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THE BASIC STAMP 2 MICROCONTROLLER
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FIGURE 15-6 The rctime statement is used to measure the time it takes for a capacitor to discharge (the timing is accurate to 2 s intervals). With this information you can indirectly measure capacitance or resistance.
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Serin and serout. Serin and serout are used to send and receive asynchronous serial communications. They are typically used for RS-232 interfaces, but have a number of formatting options that make them appropriate for a variety of different applications even communicating between multiple BASIC Stamps. Shiftin and shiftout. The shiftin and shiftout functions are used in two- or three-wire synchronous serial communications. With shiftin/shiftout a separate pin is used for clocking the data between the source and destination. If you re only sending or receiving data, you can use just two pins: one for data and one for clock. If you re both sending and receiving, your best bet is to use three pins: data in, data out, and clock.
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These statements are useful when communicating with a variety of external hardware, including serial-to-parallel shift registers and serial analog-to-digital converters.
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15.5 Sample Interface Applications
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Before going on to interfacing the BS2 (or any other microcontroller) into robots or a final application, you should spend some time learning how to program, create electrical interfaces, and debug applications. In the following sections, some simple applications are presented along with basic wiring information for the BS2 that will come in handy when you are creating your own applications. A quick Internet search will also yield many different sites with information on robots and microcontrollers. For instance, as this edition of the book was written, a Google search of BS2 and Robots yielded over 10,000 sites. Even if only 1 out of 10 sites had a BS2 application on it, there are over 1000 projects that you can choose from or use as a reference for your robot. Along with links to web pages, you should also consider joining one of the Yahoo! list servers (some listed in the appendices) to share your ideas and ask questions of others. Please do not consider this book as the ultimate resource on the BS2 and how it is used in robot applications. Go through the appendices for additional introductory how-to reference books on the BS2 and how microcontrollers can be used with robots. The more time spent learning about a specific microcontroller, building your own circuits, and trying different programs as well as seeing a variety of different people s perspectives will minimize the problems that you will have later when you are wiring up and programming your robot.
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15.5 SAMPLE INTERFACE APPLICATIONS
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15.5.1 BASIC BS2 SETUP
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At the start of this chapter, it was noted that the BS2 could be programmed cheaply and easily. Unlike other microcontrollers, you can create a breadboard-based development circuit like the one shown in Fig. 15-7 for about $10 (if you use new parts). The circuit consists of a serial interface to your PC along with a small breadboard, a box of precut wires, a breadboard-mountable DPST switch (an EG-1903 is used in Fig. 15-7), and a three AA battery clip attached to the breadboard s backside two-sided tape. The entire package can be built in about 20 minutes and once the BASIC Stamp Editor software has been downloaded into your PC you are ready to go! The biggest piece of work is soldering five wires and a jumper to a nine-pin female D-shell connector to make the serial communications/programmer interface as shown in Fig. 15-8 (a photograph of an assembled prototype is shown in Fig. 15-9). The BS2 is programmed via RS-232. If your PC does not have a serial port, you can buy a USB to RS-232 adapter. The parts needed to put the interface connector together are listed in Table 15-5. You might be tempted to put the two 0.1 F capacitors onto the breadboard, but you will find that by spending a few extra minutes soldering them to the nine-pin female D-shell, the effort of having to come up with the most efficient breadboard wiring will be avoided each time the BS2 is used in an application. Also note that the four wires (each a different color to aid in keeping track of them) were cut to the same length with a 1 2 in (1 cm) or so of bared copper and bent in the same direction to allow them to be pressed into the breadboard.
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FIGURE 15-7 BS2 on a breadboard with the communications/programmer interface and a three AA battery pack stuck to the back side of the breadboard and providing power to the BS2.
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