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7 / Turtletron: Build Your Own Robotic Turtle
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FIGURE 730
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Schematic to interface the H22B1 interrupter switch to PIC 16F84
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ing nut Mount the interrupter to the upper left side of the board and secure it in place with hot glue Because the circuit is so simple, use point to point wiring to solder all of the parts together Mount the LED with the leads bent on a 90-degree angle so that it is pointing upwards The LED will indicate when the infrared light beam has been interrupted by the opaque parts of the disk Cut a piece of 3-strand ribbon wire to a length of 7 inches Solder the end of one wire to the 5-volt connection point, another wire to terminal 3 of the H22B1, and the last wire to the common ground point The finished interface board is shown in Figure 732
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FIGURE 731
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Encoder board mounting bracket
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FIGURE 732
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Finished encoder interface board
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Place the interface board on the bottom of the robot so that the encoder disk is positioned in between the H22B1 interrupter Make sure that the disk does not touch either side of the interrupter and can rotate freely when the tire is turned by hand Mark the position of the two mounting holes on the robot base Drill the two holes with a 5/32-inch bit, and then secure the interface board with two 6/32-inch 1/2-inch machine screws and locking nuts Rotate the tire by hand Make any necessary position adjustments of the interface board if the disk is not centered A close-up of the encoder disk and interface board is shown in Figure 733 To get an idea of the overall positioning, refer to Figure 734 Drill a hole in the robot base and feed the 3-strand connector wire through Disconnect the RF receiver module from the main controller board The interrupter circuit will use the connector that the RF module was plugged into Follow the wiring diagram in Figure 735 to connect the interface board to the main controller
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7 / Turtletron: Build Your Own Robotic Turtle
FIGURE 733
Optical encoder disk centered between the interrupter
FIGURE 734
Interrupter interface board mounted to robot base
Amphibionics
FIGURE 735
Wiring diagram to connect interface board to main controller
When the photointerrupter is connected to the main controller, take the PIC microcontroller out of the 18-pin socket and turn on the power Slowly rotate the tire by hand The LED will be on when an opaque section of the encoder disk is between the optical interrupter When it comes across a hole in the disk, the LED will be off The next program will test the connection of the device to the PIC 16F84 microcontroller Compile encode-testbas, listed in Program 711, and then program the PIC 16F84 with the encodetesthex file listed in Program 712 Place the PIC in the 18-pin socket and then turn on the power When you rotate the tire and encoder disk by hand, the PIC will produce a sound each time a hole is encountered The program stays in a tight loop until the transistor changes state again; otherwise the PIC would continuously produce the tone sequence while the disk was on the same hole This method will be used when counting the number of times the transistor switches from one state to another, or an event is being triggered If a counter is being incremented, this method ensures that only one count will occur during a state transition
7 / Turtletron: Build Your Own Robotic Turtle
'-----------------------------------------------------------------------------------------------------------------------------' Name : encode-testbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Program to test the optical interrupter ' : photodarlington switch '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs trisa = %00000000 ' PortB set as outputs pin 0 input trisb = %00000001 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables switch enable_right forward_right reverse_right enable_left reverse_left forward_left piezo control temp VAR PORTB0 VAR PORTB1 VAR PORTB2 VAR PORTB3 VAR PORTB4 VAR PORTB5 VAR PORTB6 VAR PORTA3 VAR BYTE VAR BYTE
PROGRAM 711
encode-testbas program listing
low enable_left low forward_left low reverse_left low enable_right low forward_right low reverse_right SOUND piezo,[115,10,50,10] start:
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