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To learn more about . . . Deciding on the appropriate design Manipulating objects around the robot Providing sound interfaces Light interfaces Sensing objects around the robot Making sense of the world around the robot Read 18, Principles of Robot Locomotion 26, Reach out with Robot Arms 31, Sound Input and Output 32, Robot Vision 30, Object Detection 33, Navigation
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INTEGRATING THE BLOCKS
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ith the function of the robot defined, you will have to decide how you are going to bring all the pieces together. So far in this book, different building methodologies, electronic circuits for motor driving and control, computer and microcontroller devices, sensors and output devices have been discussed along with example circuits. You probably feel comfortable with the individual building blocks that have been presented although bringing them all together with a single controller probably seems scary and difficult. By following a few simple rules, you will be able to bring all the pieces together into a functional robot.
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38.1 Basic Program Structure
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The first rule is to try and maintain the basic program format that was discussed in 13. Written out in pseudo-code, the structure of your first robot programs should always be:
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' ' ' Initializations Software Variables Hardware Registers and Devices WHILE (1) ' Loop Forever Outputs = Processing(Inputs) ' Repeat for Each Output Delay(value) ' Delay 100 ms or so for each loop WEND ' Jump Back to "WHILE(1)" and repeat 673
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INTEGRATING THE BLOCKS
where Outputs = Processing(Inputs) is a simple way of saying that each of the robot s outputs is a function of the various inputs available. This will reduce the complexity of your software to just a simple Input Processing Output model for each output and will allow you to easily observe the response of some outputs to specific inputs and if they are not working properly they can be changed without affecting other functions in the robots. For a light-following robot, the LeftMotorProcess function could be
MotorControl LeftMotorProcess(LightLeft, LightRight) IF (LightRight >= LightLeft) THEN MotorControl = Forward ELSE MotorControl = Stop ENDIF End LeftMotorProcess
and used to control the left motor of the robot directly. In this function, the Left Motor will be active if the robot is to move forward (LeftLight equal to RightLight) or turn right (RightLight is greater than LeftLight). If the robot has to move left, then the motor stops and the left wheel becomes a pivot the robot turns around. The right motor function (RightMotorProcess) would be identical except that the comparison statement would be reversed, becoming;
IF (LightLeft >= LightRight) THEN
As the application became more complex, then the functions governing the actions of individual outputs can be made more complex without affecting other output functions and additional ones could be added without affecting any of the original output functions. This approach may seem somewhat inefficient because much of the code will be repeated, but as an approach for your first attempts at getting a robot working, they will be quite effective, easy to code, and (most importantly) easy to debug and get running.
38.2 Allocating Resources
In contrast to a PC, where there seems to be almost limitless resources available, a microcontroller or microprocessor used to control a robot has only a limited amount of resources that can be brought to bear on the task of controlling a robot. Before beginning to design the robot, the resources that will be required should be listed and a controller selected from the chips and system PCBs that have the required resources.
38.2.1 I/O PINS
The resource that will seem to be the most restricted when deciding on which controller to use will be I/O pins: both digital and analog. During planning of the robot features, the dif-
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