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V+ (5-15vdc) Reset 8 R1 7 Trigger 2 6 + C1 1 IC1 555 3 5 C2 0.1 F bypass 4 1 C1 F 0.1 0.01 1K 10K 100K 1M 10M 100 10 R1 value
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Output
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FIGURE E.2
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5 3 INPUT IC1 567
R1 Adjust for output 50K best response
C3 0.22
C2 0.0047
C1 0.022 GND 7
1 1.1R1C1 Vin in % of fo foC2
Bandwidth=1070 Components selected for approx. 1kHz response
FIGURE E.3
748 REFERENCE
Wire Guage
TABLE E.1 SINGLE CONDUCTOR MAX. CURRENT CARRYING CAPACITY
CONDUCTOR SIZE
30 AWG 22 AWG 20 AWG 18 AWG 16 AWG 14 AWG 12 AWG
Source: Alpha Wire Company
2 8 10 15 19 27 36
INDEX
accelerometers, 682 694 Analog Devices chips and, 683 692 dual-axis circuit, 688 692 explanation of, 682 home-built, 692 694 single-axis circuit, 684 advanced locomotion stepper systems, 357 369 steering wheel systems, 359 track driven, 357 359 Tri-Star wheels for, 362 six-wheeled cart for, 360 362 shape memory alloys (SMA) for, 364 369 alkaline batteries, 190 amp-hour current, 194 analog-to-digital converter (ADC), 433, 447 450 androids, 13 15 appendage, 371 376 autonomous robot, 12 Basic Stamp microcontroller: developer s kit and, 483 enhancement products for, 497 general information about, 481 498
Basic Stamp microcontroller (Cont.): interfacing with, 492 497 PBasic language and, 486 492 pin layout and, 485 BasicX microcontroller: controlling servo motors with, 511 513 functions for robotics and, 507 509 general information about, 501 514 interfacing with, 513 pin layout and, 503 programming with, 504 506 sample program for, 509 511 batteries: increasing ratings for, 197 monitors for, 207 210 recharging, 197 types of, 190 192 understanding ratings for, 193 197 voltage doubling and inverting circuits for, 206 behavior-based robotics, 698 702 breadboard, 36, 65 67
Buggybot: battery holder for, 129 framework for, 127 motor and mount for, 128 parts list for, 126 wiring diagram for, 130 building block approach, 4 building robots: basic skills needed for, 4 7 buying kits for, 7 programming for, 79 97 bumper switches, 561 camber, 219 casters, 226 capacitors, description of, 56 59 Capek, Karel, 23 cartesian coordinate arms, 373 chain (see roller chain) circuit boards, 69 collision avoidance and detection, 569 599, 581 599 compass navigation, 631 computers: Basic Stamp microcontroller, 481 498 BasicX microcontroller, 501 514 749
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750 INDEX
computers (Cont.): inputs and outputs with, 432 434 microcontrollers for, 424 428 OOPic microcontroller, 571 533 personal computers for, 429 432 PIC microcontrollers for, 425 single board, 428 using discrete components for, 422 conductive foam pressure sensor, 560 continuous DC motor, 236, 253 277 cylindrical coordinate arms, 373 data output, 437 DC motors: direction control of, 255 265 microprocessor control of, 268 motor bridge control of, 262 265 motor speed control in, 265 268 odometry with, 270 276, 628 631 power MOSFET for, 262 relay control in, 255 torque in, 240 242 transisitor control of, 257 262 travel speed of, 231 versus other motor types, 235 237 differential steering, 228 digital-to-analog converter (DAC), 433, 451 diodes, description of, 59 discharge curve of batteries, 196 EEPROM, 427 electronic components: capacitors, fixed and variable, 56 59 descriptions of, 55 63 diodes, 59 integrated circuits, 61 resistors, fixed and variable, 55 schematic diagrams for, 61 transistors, 60 electronics: common components used in, 55 62 construction techniques used with, 65 77 endoskeleton and exoskeleton supports, 13 Erector Set robots, 134 extruded aluminum for construction, 39, 123
fiber optic touch system, 589 595 fingers in robotic grippers, 20, 403 417 fire detection systems, 649 660 firefighting, 658 660 flame detectors, 649 652 flexible finger grippers, 414 frame design of robots, 12 17 frequency meter, 36 Furby, 142 fuse protection, 200 gears and gear reduction, 242 248 GPS (global positioning satellite), 649 grippers: construction from toys, 406 discussion of, 403 417 parts list for clapper, 403 parts list for two-pincher, 406 parts list for worm-driven, 410 wrist rotation for, 415 hardware supplies, 38 Harvard microcontroller architecture, 425 heat sensors, 656 658 horizontal center of balance, 220 hydraulic power source, 18 I2C network, 432 infrared beacon navigation, 641 infrared distance navigation, 637 641 infrared fire detection, 650 infrared light collision avoidance systems, 573 infrared pushbutton remote control, 543 550 infrared line following systems, 621 625 inputs and outputs of computers, 432 434 integrated circuits (ICs), description of, 61 integrating logic families and ICs: interfacing: analog inputs and, 445 architectures and, 438, 451 inputs and, 440 444 motors and, 437 outputs and, 439 programming of, 453 458 sensors and, 435 437 interrupts, hardware and software, 433 I/O (see interfacing) landmark navigation: infrared beacon, 641
landmark navigation (Cont.): radio frequency identification and, 642 recongnition and, 643 645 review of, 641 lead acid batteries, 192 LEDs: LEGO: custom robots with, 147 158 building the Pepbot from, 151 158 Mindstorms Robotics Invention System, 161 172 using parts from, 136, 148 working with, 147 149 legs: limitations of: robots with: lenses and filters, 611 613 light sensitive sensors: differences between: photocells used as: phototransistors and photodiodes used as: line tracing navigation, 621 625 locomotion: caster arrangements for, 226 design principles of, 217 233 motor drives for, 224 weight and, 217 220 wheels, legs, and tracks for, 223 logic probe, 32 logic pulser, 33 magnetic pickup: metal: platforms of, 123 131 selecting and working with, 123 126 microphone sound sensors, 672 678 Microwire interface, 432 Minibot, 110 113 miter gears: motors: AC vs. DC, 235 continuous vs. stepping, 236 mounting, 249 251 selection of, 235 252 servo, 237 shaft construction of, 251 specifications for, 238 242 using gears and pulleys with, 242 248 multiple switch contact collision avoidance, 584 586 multiple-cell light sensors: BasixX microcontroller and, 507 multitasking: explained, 706 OOPic microcontroller and, 519
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