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tiometers are shown in 6 (Figure 647) Each potentiometer is configured as a voltage divider, so that a unique voltage represents each position along the X and Y axis The voltages from the potentiometers are converted to 8-bit values by the internal analog-to-digital converters on the PIC 16C71, and then interpreted by the microcontroller Depending on the values, certain movement commands are sent in a serial format from the transmitter to the robot The remote control also has a programmable push-button switch and a light-emitting diode (LED) that can be turned on when certain events occur, such as during the transmission of a movement command The transmitter module is the TXLC-434 transmitter, available from Reynolds Electronics at wwwrentroncom
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The first program to be written will receive commands from the hand held remote control via the RF receiver module This information will be used to control the drive motors, as required It will not be necessary to reprogram the transmitter because the same transmission codes that were implemented for the final remote control program in 6 will be used The robot control program will use the serin command to collect the data from the receiver module, and then make movement decisions based on that information The differential drive allows the robot to move forward, reverse, turn left, or turn right on the spot, and to move in an arc The control program is called turtle-receivebas and is listed in Program 71 Compile turtle-receivebas ,and then program the PIC 16F84 with the turtle-receivehex file listed in Program 72 Place the PIC 16F84 into the 18-pin socket on Turtletron s main board If you reprogrammed the PIC 16C71 in the transmitter circuit since 6, then compile turtle-transbas listed in Program 73 Program the 16C71 with the turtle-transhex file listed in Program 74, and then insert the PIC back into the 18-pin socket on the transmitter circuit board Move the control stick on the remote control to the middle position, and then turn the power on Turn the robot on and place it on the ground When the control stick is moved to the forward position, the robot will move forward With the stick moved backwards, the robot will respond by moving in reverse With the control stick moved to the left, the robot will rotate left on the spot The ability to rotate on the spot is one of the great things about using a differential drive system Rotating on the spot is accomplished by rotating one wheel forward, while the other wheel rotates in reverse With the stick moved to the right, the robot will rotate to the right on the spot Try moving the control stick to the forward-right position The code will alternate
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transmitting forward and turn-right commands to the robot The robot will respond by moving in a forward-right arc
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'-----------------------------------------------------------------------------------------------------------------------------' Name : turtle-receivebas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Robot remote control using the Linx 433LC ' : series transmitter and receiver '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs trisa = %00000000 ' PortB set as outputs pin 0 input trisb = %00000001 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas" rx_baud rxmit enable_right forward_right reverse_right enable_left reverse_left forward_left piezo control temp CON N2400 VAR PORTB0 VAR PORTB1 VAR PORTB2 VAR PORTB3 VAR PORTB4 VAR PORTB5 VAR PORTB6 VAR PORTA3 VAR BYTE VAR BYTE PROGRAM 71
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turtle-receivebas listing
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low enable_left low forward_left low reverse_left low enable_right 301
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PROGRAM 71
turtle-receivebas listing (continued)
low forward_right low reverse_right SOUND PIEZO,[115,10,50,10] start: serin rxmit,rx_baud,["Z"],control if control = "A" then gosub forward endif if control = "B" then gosub backwards endif if control = "C" then gosub turn_left endif if control = "D" then gosub turn_right endif if control = "E" then sound piezo,[115,10,50,10] endif if control = "F" then low enable_left low forward_left low reverse_left low enable_right low forward_right low reverse_right endif
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