A Beginner’s Guide to Robotics Projects Using the PICmicro
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, behaviorbased (neural) robots, hexapod and bipedal walkers, and artificial vision systems that can track and follow objects.
Each robot project has something to teach.
John Iovine
Contents
Preface xi
Chapter 1. Robot Intelligence 1
What Is a Microcontroller? 1
Why Use a Microcontroller? 1
Designer Computers—So Many Microcontrollers 2
The Compiler 2
PIC Programming Overview 2
Software and Hardware 2
PicBasic and PicBasic Pro Compilers 3
EPIC Programmer 4
Firmware 5
Consumables 5
16F84 PIC Microcontroller 5
Step 1: Writing Code (the Basic Program) 6
Step 2: Using the Compiler 7
Step 3: Installing the Firmware, or Programming the PIC Chip 7
Ready, Steady, Go 8
Parts List 8
Chapter 2. Installing the Compiler 11
Installing the PicBasic Compiler Software 11
Installing the PicBasic Pro Compiler 12
Chapter 3. Installing the EPIC Software 19
Installing the EPIC Software in Windows 19
Installing the EPIC Software, DOS Version 22
Supplemental—Applications Directory 22
Chapter 4. CodeDesigner 23
CodeDesigner Features 23
Software Installation 25
Setting CodeDesigner Options 25
First Program 31
The EPIC Programming Board Software 33
Parts List 35
Chapter 5. Using DOS to Code, Compile, and Program 37
Compile 39
Programming the PIC Chip 43
The EPIC Programming Board Software 44
Using EPIC DOS Version 45
Continuing with the wink.bas Program 45
Chapter 6. Testing the PIC Microcontroller 49
The PIC Microntroller 49
The Solderless Breadboard 49
Three Schematics, One Circuit 50
Wink 53
Troubleshooting the Circuit 54
PIC Experimenter’s Board and LCD Display 54
PIC Experimenter’s Board 56
Use 56
Simple Experiment 58
Builtin
LCD 60
Using the LCD: PicBasic and PicBasic Pro Examples 63
Introduction to Binary and the PIC Microcontroller 65
Using TRIS and Port Registers 68
Accessing the Ports for Output 70
Counting Program 71
Counting in Binary by 1 71
Input 72
The button Command 72
A button Example 74
peek 75
peek and PicBasic Pro 76
Basic Input and Output Commands 77
Servomotors 78
Parts List 79
Chapter 7. Intelligence 83
Approaches to Building Intelligence 83
Where’s the Intelligence? 85
Layered Behavioral Responses 85
BehaviorBased
Robotics 86
Chapter 8. Walter’s Turtle 87
BehaviorBased
Robotics 87
William Grey Walter—Robotics Pioneer 87
Four Modes of Operation 88
Contents vii
Observed Behavior 88
Building a Walter Tortoise 89
Drive and Steering Motors 90
Modifying the HS425BB 91
Servomotor 97
Sheet Metal Fabrication 99
Shell 100
Finding the Center of Gravity 101
Attaching Bumper to Robot Base 104
Bumper Switch 107
Mounting the Steering Servomotor 109
Photoresistor 112
Trimming the Sensor Array 114
Schematic 115
Program 121
Adding Sleep Mode 121
Power 121
Behavior 121
Fudge Factor 121
Light Intensity 123
Handedness 123
Parts List
Chapter 9. Braitenberg Vehicles 125
Neural I/O Relationships 126
Vehicles 126
Building Vehicles 128
Back Wheels 129
Front Wheels 131
CdS Photoresistor Cells 133
Trimming the Sensor Array 137
PIC 16F84 Microcontroller 139
Testing 139
Second Braitenberg Vehicle (Avoidance Behavior) 141
Parts List 141
Chapter 10. Hexapod Walker 143
Imitation of Life 143
Six Legs—Tripod Gait 143
ThreeServomotor
Walker Robot 144
Function 144
Moving Forward 145
Moving Backward 146
Turning Left 147
Turning Right 148
Construction 148
Mounting the Servomotors 151
Leg Positioning 152
Linkage 154
viii Contents
Center (Tilt) Servomotor 154
Sensors 155
Electronics 158
Microcontroller Program 159
Parts List 164
Chapter 11. Speech Recognition 165
Applications 167
Software Approach 167
Learning to Listen 167
SpeakerDependent
and SpeakerIndependent
Recognition 167
Recognition Style 168
Speech Recognition Circuit 168
Circuit Construction 168
Keypad 169
To Train 169
Testing Recognition 172
Error Codes 172
Clearing the Trained Word Memory 172
Independent Recognition System 172
Voice Security System 173
Speech Interface Control Circuit 173
How the Circuit Works 174
PIC 16F84 Microcontroller Program 176
Active High Output 177
SPDT Relay Output 177
Circuit Construction 177
Programming the Speech Recognition Circuit: Training, Testing, and Retraining 177
SRI02
and SRI03
Interfaces 180
Robot Control 180
Parts List 181
Chapter 12. Robotic Arm 185
Servomotor Building Blocks for Robotics 185
Basic Servomotor Bracket Assembly 186
Assembling MultipleServomotor
Assemblies 189
Building a FiveServomotor
Robotic Arm 192
Servomotors 197
Servomotor Controllers 199
Simple Servomotor Controller 200
Four
and FiveServomotor
Controllers 204
Increasing the Lifting Capacity of the Robotic Arm 215
Adding a Robotic Arm Base 216
Parts List 223
Chapter 13. Bipedal Walker Robot 225
A Question of Balance? 226
A Little Feedback 227
Servomotors 227
Contents ix
Servomotor Brackets 228
Footpads 228
Assembly 230
Schematic 231
Program 233
Subroutines M1, M2, and M3 234
Going Further 241
Turning Right and Left 242
Parts List 242
Chapter 14. Color Robotic Vision System 243
CMU Camera 244
Serial Communication 245
VB Application Program 248
Interfacing the CMU Camera to a Robot 250
PIC 16F84 Runs at 16 MHz 251
Program 1 251
Program 2 254
Incandescent or Fluorescent Lighting 254
Servomotors for Robot 259
Program 3 261
Robot Construction 264
Running the Program 266
Going Further 267
Parts List 267
Suppliers 269
Index 271
Copyright © 2004 by The McGrawHill Companies, Inc.
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