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Frogbotics main controller board schematic
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Table 31 shows how the various pins of Port A and Port B will be used as inputs and outputs to control the different functions of the frog robot It is useful to have a list of the various I/Os connected to the ports when programming
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TABLE 31
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PIC 16F84 Port A and B Connection Table
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Port B RB0 RB1 RB2 RB3 RB4 RB5 RB6 RB7
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Configuration Output Output Input Input Output Output Output Output
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Robot connection Left light-emitting diode Right light-emitting diode Sensor input Sensor input Piezoelectric buzzer Right servo Left servo Extra servo
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Port A RA0 RA1 RA2 RA3 RA4
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Configuration Input Input Input Input Input
Robot connection Radio control input 1 Radio control input 2 Mode select jumper Left leg limit switch Right leg limit switch
PicBasic Pro Compiler
MicroEngineering Labs developed the PicBasic Pro Compiler, shown in Figure 33 It is a programming language that makes it quick and easy to program Microchip Technology s powerful PICmicro micro28
3 / Microcontrollers and PIC Programming
FIGURE 33
PicBasic Pro Compiler
controllers It can be purchased from microEngineering Labs, whose Web site is located at wwwmicroengineeringlabscom The BASIC language is much easier to read and write than Microchip assembly language, and will be used to program the robots in this book The PicBasic Pro Compiler is BASIC Stamp IIlike, and has most of the libraries and functions of both the BASIC Stamp I and II Because it is a true compiler, programs execute much faster, and may be longer than their Stamp equivalents One of the advantages of the PicBasic Pro Compiler is that it uses a real IFTHENELSEENDIF, instead of the IFTHEN(GOTO) of the Stamps These and other differences are spelled out in the PBP manual PicBasic Pro (PBP) defaults to create files that run on a PIC 16F8404/P clocked at 4 MHz Only a minimum of other parts are necessary: two 22pf capacitors for the 4-MHz crystal, a 47K pull-up
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resistor tied to the /MCLR pin, and a suitable 5-volt power supply Many PICmicros other than the 16F84, as well as oscillators of frequencies other than 4 MHz, may be used with the PicBasic Pro Compiler The PicBasic Pro Compiler produces code that may be programmed into a wide variety of PICmicro microcontrollers having from 8 to 84 pins and various on-chip features, including A/D converters, hardware timers, and serial ports For general purpose PICmicro development using the PicBasic Pro Compiler, the PIC 16F84, 16F876, and 16F877 are the current PICmicros of choice These microcontrollers use flash technology to allow rapid erasing and reprogramming to speed program debugging With the click of the mouse in the programming software, the flash PICmicro can be instantly erased and then reprogrammed again and again Other PICmicros in the 12C67x, 14C000, 16C55x, 16C6xx, 16C7xx, 16C9xx, 17Cxxx, and 18Cxxx series are either one-time programmable (OTP) or have a quartz window in the top (JW) to allow erasure by exposure to ultraviolet light for several minutes The PIC 16F84 and 16F87x devices also contain between 64 and 256 bytes of nonvolatile data memory that can be used to store program data and other parameters, even when the power is turned off This data area can be accessed simply by using the PicBasic Pro Compiler s READ and WRITE commands (Program code is always permanently stored in the PICmicro s code space, whether the power is on or off) By using a flash PICmicro for initial program testing, the debugging process may be sped along Once the main routines of a program are operating satisfactorily, a PICmicro with more capabilities or expanded features of the compiler may be utilized
3 / Microcontrollers and PIC Programming
Software Installation
The PicBasic Pro files are compressed into a self-extracting file on the diskette They must be uncompressed to your hard drive before use To uncompress the files, create a subdirectory on your hard drive called PBP or another name of your choosing by typing:
md PBP
at the DOS prompt Change to the directory:
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