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THE BASIC STAMP 2 MICROCONTROLLER
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in groups of 10 or 20 or singly in the WAM Kit from Radio Shack and is an ideal lowcost way of starting out with the BS2. Like the Boards of Education, this PCB could be built into a robot, but additional power would be required for driving servos, which isn t an issue with the Board of Education products. The BASIC Stamp carrier boards are PCBs that have sockets for BASIC Stamps and allow interface circuitry to be wire wrapped or point to point soldered to them. These boards are useful in situations where a small amount of circuitry is required to interface a Stamp to a robot s circuitry. There are a number of different carrier boards available with different features and able to accept different Stamp modules.
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Parallax has designed a number of robots that use the BASIC Stamp 2 as the central processor and use the developer products listed (like the Board of Education PCBs in the case of the Boe-Bot) as carriers. These robots are well designed, consist of high-quality parts, and have excellent documentation. As the creators of PBASIC and the BS2, Parallax has provided additional features to its robots, such as the Gui-Bot software, which provides a graphical programming environment for the BS2 built into the Boe-Bot. A number of other manufacturers have designed development boards and products around the BS2. The Tab Electronics Sumo-Bot kit from McGraw-Hill is a differentially driven, tracked robot that has a serially programmed BS2 built into it for user programmability.
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15.4 Understanding and Using PBASIC
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At the heart of the BASIC Stamp series of microcontrollers is the PBASIC programming language. PBASIC has undergone a number of changes over the years and has developed from a very rudimentary language to the current incarnation (2.5 at time of writing), which includes structured programming statements and methods of accessing pins that will make applications easier to read and understand. PBASIC programs for the BASIC Stamp 2 are developed in the BASIC Stamp Editor, a Windows application that can be downloaded from the Parallax web site. The editor lets you write, edit, save, and open PBASIC programs as well as compile and download (run) your finished programs to a BASIC Stamp 2. The download/run step requires that your BASIC Stamp be connected serially to the development PC. Fig. 15-5 shows the BASIC Stamp Editor in operation. If you do not use Windows, there are Linux and Macintosh (OS 9 and later) versions of the PBASIC software written by Stamp enthusiasts that can be downloaded off the Internet. Along with these interfaces, Parallax has made the tokenizer (which is called the compiler in this book) for PBASIC available for Windows, Linux, and Mac OS/9+. To find out more about this software, check the Parallax web site for pointers to locations for download. Like any language, PBASIC is composed of a series of statements strung together in a logical syntax. A statement is compiled into a series of instructions that the BS2 s interpreter chip carries out or executes. For example, one statement may tell the chip to fetch a value on one of its I/O pins, while another may tell it to wait a certain period of time.
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15.4 UNDERSTANDING AND USING PBASIC
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FIGURE 15-5 The BASIC Stamp Editor is used to create, compile, and download programs for the BASIC Stamp.
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The majority of PBASIC statements can be categorized into four broadly defined groups: variable and pin or port definitions, assignment statements with arithmetic expressions, decision structures, and built-in functions. A PBASIC program will contain elements taken from each group. The following sections provide an introduction to the PBASIC language with just enough information for you to become dangerous, as the saying goes. For a complete PBASIC language definition, you should go to the Parallax web site and download the PBASIC Language Specification, study it, and experiment with the different features and functions available to you for the BASIC Stamp MCU that you are working with.
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