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12.5 From Here 13 Programming Fundamentals 13.1 Important Programming Concepts
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13.1.1 13.1.2 13.1.3 13.1.4 13.1.5 13.1.6 13.1.7 13.1.8 13.1.9 Linear Program Execution Flowcharts Variables and I/O Ports Assignment Statements Arrays and Character Strings Decision Structures Subroutines and Functions Console I/O Comments
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Paint QR Code JIS X 0510 In C#
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168 169 170
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170 171 173 176 180 181 183 185 185
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13.2 Robotics Programming 13.3 Graphical Programming 13.4 From Here 14 Computer Peripherals 14.1 Sensors as Inputs
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14.1.1 Types of Sensors 14.1.2 Examples of Sensors
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186 187 189 191 191
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192 192
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14.2 Input and Output Methodologies
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14.2.1 Parallel Interfacing 14.2.2 Serial Interfacing
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193 194
14.3 Motors and Other Outputs
14.3.1 Other Common Types of Outputs
14.4 Sample Output Circuits 14.5 Digital Inputs
14.5.1 Interfacing from Different Voltage Levels 14.5.2 Using Opto-Isolators 14.5.3 Zener Diode Input Protection
195 198
198 199 201
14.6 Interfacing Analog Input
14.6.1 Voltage Comparator 14.6.2 Signal Amplification
201 202
CONTENTS
14.6.3 Signal Buffering 14.6.4 Other Signal Techniques for Op-Amps 14.6.5 Common Input Interfaces
202 203 204
14.7 Analog-to-Digital Converters
14.7.1 14.7.2 14.7.3 14.7.4 14.7.5 How Analog-to-Digital Conversion Works Inside the Successive Approximation ADC Analog-to-Digital Conversion ICs Integrated Microcontroller ADCs Sample Circuits
205 205 206 206 206
14.8 Digital-to-Analog Conversion 14.9 Expanding Available I/O Lines 14.10 Bitwise Port Programming
14.10.1 Masking Values by ANDing 14.10.2 Converting a Value into a Binary-Format String 14.10.3 Summing Bits into a Decimal Value
207 208 210
210 211 211
14.11 From Here 15 The BASIC Stamp 2 Microcontroller 15.1 Choosing the Right Stamp for Your Application 15.2 Inside the BASIC Stamp 15.3 Developer s Options 15.4 Understanding and Using PBASIC
15.4.1 15.4.2 15.4.3 15.4.4 15.5.1 15.5.2 15.5.3 15.5.4 15.5.5 Variable and Pin/Port Definitions Assignment Statements and Arithmetic Expressions Execution Flow and Decision Structures Built-in Functions Basic BS2 Setup LED Outputs Adding Switches and Other Digital Inputs LCD Interface I/O Port Simulator
212 213 214 217 219 220
221 224 226 231
15.5 Sample Interface Applications
233 236 239 241 245
15.6 BS2 Application Design Suggestions 15.7 From Here
252 253
16 Remote Control Systems 255 16.1 Controlling Your Robot with a PC Joystick or Control Pad 255 16.2 Building a Joystick Teaching Pendant 259
16.2.1 Possible Enhancements 263
CONTENTS
16.3 Commanding a Robot with Infrared Remote Control
16.3.1 16.3.2 16.3.3 16.3.4 A Typical Microcontroller Interface BS2 Interface Controlling Robot Motors with a Remote Control Going Further
265 268 270 272
16.4 Using Radio Control Instead of Infrared 16.5 From Here
273 274
PART 4 POWER, MOTORS, AND LOCOMOTION
17 Batteries and Robot Power Supplies 17.1 Remember: Safety First! 17.2 Increasing Robot Performance 17.3 Combining Batteries 17.4 Types of Batteries
17.4.1 17.4.2 17.4.3 17.4.4 17.4.5 17.4.6 17.4.7 17.5.1 17.5.2 17.5.3 17.5.4 Zinc Alkaline High-Tech Alkaline Nickel Metal Hydride Nickel-Cadmium Lithium and Lithium-Ion Lead-Acid Voltage Capacity Recharge Rate Nominal Cell Voltage
277 278 278 279 280
280 281 281 281 282 282 283
17.5 Battery Ratings
284 285 286 287
17.6 17.7 17.8 17.9
Battery Recharging Recharging the Robot Battery Care Power Distribution
17.9.1 Fuse Protection 17.9.2 Multiple Voltage Requirements 17.9.3 Separate Battery Supplies
287 288 288 289
289 290 291
17.10 Voltage Regulation
17.10.1 17.10.2 17.10.3 17.10.4 Zener Diode Voltage Regulation Linear Voltage Regulators Switching Voltage Regulation Power Distribution
292 294 295 297
CONTENTS
17.11 Battery Monitors
17.11.1 4.3 V Zener Battery Monitor 17.11.2 Zener/Comparator Battery Monitor 17.11.3 Using a Battery Monitor with a Microprocessor
298 300 300
17.12 A Robot Testing Power Supply 17.13 From Here 18 Principles of Robot Locomotion 18.1 First Things First: Weight 18.2 Tips for Reducing Weight 18.3 Beware of the Heavy Frame 18.4 Construction Robots with Multiple Decks 18.5 Frame Sagging Caused by Weight 18.6 Horizontal Center of Balance 18.7 Vertical Center of Gravity 18.8 Locomotion Issues
18.8.1 Wheels and Tracks 18.8.2 Legs
300 303 305 305 306 307 307 308 310 311 311
311 312
18.9 Motor Drives
18.9.1 Centerline Drive Motor Mount 18.9.2 Front-Drive Motor Mount 18.9.3 Caster Choices
313 313 315
18.10 Steering Methods
18.10.1 18.10.2 18.10.3 18.10.4 Differential Car-Type Tricycle Omnidirectional
318 318 319 320
18.11 Calculating the Speed of Robot Travel 18.12 Round Robots or Square 18.13 From Here 19 Choosing the Right Motor 19.1 AC or DC 19.2 Continuous or Stepping 19.3 Servo Motors 19.4 Other Motor Types
320 322 322 325 325 326 327 327
CONTENTS
xiii
19.5 Motor Specifications
19.5.1 19.5.2 19.5.3 19.5.4 19.5.5 19.6.1 19.6.2 19.6.3 19.6.4 Operating Voltage Current Draw Speed Torque Stall or Running Torque Gears 101 Establishing Gear Reduction Using Motors with Gear Reduction Anatomy of a Gear
328 329 330 331 331
19.6 Gears and Gear Reduction
333 333 335 337
19.7 Pulleys, Belts, Sprockets, and Roller Chain
19.7.1 More about Pulleys and Belts 19.7.2 More about Sprockets and Roller Chain
339 339
19.8 Mounting the Motor 19.9 Connecting to the Motor Shaft 19.10 From Here 20 Working with DC Motors 20.1 The Fundamentals of DC Motors 20.2 Reviewing DC Motor Ratings 20.3 Motor Control
20.3.1 20.3.2 20.3.3 20.3.4 20.3.5 Relay Control Bipolar Transistor Control Power MOSFET Control Motor Bridge Control Relay versus Bipolar versus FET Motor Drivers
339 341 342 345 345 347 348
348 351 355 357 359
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