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You can implement semiautonomous to fully autonomous features in a robot in many ways A search on the Internet will yield thousands of pages of information on how to build different types of circuits One of the appendixes in this book lists some good references for autonomous robots and sensors The Seattle Robotics Society (wwwseattleroboticsorg) has a Web-based magazine called The Encoder that has hundreds of tutorials that explain how to use different types of sensors and microcontrollers With the correct types of sensors, microcontrollers, and software, you can develop a turn-on-and-forget type of combat robot and sit back to watch your creation single-handedly and autonomously destroy its opponent
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H A P T E R 11 introduced you to several sensor concepts that can be used to enhance the performance of your combat robot All of the concepts used a microcontroller that received control input from an R/C receiver and a set of sensors, and output control signals to relays and ESCs This chapter will introduce what microcontrollers are, and how they can be used Virtually all robots have some form of intelligence that can range from simple switches, to a simple radio control (R/C) system, to fully integrated microcontrollers with neuro-networks Most of this book focused on robots that use traditional R/C equipment to control the robot Some R/C equipment has advanced programmable features that can give the operator customized control options To implement advanced controls on a robot, you need to use microcontrollers The following is an introduction to microcontrollers
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icrocontroller Basics
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Most people who develop robots use the term microcontroller as a generic term to refer to a small control system with input and output control capabilities Microcontrollers are not computers or microcomputers Simply put, microcontrollers are designed to accept input from a set of electrical signals and output other electrical signals in response to commands programmed into the device Computers are designed to accept input from humans and output the results back to the humans A computer will include several microcontrollers, but a microcontroller will not have a computer inside Microcontrollers, which interpret a human interface and send electrical signals to the rest of an electronic device, are often implemented as small, embedded processors found in many modern electronic gadgets from Furbies to watches, from thermostats to microwave ovens, from radios to television sets, and from cell phones to electronic ignition systems found in cars They are found in many electronic devices made today Many controllers are designed specifically for robotic and similar applications, including Basic Stamp, Handy Board, BrainStem, OOPics, BotBoards, and countless other controllers Figure 12-1 shows a photograph of several of the more-popular microcontrollers Some controllers are slave controllers in which commands are given and executed An R/C transmitter/receiver pair is a form of slave controller: the input from an operator using the transmitter is executed and transmitted to the receiver,
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Robot Brains
FIGURE
12-1
From top left to bottom right, LEGO RCX brick, Handy Board, Basic Stamp 2, BrainStem, Lineo, OOPic, traditional R/C receiver, and the Pontech servo controller
which then converts this data into commands the servos and speed controllers understand Other controllers, such as the Handy Board, take programs that can be used to alter output results based on input results Users download a piece of code to the controller, and the code then runs on the Handy Board to control the robot Still other microcontrollers offer reactive mechanisms that automatically manage outputs based on inputs such as the thermostat in your house, which senses its environment and controls the furnace to keep your house at a comfortable temperature, and sometimes adjusting for times of the day when you are not home or asleep, to conserve energy The OOPic and BrainStem controllers affect this type of control, called virtual circuits and reflexes, respectively Some controllers can exhibit more than one type of control, and some can even perform multiple tasks at the same time You may have robots in your lives that you may not have thought of as robots Consider a bread maker that knows the time, can mix various bread recipes, can sense heat, and can create auditory output with beeps and displays to inform you what is happening at all times Some cars have anti-lock brake systems (ABS) that can sense each wheel s rotation and adjust the braking pressure so the wheels don t lock and skid, even pumping the brakes for maximum stopping power on wet and slippery roads The details of how to design electronic circuits using microcontrollers, how to write programs, and how to implement the microcontroller is beyond the scope of this book You ll find many different books that have been written about various types of microcontrollers and programming techniques to help you Appendix B lists some excellent books on microcontrollers Some microcontrollers are simple to get started with, and some are so powerful that they require prior microcontroller experience to use them properly
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