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FIGURE 17.19 This multiplexing circuit expands the standard printer port to four input and four output ports.
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The circuit diagram shown in Fig. 17.19 is a schematic. The details of the necessary connections are shown. However, the actual circuit will have to have ltering capacitors across all integrated circuits (ICs) and the power supply. This is necessary since this circuit may have to switch at high clock speeds and without the appropriate capacitor values to lter out spikes the circuit may not function properly. The diagram shows the details for one input port and one output port. The other six ports (three input and three output) will be connected in a similar manner. The Unconnected pins Y1 to Y3 on the 74138 IC will be used to HighZ/Activate the three additional 74244 ICs, and pins Y5 to Y7 will be used to clock/latch the three additional 74273 ICs. The data lines on the additional 74273 and 74244 ICs have to be connected as with those shown in the schematic. The inverter between the output of the 74138 and the clock inputs to the 74273 chips (4 total) can be from a 7404 IC or any other equivalent chip. The control lines C0, C1, and C4 from the PC parallel port are normally inverted, but no inverters are necessary in hardware since RobotBASIC already takes care of the inversion in software.
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The intent of the circuit is to latch the data bus from the parallel port onto one of the 74273 registers for the output operation. For the input operation the circuit will activate the correct buffer chip to allow the input data from the port to pass to the parallel port data bus. When the reading operation is over the buffer will be deactivated (HiZ). The control lines C0 to C2 will indicate which chip is to be clocked or activated. The control line C3 will activate the 74138 to decode the address and thus activate/clock the right chip, once the data is present on the bus, or the software is ready to read the bus. Once the read/write operation is over the 74138 chip is deactivated to make all buffers HiZ. All the timing and control is handled by RobotBASIC s virtual parallel port protocol commands (see Sec. D.4). It is extremely important to ensure that no input buffer is ever activated when the parallel port is in output mode. You could write your entire programs using RobotBASIC and create subroutines to do the actual work as described above. If you have a background in electronics, you could build your own motor drivers and sensor interfaces and communicate with them using the standard printer port as described above, or one of the many port systems available for the PC. Many modern computers no longer have a parallel printer port, so we provided other options. For example, if you are comfortable with interfacing to Parallax s BS2, you could attach it to your PC via a serial port or USB port and let the BS2 collect data and control motors with its I/O pins. Hobbyists magazines such as Nuts and Volts, Servo, and Robot have many articles and advertisements that can help you nd appropriate solutions for your needs. It is also worth mentioning that the port capabilities of RobotBASIC along with its rigorous mathematical functions make it an ideal tool for hobbyists experimenting in nearly any area of electronics and control applications. 17.3.3 CONTROL BY A REMOTE PC WIRELESSLY The above two options for controlling a robot can be very functional. However, there is yet a better option. Writing complex AI programs to control a robot requires the power of a PC because it provides lots of memory, oating-point math, matrix operations, and much more. These capabilities are crucial for writing software that can control a robot to do complex tasks. This means that most microcontrollers would not be very suitable and controlling a robot directly with an onboard PC can be prohibitive too. Imagine combining the advantages of both the options above and removing the disadvantages. This can be accomplished by having a microcontroller that controls the hardware of the robot. The microcontroller reads sensors and activates motors. It will not be required to think or devise strategies. This task is left up to a program running on the PC. The PC sends commands to the microcontroller and receives status data back. All this is done via a wireless link. This way the robot can be compact and not require lots of power and the controller can be simple and cheap. Furthermore, as you will soon see, the robot s microcontroller only has to be programmed once. The PC decides on what the robot has to do in terms of moving, turning, and reading sensors. The PC program does not know the details of how the robot turns on motors or how it interfaces with its sensors. The PC program tells the robot to move forward 2 units and expects that the robot will perform the task properly. The PC program will decide
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