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7 / Turtletron: Build Your Own Robotic Turtle
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turn_right: high high high high return '-----------------------------------------------------------------------------------------------------------------------------sr_sonar: pulsout trigger,1 pulsin echo,1,dist_raw dist_inch = (dist_raw/conv_inch) pause 10 return end enable_left reverse_left enable_right forward_right
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remote-sonarbas program listing (continued)
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remote-sonarhex file listing (continued)
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:1001000003010C1820088E1F20088E080319030114 :10011000900F8C28800673288D2800007628FF3ADF :100120008417800501290D080C0403198C0A8030FE :100130000C1A8D060C198D068C188D060D0D8C0D64 :100140008D0D01298F018E00FF308E07031C8F0754 :10015000031C012903308D00DF30B020A4288D015D :10016000E83E8C008D09FC30031CB9288C0703186D :10017000B6288C0764008D0FB6280C18BF288C1C7D :10018000C3280000C328080003108D0C8C0CFF3E10 :100190000318C4280C0801298E000430CF289400CD :1001A0000F080D02031DD6280E080C020430031898 :1001B0000130031902301405031DFF30012991019C :1001C0009001103092000D0D900D910D0E089002CF :1001D0000F08031C0F0F91020318F5280E08900753 :1001E0000F0803180F0F910703108C0D8D0D920B44 :1001F000E3280C0801298C098D098C0A03198D0A42 :10020000080083130313831264000800831602306E :1002100085000130860083120612831606128312AF :100220000613831606138312861283168612831210 :100230008610831686108312061183160611831208 :1002400086118316861105308312A2000830A000A3 :1002500073308E000A30682032308E000A306820F9 :100260000630A2000130A00004309F0032205A3C2A :10027000031D36293220A80064002808413C031DD4 :100280004C29E52124088C0025088D008F010830B9 :10029000CC20031D30298D2164002808423C031D19 :1002A0005229C32164002808433C031D5829B22168 :1002B00064002808443C031D5E29D42164002808FA :1002C000453C031D6F290530A2000830A0007330A3 :1002D0008E000A30682032308E000A3068206400B8 :1002E0002808463C031D8C29061283160612831229 :1002F0000613831606138312861283168612831240 :100300008610831686108312061183160611831237 :10031000861183168611831230290616831606125B :10032000831206178316061383128614831686100B :100330008312061583160611831201308F00F430E4 :10034000A3200612831606128312061383160613C1 :1003500083128610831686108312061183160611E7
7 / Turtletron: Build Your Own Robotic Turtle
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PROGRAM 710
remote-sonarhex file listing (continued)
Distance Measurement Using an Optical Shaft Encoder
A shaft encoder is a sensor that measures the position or velocity of a shaft Shaft encoders are generally inexpensive devices that are most often mounted on the output shaft of a drive motor or on the axle The signal that is produced by this sensor can be either a code that corresponds to a particular position of the shaft (called absolute encoders), or it may be a pulse train Shaft encoders that produce a pulse train are called incremental encoders The encoder is typically a disk that has numerous holes or slots along its outside edge An infrared LED is placed on one side of the disk and an infrared-sensitive phototransistor is positioned directly opposite the LED As the shaft rotates, the holes pass the light intermittently and the state of the phototransistor output changes from high to low or vise versa, producing a pulse train The rate at which the pulses are produced corresponds to the rate at which the shaft turns By using a microprocessor to count the pulses, the robot can determine how far its wheels have rotated The combination of an infrared LED emitter and a phototransistor, packaged
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FIGURE 727
Optical encoder and photointerrupter attached to motor shaft
for the purpose of being mounted on either side of a shaft encoder s disk, is called a photointerrupter, as shown in Figure 727 The device that we will use to track the distance that Turtletron s motor has traveled is a photodarlington optical interrupter switch with part number H22B1, shown in Figure 728 The H22B1 consists of a gallium arsenide infrared LED, coupled with a silicon photodarlington in a plastic housing The packaging system is designed to optimize the mechanical resolution, coupling efficiency, ambient light rejection, cost, and reliability The gap in the housing provides a means of interrupting the signal with an opaque material, switching the output from an ON to an OFF state The interrupter will be mounted on a small circuit board and placed around the encoder disk that was included with the motor kits
7 / Turtletron: Build Your Own Robotic Turtle
FIGURE 728
H22B1 interrupter switch package dimensions and schematic
Fabricating the Shaft Encoder
Start by locating the plastic motor mount with six evenly spaced holes along its outside edge It is shown in Figure 729 and will function as the encoder disk Mount it to the end of the robot s left motor shaft, opposite to the wheel, using the washer and nut that were supplied This small disk only has six holes and six opaque areas, giving us a rotational accuracy of 30 degrees per state change, which is sufficient for a small robot like Turtletron If the microcontroller is monitoring the interrupter switch and counts 12 state changes, from high to low or vice versa, then the wheel has made one full rotation The parts needed to construct the shaft encoder are listed in Table 75
Amphibionics
FIGURE 729
Encoder disk
TABLE 75
Optical Encoder Parts List
Part H22B1 Optical interrupter switch R1, R2 R3 D1 Three-strand ribbon wire header Hot glue
Quantity 1 2 1 1 7 inches 1
Description Photodarlington transistor 1K 1/4-watt resistor 1/4-watt resistor
470 K
Red light-emitting diode Connector wire 4-post male connector 25-mm spacing Hot glue and gun
The schematic to interface the interrupter switch to the PIC 16F84 is shown in Figure 730 The circuit operates by using the transistor as a switch Cut a piece of perfboard to a size of 1-1/2 inches 3/4 of an inch Create an aluminum mounting bracket by following the cutting, drilling, and bending instructions in Figure 731 Use 1/16-inch thick aluminum to construct the mounting bracket When it is complete, position the 3/4-inch side of the mount on the left side of the perfboard and mark the mounting hole Drill the hole with a 5/32-inch bit Attach the mount to the perfboard with a 6/32-inch 1/2-inch machine screw and lock328
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