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Body sense
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Body sense provides some information on where one is and what position one is in. Limited body sense can be accomplished in robots by using a variety of tilt switches (see Fig. 5.28). This will at least
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5.28 Tilt switches
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inform a robot if it is on an incline or decline, flat on its back or on its stomach, or upside down or right side up. The robot can then take appropriate action based on its body sense to accurately change position.
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Using the Earth s magnetic field, an electronic compass can provide directional information. This will allow a robot to travel in a certain direction or to know which direction it s traveling in. The simplest sensor in this category is the 1490 digital compass (see Fig. 5.29). The compass is a solid-state Hall device. The digital compass provides four outputs that represent the four cardinal directions: north, east, south, and west. Using a little logic a total of eight directions can be determined. The compass is dampened to approximate the speed of a liquid-filled compass. It takes 2.5 seconds (s) for it to respond to a 90-degree displacement. The damping prevents overswinging the direction and prevents switch fluttering when near a switching direction. The device is sensitive to tilting. Any tilt greater than 12 degrees will cause directional errors. The bottom of the device has 12 leads arranged in four groups of three. Looking at the device from the top, the leads in each group are labeled 1, 2, and 3. The leads labeled 1 are connected to Vcc ( 5V). The leads labeled 2 are connected to ground. The leads labeled 3 are the four outputs. The outputs of the digital compass are equivalent to open collectors of an NPN transistor. Being open collects, the outputs are unable to source any current but are capable of sinking enough current [20 milliamps (mA)] to light LEDs.
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Dinsmore 1490 Sensor TOP NPN .5" Gnd (pin 2) SIDE 1" Out (pin 3)
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5.29 1490 digital compass five
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Top view, looking down through sensor to leads Vcc 10 mF Vcc 7805 +5v Vcc
1 3 2 3 1 2 3 3 2 1
5.30 Digital compass test circuit using four LEDs
The test circuit is shown in Fig. 5.30. The sensor will operate with supply voltages ranging from 5 to 18VDC. A 9V battery is used as a power source and is regulated to 5V using a 7805 voltage regulator. As a rule, try to keep all voltages at 5 V maximum. This will make it computer-safe. For instance, when the digital compass is interfaced to the PIC microcontrollers, if we forgot and used a 9V power source on the compass, the outputs may damage the input/output (I/O) inputs. The test circuit uses four LEDs for display. As the sensor is rotated, each cardinal position on the compass will light one LED. The intermediate directions light two LEDs.
Testing and calibration
Find north using a standard compass. Rotate the circuit so that one LED is lit. I used the LED furthest away from the sensor for north. If you do the same, the other LEDs will automatically follow the same sequence outlined (see Fig. 5.31). The sequence for my display is as follows: 1 on, 0 off.
Computer interface
The four output lines from the compass form a 4-bit binary number (nibble) that is easily read by a microcontroller, computer, or electronic circuit (see Table 5.4). We will hold off on the PIC microcontroller circuit until we have introduced the 16F84 PIC microcontroller in Chap. 7.
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Sensors
North Northwest Northeast
West
East
Southwest South
Southeast = On = Off
5.31 LED lighting sequence I Table 5.4 LED Sequences
Direction
North Northeast East Southeast South Southwest West Northwest
LEDs
0001 0011 0010 0110 0100 1100 1000 1001
Decimal equivalent
1 3 2 6 4 12 8 9
Inverted
14 12 13 9 11 3 7 6
1525 electronic analog compass
In most cases the 1490 directional information is more than sufficient for a robot. However, there will be cases when high-resolution directional information may be important. In this case one may use the 1525 electronic compass (see Fig. 5.32). The signal output from the 1525 is much harder to read than that of the 1490, but the tradeoff is that the 1525 electronic compass provides a directional resolution of approximately 1 degree.
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