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Basic Stamp Computer FIGURE 31.1 Programs are downloaded from your PC to the Basic Stamp, where they are stored in tokenized format in EEPROM. The PBasic interpreter executes these tokens one by one.
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RAM. Of those 32 bytes, 6 are reserved for storing the settings information of the input/output pins of the Basic Stamp, leaving only 26 bytes for data. For many robotics applications, the 2K EEPROM (program storage) and 26-byte RAM (for data storage) are sufficient. However, for complex designs you may need to use a second Basic Stamp or select a microcontroller such as the Basic Stamp II-SX that provides more memory.
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The Basic Stamp is available directly from its manufacturer or from a variety of dealers the world over. The prices from most sources are about the same. In addition to the BSI, BSII, and BSII-SX variations mentioned earlier, you ll find that the Basic Stamp is available in several different premade kits as well as a stand-alone product.
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I BSII Module. The Basic Stamp module (see Fig. 31.2) contains the actual microcon-
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troller chip as well as other support circuitry. All are mounted on a small printed circuit board that is the same general shape as a 24-pin IC. In fact, the BSII is designed to plug into a 24-pin IC socket. The BSII module contains the microcontroller that holds the PBasic interpreter, a 5-volt regulator, a resonator (required for the microcontroller), and a serial EEPROM chip. I BSII Starter Kit. The starter kit is ideal for those just, well, starting out. It includes a BSII module, a carrier board, a programming cable, a power adapter, and software on CD-ROM. The carrier board, shown in Fig. 31.3, has a 24-pin socket for the BSII module, a connector for the programming cable, a power adapter jack, and a prototype area for designing your own interface circuitry. I Basic Stamp Activity Board. The Activity Board, which is typically sold without a BSII module, offers you a convenient way to experiment with the Basic Stamp. It contains four LEDs, four switches, a modular jack for experimenting with X-10 remote control modules, a speaker, and two sockets so you easily interface such things as serial analog-to-digital converters (ADCs).
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484 USING THE BASIC STAMP
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FIGURE 31.2 The Basic Stamp II module, containing microcontroller, voltage regulator, resonator, and EEPROM.
FIGURE 31.3 The Basic Stamp carrier board, ideal for experimenting with the BSII. Sockets are provided for both the BSI and BSII.
PHYSICAL LAYOUT OF THE BSII 485
I Growbot and BOE Bot. The Growbot and BOE Bot products are small mobile robot kits
that are designed to use the Basic Stamp microcontroller. The robots are similar (the BOE Bot is a little larger and heavier) and are able to accommodate more experiments. A BSII module is generally not included with either robot kit. I Basic Stamp Bug II. Another robot kit, the Basic Stamp Bug II, is a six-legged walking robot. The Bug is meant to be controlled with a BSI microcontroller, though you could refit it to use the BSII. The Basic Stamp module is extra.
Physical Layout of the BSII
The Basic Stamp II is a 24-pin device; 16 of the pins are input/output (I/O) lines that you can use to connect with your robot. For example, you can use I/O pins to operate a radio-controlled (R/C) servo. Or you can use a stepper motor or a regular DC motor, when you use them with the appropriate power interface circuitry. As outputs, each pin can source (that is, output 5 volts) 20mA of current or sink (output 0 volts) about 25 mA. However, the entire BSII should not source or sink more than about 80-100mA for all pins. You can readily operate a series of LEDs, without needing external buffer circuitry to increase the power-handling capability. Or you can connect the BSII to a Polaroid sonar range-finding module (see 38, Navigating through Space ), various bumper switches, and other sensors. The direction of each I/O pin can be individually set, so some pins can be used for outputs and others for inputs. You can dynamically configure the direction of I/O pins during program execution. This allows you to use one pin as both an input and an output, should this be called for. Fig. 31.4 shows the pin layout of the BSII. The Basic Stamp II supports three ports, referred to as A, B, and C. Port A is used for internal connections, namely, the serial lines to the outboard EEPROM chip, as well as the RS-232 serial connections to and from the PC that is used for programming. This leaves two full 8-bit ports, B and C, for use as I/O lines. Through PBasic commands, you can control all eight bits of the each port together or each pin individually.
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