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FIGURE 37.5
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One way to make a robotic eye. The circuit, as shown, consists of eight photocells connected to an ADC0816 8-bit, 16-input analog-to-digital converter IC. The output of each photocell is converted when selected at the Input Select lines. The ADC0816 can handle up to 16 inputs, so you can add another eight cells.
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EYES FROM STATIC CMOS MEMORY 607
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TABLE 37.2
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PARTS LIST FOR MULTICELL ROBOTIC EYE.
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ADC0816 8-bit analog-to-digital converter IC (okay to substitute another multiplexing ADC, such as the ADC0817, etc.) 2.2K resistor (adjust value to gain best response of photocells) 2.2K resistors Photocell
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All resistors have 5 or 10 percent tolerance, 1/4-watt.
2.5" 1/16" plastic (painted gray or black) 1" Photocell
8 sensor "eye" FIGURE 37.6 Mounting the photocells for an eight-cell eye.
2.5"
16 sensor "eye"
FIGURE 37.7 Mounting the photocells for a pair of four-cell eyes.
608 ROBOTIC EYES
memory, you can keep the interface to the chip simple and straightforward. In fact, all you need to do is connect some wires from the chip to your computer or microcontroller. You can sometimes find static CMOS memory chips that have already been modified for use as vision sensors. But if you cannot, you can make one yourself, using something like the 1K x 4-bit 2114L memory chip. You need to find the kind that come in a ceramic case, outfitted with a soldered metal lid. These were common in certain commercial, industrial, and military applications years ago, and they should still be available at the better electronics surplus stores. Aside from their use in ersatz robotic vision systems, these chips have such a low memory capacity (and are dog slow, to boot!) that they really aren t useful for much else. So it s a good idea to ask the store salespeople if they have any; this is the kind of stuff that collects dust in a back room.
I used the 2114 because it was fairly common in its day and is still available in many surplus outlets. However, just about any RAM chip will work. Static RAM is preferable because it is easy to hook up, but you can also use dynamic RAM chips. Consult the RAM chip s data sheet for details on how to hook it up.)
You ll need to get the metal lid off in order to expose the semiconductor die inside the chip. The best way to do this is with a small butane torch. Secure the chip in a metal vise, and carefully apply even flame over the lid. After 5 to 10 seconds, the solder should melt. Quickly remove the flame, and slip the lid all the way off. Take care not to disturb the die or the connections inside the chip, or you ll ruin it. Fig. 37.8 shows a static RAM chip with its lid removed. Do not touch the removed metal lid, or the memory chip, until they have cooled off! Fig. 37.9 is a hookup schematic for linking the 2114 with the Basic Stamp II, using all 10 address lines and all four output lines. (Each of the four output lines is connected to an LM308 precision op-amp, or requivalent.) Connect the 2114 s write enable (/WE) line to pin 14 of the Stamp, and tie the chip select (/CS) low. The program in Listing 37.1 is a demonstrator of how to read a few of the pixels inside the chip. For each memory address you use you poll the four I/O lines. Though the listing shows only the use of the base address of 0000000000 as a demonstration, you can extrapolate the concept to access all of the memory locations in the chip. A logic 1 (HIGH) on an input line means high brightness on the chip.
LISTING 37.1.
A0 A1 A2 A3 A4 A5 A6 A7 A8 A9 WE CON CON CON CON CON CON CON CON CON CON CON 4 5 6 7 8 9 10 11 12 13 14
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