barcode scanner asp.net c# Figure 18-2 MaxBotix MaxSonar-EZ1 composite photo with pin-out in Software

Printing Quick Response Code in Software Figure 18-2 MaxBotix MaxSonar-EZ1 composite photo with pin-out

Figure 18-2 MaxBotix MaxSonar-EZ1 composite photo with pin-out
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Figure 18-3 Octavius new eye
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testing on Octavius, but the following software (EZ0toTermbas; shown in Listing 18-1) is written so that you can conduct your tests directly on the 20X2 master processor board When you run the program, move an obstacle to various distances from the EZ0 Measure the distance each time and note how closely it compares to the EZ0 data In case you haven t read the datasheet, I should point out that 6 inches (15 cm) is the minimum distance that the EZ0 can measure; an object closer than that will still be reported as being 6 inches away When I first ran Experiment 1, my EZ0 output was consistently two or three inches less than the actual measurement to the obstacle My first thought was that the small voltage drop produced by the power line filter that MaxBotix recommends might be the cause of this minor discrepancy, so I replaced the 100 resistor with a jumper wire Sure enough, the EZ0 output became much more accurate (ie, within one inch of the correct measurement every time) In spite of the error
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introduced by the filter, I decided to reinstall it in the circuit because of the potentially disruptive effects from the electrical noise that may be produced by Octavius DC motors The error introduced by the filter is easy to correct in the software just add 2 to each distance measurement (right after dividing the raw data by 2)
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Experiment 2: Adding a Four-Digit LED Display
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As I have already mentioned, part of the difficulty in diagnosing the problem when a robot misbehaves stems from the fact that we have very little information at hand at the moment the problem occurs To improve this situation, I decided to add a display to Octavius Since I wanted to be able to read the display from a distance, I chose to add a four-digit LED display in spite of its relatively high power consumption Naturally, I first thought of using the SPI display
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18
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Programming Octavius
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LISTING 18-1 ' =============================== EZ0toTermbas =============================== ' Program uses a MaxSonar-EZ0 to measure distance to nearest object & ' sends results to the terminal ' === Constants === symbol EZ0 = 5 symbol LED = 5 ' === Variables === symbol dist = w0 ' === Directives === #com 3 #PICAXE 20X2 #no_data #no_table #terminal 9600
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' EZ0 on ADC5 ' debugging LED on B5
' word data from EZ1
' ' ' ' '
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' ============================ Begin Main Program ============================ setfreq m8 dirsB = %11110111 ' configure pinB3 (ADC5) as input adcsetup = %0000000000100000 ' setup for ADC5 (see Manual) do high LED ' for debugging wait 1 readadc10 EZ0, dist ' get EZ0 raw data dist = dist / 2 ' convert to inches sertxd ("Distance = ",#dist,cr,lf) low LED wait 1 loop
we constructed in 12 However, I didn t want to use three of Octavius I/O pins for this purpose, so I opted for a serial LED display that I had developed earlier for the PICAXE Primer column in Nuts and Volts magazine If you are interested in using this display, the bare PC board is available on my website However, for Experiment 2, I modified the program that I used with Octavius so that it runs on our 20X2 master processor board with the SPI LED display My breadboard setup for this experiment is shown in Figure 18-4 I realize that
the angle of the photo is a little steep for viewing the LED display, but I wanted the necessary connections to the display to be visible (hspi data out C1, clock B7, and load C2) The analog voltage output from the EZ0 is connected to ADC6 (B4), and there s a debugging LED on A0 Also, the filter recommended by MaxBotix is included in the power line to the LED (The 100 resistor is visible in front of the display, and you can see the top of the 100 F electrolytic capacitor sticking out behind it)
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