers today is known as Von Neumann architecture This design uses the same memory for control and RAM storage, and slows down processing time We will be using the PIC 16F84, shown in Figure 31, as the processor for the robots in the book This device can be reprogrammed over and over because it uses flash read-only memory for program storage This makes it ideal for experimenting because the chip does not need to be erased with an ultraviolet light source every time you need to tweak the code or try something new The PIC 16F84 is an 18-pin device with an 8-bit data bus and registers We will be using a 4-MHz crystal for the clock speed This is very fast for our application when you consider that it is run-
FIGURE 31
Pinout of the PIC 16F84 microcontroller
3 / Microcontrollers and PIC Programming
ning machine code at 4 million cycles per second The PIC 16F84 is equipped with two input/output (I/O) ports, port A and port B Each port has two registers associated with it The first register is the TRIS (Tri State) register The value loaded into this register determines if the individual pins of the port are treated as inputs or outputs The other register is the address of the port itself Once the ports have been configured using the TRIS register, data can then be written or read to the port using the port register address Port B has eight I/O lines available and Port A has five I/O lines For example, the first robot project in the book details the construction and programming of a robotic frog This project will use the same main controller circuit board as the hexapod robot featured in the book Insectronics so that readers who have built the Insectronic robot will be able to jump right into this project The frog will be using all eight I/O lines of Port B and all five lines of Port A, as shown in Figure 32
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