visual basic barcode scanner input MOUNTING THE TOUCH BAR in Software

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MOUNTING THE TOUCH BAR
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Once you have constructed the piezo disc touch bar and added the voltage-limiting circuitry, you can attach it to the body of the robot. The front of the robot is the likely choice, but you can add additional bars to the sides and rear to obtain a near 360 sensing pattern. The width of the bar makes it ideal for any robot that s between about 8 and 14 inches wide.
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Output FIGURE 36.27 A suitable interface circuit for connecting a piezo disc to a TTL-compatible input or op amp.
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Since the sensing element of the touch bar, the aluminum tube, has a half-round shape, the sensor is also suitable for mounting on a circular robot base. For added compliancy, you may wish to mount the bar using a thick foam pad, spring, or shock absorber (shocks made for model racing cars work well). If the bar is mounting directly to the robot the sensor exhibits relatively little compliancy. You should mount the bar at a height that is consistent with the kinds of objects the robot is most likely to collide with. For a wall-hugging robot, for example, you may wish to mount the bar low and ensure that the half-round tube slopes downward. That way, the sensor is more likely to strike the baseboard at the bottom of the wall.
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Listing 36.1 shows a short sample program for reading the values provided by the piezo disc touch bar. The program is written for the BASIC Stamp II microcontroller and requires the addition of a one or more serial-output analog-to-digital converter chips (I used an ADC0831 for my prototype). You need only one ADC if it has multiple inputs; you ll need two ADCs if the chips have but a single input. See the comments in the program for hookup information.
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LISTING 36.1.
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' For the Basic Stamp II ' Uses an ADC081 serial ADC Adress var byte ' A-to-D result: one byte CS con 13 ' Chip select is pin 13 Adata con 14 ' ADC data output is pin 14 CLK con 15 ' Clock is pin 15 Vref con 0 ' VRef high Vref high CS ' Deselect ADC to start
again: low CS shiftin AData,CLK,msbpost,[ADres\9] high CS debug Adres pause 100 goto again
' ' ' ' ' '
Activate ADC Shift in the data Deactivate ADC Display result Wait 1/10 second Repeat
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Other Approaches for Soft-touch Sensors
There are several other approaches for using soft-touch sensors. For example, the resistive bend sensor changes its resistance the more it is curved or bent. Positioned in the front of your robot in a loop, the bend sensor could be used to detect the deflection caused by running into an object. If you like the idea of piezoelectric elements but want a more localized touch sensor than the touch bar described in the previous section, you might try mounting piezoelectric material and discs on rubber or felt pads, or even to the bubbles of bubble pack shipping material, to create fingers for your bot.
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To learn more about
Connecting analog and digital sensors to computers, microcontrollers, and other circuitry Building and using sensors for tactile feedback Giving your robots the gift of sight Using sensors to provide navigation assistance to mobile robots
Read
29, Interfacing with Computers and Microcontrollers 35, Adding the Sense of Touch 37, Robotic Eyes 38, Navigating through Space
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ROBOTIC EYES
iving sight to your robots is perhaps the kindest thing you can do for them. Robotic vision systems can be simple or complex to match your specific requirements and your itch to tinker. Rudimentary Cyclops vision systems are used to detect nothing more than the presence or absence of light. Aside from this rather mundane task, there are plenty of useful applications for an on/off light detector. More advanced vision systems decode relative intensities of light and can even make out patterns and crude shapes. While the hardware for making robot eyes is rather simple, using the vision information they generate is not. Except for the one-cell light detector, vision systems must be interfaced to a computer to be useful. You can adapt the designs presented in this chapter to just about any computer using a microprocessor data bus or one or more parallel printer ports.
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