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manufacturers of 32-, 36-, 38-, and 40-kHz IR remote-control receivers have come on the scene from which you can choose. Once I had the IR interface worked out, I thought I was away to the races. Unfortunately, this did not turn out to be the case. As a robot platform, I bought two Tamiya tracked vehicle parts kits (Item 70029). Each one has a single electric motor and gearbox buying two gave me a motor and gearbox for each side s tracks. Running the motors, I found that they used about 250 mA, which was within the stated current ranges of the H drive used in the magazine robot s circuit. I then went off happily building the magazine circuit s H drive. After hooking up the recommended circuit, nothing happened except the transistors got very hot (one actually exploded). This lead to (literally) several weeks of asking questions and experimenting with different circuits (I even pulled out some of my old transistor textbooks when I did that, I knew I was really desperate) until I determined that I had a circuit that wouldn t work for this application. To make a long story short, I decided to see what others had done before me. Looking up robotics web sites (such as the Seattle Robotics Society), I discovered the L293D chip, which is a single integrated circuit that provides the H drive function for two motors (making this application much easier to wire than the original circuit that used eight discrete transistors and resistors). The L293D consists of four drivers (with clamping diodes) and is designed to be used as a two-motor H drive control. The circuit in Fig. 21.26 shows how one-half of the L293D can be used to control a motor. Now, with everything working properly, I came up with the circuit shown in Fig. 21.27. The controller to be used is a universal remote control set to Sony TV. For the electronics, I used the parts listed in Table 21.10. Four AA alkaline batteries provided power for my prototype. Using nickel-cadmium batteries, I found the robot to be very sluggish. Trying to gure out the cause of the
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Motor Power 1 2 3 4 5 Motor 5 Ohm 0.1 uF Optional Snubber 6 7 8 16 15 14 13 12 11 10 9
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Figure 21.26 The L293D dual H-drive chip is an excellent part to use when you are starting out in robotics and want to have a reliable and ef cient motor driver.
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Figure 21.27 schematic.
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The IR remote-controlled robot
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sluggish performance, I found that the tracks and axles were binding because they weren t exactly square. The Tamiya tracked vehicle kit provides a piece of hardwood to put the various pieces on. This is an extremely hard piece of wood and didn t take well to precision placement of parts. I ended up using the piece from the second kit and had better results. A much better solution for this project is to buy a Tamiya wall-hugging mouse kit (Item 70068-1300), which contains two motors, two gearboxes, and a plastic chassis to
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TABLE 21.10 IRTANK BILL OF MATERIALS DESCRIPTION
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REFERENCE DESIGNATOR
U1 U2 Y1 R1 R2, R3 C1 C2, C3 RST I/R Rx ers Miscellaneous Robot base
PIC16F84 L293D motor driver 4-MHz ceramic resonator with built-in capacitors 10 k , 1/4 W 100 , 1/4 W
0.1- F, 16-V tantalum 10- F, 35-V electrolytic Momentary-on pushbutton switch 40-MHz IR remote-control receiver modules Prototyping PCB, 4 AA alkaline batteries, 4 AA battery clip, wiring Tamiya tracked vehicle parts kit (Item 70029)
PROJECTS
keep everything aligned. I ve used this kit for a number of robots over the years with much better results (giving my kids something to terrorize our cats with).
IRBetter: ADDENDUM IR ROBOT
Sometime after I completed the IR remote-controlled robot (and the kids were well on their way to demolishing it), a question came up on the PICList concerning alternative methods of reading infrared remote control transmissions. The question was about sampling and learning the received data packet rather than comparing each incoming bit to a predetermined value. The question sparked the idea of representing the codes inside the PIC microcontroller in other ways. My rst attempt at this was to count the number of ones during a sample period. Knowing that a characteristic pattern of ones and zeros would be sampled, I felt that I should be able to get a reasonably precise value for the transmitted packet. This was the beginning of IRLCD_2 in the code/IRBetter folder. To test out the code, I created a breadboard circuit using the schematic in Fig. 21.28. Note that this circuit uses the serial LCD interface described earlier in this chapter. Using the LCD really made debugging this experiment (I wouldn t go so far as to call it a project) a lot easier and is a good example of the usefulness of a simple UART interface. The main body of the code, where the IR stream is read/sampled, is
movlw 0x0A0 movwf INTCON Loop: movlw 200 subwf IntCount, w btfss STATUS, Z ; Setup the Timer Interrupt
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