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FIGURE 37.8 A static RAM chip with its lid removed. Once the lid is off, the semiconductor die inside can see the light of day, and any other light for that matter.
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Low Low Low Low Low Low Low Low Low Low Low WE A0 A1 A2 A3 A4 A5 A6 A7 A8 A9 ' set write enable to low to start ' set all address lines to low (address 0000000000)
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' display data in debug window Repeat_Loop: HIGH WE debug dec In0, tab, dec In1, tab, dec In2, tab, dec In3, cr Low WE Pause 150 Goto Repeat_Loop:
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Because the 2114 chip is designed for RAM applications and not vision, the organization of its memory cells is not ideal for rendering a visual scene. (It s basically four long rectangular blocks of 1K bit memory cells.) Each of the four outputs of any given address is located on separate portions of the semiconductor die. To assemble a usable picture, you will need to interlace the data from each of the four outputs. Though the shape of the memory die in the 2114 makes for a poor video camera, it s ideal for such things as detecting patterns in reflected laser or focused infrared light. You could use
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18 Pin10 Pin9 Pin8 Pin7 Pin4 Pin5 Pin6 1 A6 2 A5 3 A4 4 A3 5 A0 6 A1 7 A2 8 /CS 2112 A7 A8 A9 IO1 IO2 IO3 IO4 /WE 9 17 16 15 14 13 12 11 10 Pin11 Pin12 Pin13 Pin0 Pin1 Pin2 Pin3 Pin14
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FIGURE 37.9 How to connect the 2114 static RAM chip to a Basic Stamp II. The hookup requires that quite a number of connections be made to the Stamp s pins.
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the 2114 to make your own highly accurate triangulation distance measurement system, akin to the Sharp GP2D02 unit discussed in 38, Navigating through Space. While semiconductor vision systems like the 2114 are cheap and relatively easy to use, they suffer from rather poor sensitivity, so don t expect to be able to use them in low-light conditions! In fact, the scene scanned by the 2114 chip should be fairly well lit, and you should outfit the chip with a suitable lens. Either a single-element lens as described in the next section or a compound lens, like that used for security cameras, is ideal. The chip exhibits narrow dynamic range, which means the output line will tend to snap all the way HIGH with only a small change in brightness. This makes the 2114 and similar memory chips best suited for controlled lighting conditions where you want high contrast. If your robot is used in low-light situations, I recommend a conventional CCD or CMOS imaging device. Black-and-white and color CCD cameras and imagers are now routinely available for under $100. With a digital output like that demonstrated with the 2114, you can easily connect the camera or imaging chip directly to a computer or micro-
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USING LENSES AND FILTERS WITH LIGHT-SENSITIVE SENSORS 611
processor. Sadly, more elaborate vision systems are just a wee bit beyond the scope of this book (I had to draw the line somewhere). Fortunately, there are several ready-made products you can try that come complete with hookup diagrams and associated software. See Appendix B, Sources, for additional information.
Using Lenses and Filters with Lightsensitive Sensors
Simple lenses and filters can be used to greatly enhance the sensitivity, directionality, and effectiveness of both single- and multicell-vision systems. By placing a lens over a small cluster of light cells, for example, you can concentrate room light to make the cells more sensitive to the movement of humans and other animate objects. The lens need not be complex; an ordinary 1/2- to 1-inch-diameter magnifying lens, purchased new or surplus, is all you need. You can also use optical filters to enhance the operation of light cells. Optical filters work by allowing only certain wavelengths of light to pass through and blocking the others. CdS photocells tend to be sensitive to a wide range of visible and infrared light. You can readily accentuate the sensitivity of a certain color (and thereby de-accentuate other colors) just by putting a colored gel or other filter over the photocell. In this section we ll briefly review the roles of lenses and filters, and how you can use them with light cells for your robots.
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