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FIGURE 16-1 Internal wiring of PC joystick. Note that the analog outputs are part of a voltage divider tied to Vcc with a resistance of 0 to 100k.
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16.1 CONTROL YOUR ROBOT WITH A PC JOYSTICK OR CONTROL PAD
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TABLE 16-1 PIN 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
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PC Joystick Port Pinout FUNCTION +5 V DC B1A button 1, joystick A XA x axis resistance, joystick A Ground Ground YA y axis resistance, joystick A B2A button 2, joystick A +5 V DC +5 V DC B1B button 1, joystick B XB x axis resistance, joystick B GND/MIDI out YB y axis resistance, joystick B B2B button 2, joystick B +5 V DC/MIDI In
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Left/ Up Output Resistance
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Right/ Down
FIGURE 16-2 Internal circuitry for a PC gamepad to provide 100k when the Right/Down button is pressed, 50k when no button is pressed, and 0 when the Left/Up button is pressed.
REMOTE CONTROL SYSTEMS
TABLE 16-2
Parts List for PC Gamepad Interface 15 pin female D-shell connector LM339 quad open-collector output comparator chip Visible light LEDs 10k resistors 100k resistors 22k resistor 47k resistor 470 resistors Breadboard, breadboard wiring, 4x AA battery clip, 4x AA batteries, breadboard mountable switch
15 pin female D-shell LM339 LED1 LED4 R1 R2 R3, R4, R7 R5 R6 R8 R11 Misc.
list in Table 16-2) was developed. Wires will have to be soldered to the 15 pin female D-shell connector to allow it to be wired to a breadboard. The circuit uses the two voltages produced by the voltage divider built from R5 through R7 to compare to the voltages produced by the voltage divider, which uses the gamepad/joystick internal resistances along with a 100k resistor to find out if any of the axes have gone to the extreme. The comparator will allow current to flow through the appropriate LED when the gamepad/joystick resistance is at an extreme. This circuit will be used as the basis for a robot motion teaching tool in the next section.
Vcc Vcc R5 22k
LED1 LED2 LED3 LED4
R6 47k
LM339
Vcc Vcc Vcc 4x AA Batteries 1 R1, R2 10k
R7 100k
+ 3 7 1 6 + 5 2 4 + 11 13 10 + 9 12 14 8
R8 470
R9 470
R10 470
R11 470
Right Left Up Down
15 Pin Female D-Shell Connector
R3, R4 100k
FIGURE 16-3 PC gamepad interface. When a gamepad or joystick control is moved to an extreme, one or two LEDs will light.
16.2 BUILD A JOYSTICK TEACHING PENDANT
16.2 Building a Joystick Teaching Pendant
With the circuit that will convert the position of a PC-compatible gamepad or joystick into four digital signals, you can add a microcontroller that will convert the data bits into motor control values as well as give you the ability to record a set of movements for playback later. This application is often called a teaching pendant. In this section, the gamepad/joystick interface circuit will be enhanced to do just that, as well as provide you with a method of saving the recorded positions for use in other applications. Fig. 16-4 shows how a BS2 can be added to the gamepad/joystick interface along with two LEDs and four motor control bits used to control the motion of a differentially driven robot. Along with the connections for the gamepad/joystick position, the pulled-up A and B buttons are used as control signals to the recording and playback of the teaching pendant application. The BS2 can be connected to either TTL/CMOS compatible motor drivers or to four LEDs, which will simulate the operation of the motors. For the prototype, the circuit was added to a simple DC driven mobile robot to observe the performance of the robot. After you ve built the circuit, you can load the following program into the BS2 to demonstrate the operation of the teaching pendant control.
' ' ' ' ' ' BS2 Teaching Pendant - Use BS2 and PC Gamepad for Robot Training Along with using the PC Gamepad/Joystick for Tethered Robot Remote Control; it can also be used to record and play back movements
Left Forward Vcc Vcc R5 22k R6 47k R7 100k Vcc
+ 3 7 1 6 + 5 2 4 + 11 13 10 + 9 14 12 8 Rec LED1 LED2 Dump
Left Reverse
Vcc Vcc Vcc 4x AA Batteries 1 R1, R2 10k
Right Left Up Down
Right Forward Right Reverse
15 Pin Female D-Shell Connector
R3, R4 100k
LM339
FIGURE 16-4 The teaching pendant circuitry. The BS2 communications/programming interface will be used for saving a series of commands for the robot.
REMOTE CONTROL SYSTEMS ' Author: Myke Predko ' ' Date: 05.09.07 ' ' '{$STAMP BS2} '{$PBASIC 2.5}
' Pin Declarations RecLED PIN 2 DumpLED PIN 3 ButtonA PIN 5 ButtonB PIN 4 JoyLeft JoyRight JoyUp JoyDown LeftFor LeftRev RightFor RightRev PIN PIN PIN PIN PIN PIN PIN PIN 9 8 7 6 0 1 15 14
' ' ' ' ' '
Indicate Recording Indicate Sending Data to PC Motion Record Record Stop/Play back Joystick Outputs from LM339 - Active Low
' ' ' '
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