PIC Robotics

PIC Robotics  A Beginners Guide to Robotics Projects Using the PICmicro  John Iovine Reseña This is a project book on building small robots. Each robot utilizes the PICmicro series of microcontrollers from Microchip Technologies Inc. for intelligence, navigation, motor control, and sensory readings. By changing the microcontroller programming and sensory electronics we can create a zoo of robots that includes photovores, behavior based (neural) robots, hexapod and bipedal walkers, and artificial vision systems that can track and follow objects. Each robot project has something to teach.

Se trata de un libro de proyecto en la construcción de pequeños robots. Cada robot utiliza la serie de microcontroladores PIC de Microchip Technologies Inc. para la inteligencia, la navegación, el control motor, y las lecturas sensoriales. Al cambiar la programación de microcontroladores y electrónica sensoriales podemos crear un zoológico de robots que incluye photovores, comportamientos basados en robots (neurales), andadores hexápodo y bípedo, y los sistemas de visión artificial que pueden rastrear y seguir objetos. Cada proyecto robot tiene algo que enseñar.

INDICE

Robot Intelligence.  Installing the Compiler CodeDesigner.  Using DOS to Code, Compile, and Program.  Testing the PIC Microcontroller. The PIC Microntroller. The Solderless Breadboard.  Intelligence.  Walter’s Turtle.  Braitenberg Vehicles.  Hexapod Walker. Imitation of Life.  Speech Recognition.  Robotic Arm.  Bipedal Walker Robot.  Color Robotic Vision System. CMU Camera.

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INDICE GENERAL

Robot Intelligence. What Is a Microcontroller?. Why Use a Microcontroller?. Designer Computers—So Many Microcontrollers. The Compiler. PIC Programming Overview. Software and Hardware. PicBasic and PicBasic Pro Compilers. EPIC Programmer. Firmware. Consumables. 16F84 PIC Microcontroller. Step 1: Writing Code (the Basic Program). Step 2: Using the Compiler. Step 3: Installing the Firmware, or Programming the PIC Chip. Ready, Steady, Go. Installing the Compiler. Installing the PicBasic Compiler Software. Installing the PicBasic Pro Compiler. Installing the EPIC Software. Installing the EPIC Software in Windows. Installing the EPIC Software, DOS Version. Supplemental—Applications Directory. CodeDesigner. CodeDesigner Features. Software Installation. Setting CodeDesigner Options. First Program. The EPIC Programming Board Software. Using DOS to Code, Compile, and Program. Compile. Programming the PIC Chip. The EPIC Programming Board Software. Using EPIC DOS Version. Continuing with the wink.bas Program. Testing the PIC Microcontroller. The PIC Microntroller. The Solderless Breadboard. Three Schematics, One Circuit. Wink. Troubleshooting the Circuit. PIC Experimenter’s Board and LCD Display. PIC Experimenter’s Board. Use. Simple Experiment. Builtin. LCD. Using the LCD: PicBasic and PicBasic Pro Examples. Introduction to Binary and the PIC Microcontroller. Using TRIS and Port Registers. Accessing the Ports for Output. Counting Program. Counting in Binary by. Input. The button Command. A button Example. peek. peek and PicBasic Pro. Basic Input and Output Commands. Servomotors. Intelligence. Approaches to Building Intelligence. Where’s the Intelligence?. Layered Behavioral Responses. BehaviorBased. Robotics. Walter’s Turtle. BehaviorBased. Robotics. William Grey Walter—Robotics Pioneer. Four Modes of Operation. Observed Behavior. Building a Walter Tortoise. Drive and Steering Motors. Modifying the HS425BB. Servomotor. Sheet Metal Fabrication. Shell. Finding the Center of Gravity. Attaching Bumper to Robot Base. Bumper Switch. Mounting the Steering Servomotor. Photoresistor. Trimming the Sensor Array. Schematic. Program. Adding Sleep Mode. Power. Behavior. Fudge Factor. Light Intensity. Handedness. Braitenberg Vehicles. Neural I/O Relationships. Vehicles. Building Vehicles. Back Wheels. Front Wheels. CdS Photoresistor Cells. Trimming the Sensor Array. PIC 16F84 Microcontroller. Testing. Second Braitenberg Vehicle (Avoidance Behavior). Hexapod Walker. Imitation of Life. Six Legs—Tripod Gait. ThreeServomotor. Walker Robot. Function. Moving Forward. Moving Backward. Turning Left. Turning Right. Construction. Mounting the Servomotors. Leg Positioning. Linkage. Center (Tilt) Servomotor. Sensors. Electronics. Microcontroller Program. Speech Recognition. Applications. Software Approach. Learning to Listen. SpeakerDependent. and SpeakerIndependent. Recognition. Recognition Style. Speech Recognition Circuit. Circuit Construction. Keypad. To Train. Testing Recognition. Error Codes. Clearing the Trained Word Memory. Independent Recognition System. Voice Security System. Speech Interface Control Circuit. How the Circuit Works. PIC 16F84 Microcontroller Program. Active High Output. SPDT Relay Output. Circuit Construction. Programming the Speech Recognition Circuit: Training, Testing, and Retraining. SRI02. and SRI03. Interfaces. Robot Control. Robotic Arm. Servomotor Building Blocks for Robotics. Basic Servomotor Bracket Assembly. Assembling MultipleServomotor. Assemblies. Building a FiveServomotor. Robotic Arm. Servomotors. Servomotor Controllers. Simple Servomotor Controller. Fourand. FiveServomotor. Controllers. Increasing the Lifting Capacity of the Robotic Arm. Adding a Robotic Arm Base. Bipedal Walker Robot. A Question of Balance?. A Little Feedback. Servomotors. Servomotor Brackets. Footpads. Assembly. Schematic. Program. Subroutines M1, M2, and M3. Going Further. Turning Right and Left. Color Robotic Vision System. CMU Camera. Serial Communication. VB Application Program. Interfacing the CMU Camera to a Robot. PIC 16F84 Runs at 16 MHz. Program. Program. Incandescent or Fluorescent Lighting. Servomotors for Robot. Program. Robot Construction. Running the Program. Going Further.