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Microchip s PIC microcontroller
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Adding intelligence in the form of a computer to a small robot or robotic system has never been easier. There are numerous singlechip computers (commonly know as microcontrollers) available that can do the job.
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As the name implies, a single-chip computer is an entire computer system that lies within the confines of an integrated circuit (IC) chip. The microcontroller existing on the encapsulated sliver of silicon has features and similarities to our standard personal computer (PC). Primarily the microcontroller is capable of storing and running a program (most important feature). The microcontroller contains a central processing unit (CPU), random access memory (RAM), read only memory (ROM), input/output (I/O) lines, serial and parallel ports, timers, and sometimes other built-in peripherals like analog-to-digital (A/D) and digital-to-analog (D/A) converters.
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Why use a microcontroller
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The microcontroller s ability to store and run unique programs makes it extremely versatile. For instance, one can program a microcontroller to make decisions (perform functions) based on predetermined situations (I/O line logic) and sensor readings. Its ability to perform math and logic functions allows it to mimic sophisticated logic and electronic circuits. Still other programs can make the microcontroller behave like a neural or fuzzy logic controller.
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The output of the microcontroller can control direct current (DC) motor drives [using DC or pulse-width modulation (PWM)], servo motor positioning, stepper motors, etc. Programming a robot s microcontroller to respond to sensor readings or a communication link creates an intelligent, responsive robot. Microcontrollers are responsible for the intelligence in most smart devices on the consumer market and will be the intelligence in our robots.
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Programming PIC microcontrollers is a three-step process. Before you can program, however, you need to purchase two items, the PICBASIC compiler program and the EPIC programmer (a programming carrier board). These two items do not include the PIC microcontroller chip or its support components. I recommend beginning with the 16F84 PIC microcontroller because it is a versatile 18-pin chip with 13 I/O lines and rewritable flash memory. This flash memory allows you to reprogram the PIC microcontroller chip 1000 times. This is really useful when testing and debugging your programs and circuits. The PICBASIC compiler (see Fig. 6.1) runs on a standard PC. The program may be run in DOS or in an MS-DOS Prompt window in the Windows environment. Hereafter the MS-DOS Prompt window will be referred to simply as a DOS window. The DOS program will
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6.1 PICBASIC compiler
run on everything from an XT class PC running DOS 3.3 and higher. The compiler supports a large variety of PIC microcontrollers. The compiler generates machine language (ML) hex code that may be used with other programming carrier boards. The cost for PICBASIC compiler software is $99.95. The EPIC programming carrier board (see Fig. 6.2) has a socket for inserting the PIC chip and connecting it to the computer, via the printer port, for programming. The programming board connects to the computer s printer port (also called the parallel port) using a DB25 cable. If the computer only has one printer port with a printer connected to it, the printer must be temporarily disconnected when programming PIC chips. As with the PICBASIC Compiler, the EPIC programming carrier board supports a large variety of PIC microcontrollers. The cost for the EPIC programming board with the EPIC programming diskette is $59.00. The PIC 16F84 is shown in Fig. 6.3. It is a versatile microcontroller with flash memory. Flash memory as stated before is rewritable
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6.2 EPIC programming board
6.3 16F84 microcontroller
memory. The onboard flash memory can endure a minimum of 1000 erase-write cycles. So you can reprogram and reuse the PIC chip at least 1000 times. The program retention time, if you decide not to rewrite the program, is approximately 40 years. The 18-pin 16F84 chip devotes 13 of its pins to I/O. Each pin may be independently programmed as an input or output. The pin s status (I/O direction control) may also be changed on the fly via programming. Other features include power on reset, power-saving sleep mode, powerup timer, and code protection. Additional features and architecture details of the PIC 16F84 will be given as we continue.
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