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Brass 6-32 nut
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Robot base
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8.11 Side dimensional detail (robot base side of the tilt switch) of plastic screw with top brass nut
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8.12 Close-up photograph, detailing tilt switch and spring mounting of upper bracket
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shelf for mounting the photoresistor (see Fig. 8.13). I used a small piece of plastic to mount the photoresistors at a 45 degree angle up with an opaque vane mounted in between the photoresistors (see Fig. 8.14). Mounting the photoresistors on the drive wheel assembly keeps the sensors pointing in the same direction as the drive wheel. This replicates the function of the original tortoise robots. Using two CdS photosensors in this configuration alleviates much of the computation needed to track a light source. This is the same
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eight
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8.13 Close-up photograph detailing front drive wheel, showing counterweight, drive wheel, gearbox motor, and light sensor with shroud
operation as described in Chap. 6 for the light tracker circuit. The operation of the sensor array is shown in Fig. 8.15. When both sensors are equally illuminated, their respective resistances are approximately the same. As long as each sensor is within 10 points of the other, the PIC program will see them as equal and doesn t move the servo motor (steering). When either sensor falls in the shadow of the main light source, the resistance variance between the sensors increases beyond the 10-point range. The PIC microcontroller activates the servo motor to bring both sensors back under even illumination. In doing so, this steers the robot straight to the light source. If the sensors detect too great of a light intensity, the robot will go into avoid mode. Schematic The schematic for the robot is shown in Fig. 8.16. Intelligence for the robot is provided by two PIC16F84 microcontrollers. The steering servo motor control signal is provided by RB3 off the PIC microcontroller number 2. The 100:1 gearbox motor is attached to an H-bridge consisting of components Q1 to Q4, D1 to D4, and R1 to R4. The H-bridge is controlled by the PIC microcontrollers RB1 and RB2 input/output (I/O) lines. Sensor readings of the CdS cell are read off pin RB4. RB5 reads the tilt switch to check if the robot has encountered an obstacle. I assembled the entire circuit on two
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Plastic
CdS photocell
Vane
Side View
CdS cell
CdS photocell
Front View
8.14 Isometric view of sensory array
Turn left
8.15 Functional behavior of sensor array eight
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8.16 Electrical schematic of tortoise robot
small solderless breadboards. The breadboards were mounted on the robot base, on top of the battery power pack. To meet the original design expectations (accurately modeling the original Walter s tortoise robot for one), two microcontrollers are required. Distributing the computational workload between two processors produces much smoother operation from the robot. The main reason a second microcontroller is needed is for the steering servo motor. A single microcontroller cannot read the two CdS photoresistors and accurately control (steer) the servo motor. Had I chosen a gearbox motor for steering the robot instead, using a single microcontroller would not have been a problem. On the bright side, the advantage to circumventing this problem is building
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a robot with two processors that operate in tandem (distributed processing). I will assign the targeting of the light source and bumper switch detection to one microcontroller, called microcontroller 1. Controlling the steering and drive motor will be assigned to the second microcontroller, called microcontroller 2. To make this scheme work, it is necessary to have the microcontrollers communicate with one another. However, bidirectional communication isn t required; we will have one microcontroller talk and the other one listen. Microcontroller 1 Microcontroller 1 will handle reading the CdS cells and bumper switch detection. It will communicate to microcontroller 2 using three I/O lines. I/O line 1 will communicate the status of CdS 1. If light falling on CdS 1 is brighter than light falling on CdS 2, then bring the line low. If equal, bring the line high. I/O line 2 will communicate the status of CdS 2. If light falling on CdS 2 is brighter than light falling on CdS 1, then bring the I/O line low. If equal, bring the line high. I/O line 3 will communicate either the status of the bumper switch or that the CdS cells are receiving too much light. In either case this will bring line 3 high. Microcontroller 2 Microcontroller 2 will check the status of the three I/O lines and, based on the status, it will steer and move the robot as follows:
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