By John Iovine
Here is every thing the robotics hobbyist must harness the facility of the PICMicro MCU!
In this heavily-illustrated source, writer John Iovine presents plans and whole elements lists for eleven easy-to-build robots every one with a PICMicro "brain.” The expertly written assurance of the PIC easy laptop makes programming a snap -- and plenty of fun.
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Extra info for PIC Robotics: A Beginner's Guide to Robotics Projects Using the PIC Micro
Should be initialized to 0 prior to use. motion State of button to perform goto (0 if not pressed, 1 if pressed). Label Execution resumes at this label if Action is true. Let’s take another look at the switch schematic in Fig. 6. 24 before we start utilizing the button change. Let’s visualize how the switches impact the I/O pin electrically. The switch labeled A in Fig. 6. 24 connects the I/O pin to a �5V power sup ply through a 10,000� resistor. With the switch open, the electrical status of the I/O pin is kept high (binary 1). When the switch is closed, the I/O pin con nects to ground, and the status of the I/O pin is brought low (binary 0). The swap categorized B in Fig. 6. 24 has an electric functionality contrary the switch labeled A. In this case, when the switch is open, the I/O pin is connect ed to ground, keeping the I/O pin low (binary 0). When the switch is closed, the I/O pin is brought high (binary 1). In place of a switch, we can substitute an electric signal, high or low, that can also be read using the button command. more often than not the button command is used within a application loop, the place the program is looking for a change of state (switch closure). When the state of the I/O pin (line) matches the state defined in the Down parameter, the program execution jumps out of the loop to the label portion of the program. seventy four Chapter Six A button instance If we want to read the status of a switch of I/O pin 7, here is a command we will use in the next program. button 7, 0,254,0,b1,1,loop The next program is similar to the previous program 3, inasmuch as it per forms a binary counting. notwithstanding, since we are using PB7 (pin 7) as an input, and not an output, we lose its bit weight in the number we can output to port B. The bit weight for pin 7 is 128. So without pin 7 we can only display num bers up to decimal number 127 (255 � 128 � 127). This is reflected in the first loop (pin7/bit 7 � 128). The program contains two loops. The first loop counts to 127, and the cur lease number’s binary similar is mirrored by way of the Lite LEDs hooked up to port B. The loop continues to count as long as the switch SW1 remains open. When SW1 is closed, the button command jumps out of loop 1 into loop 2. Loop 2 is a noncounting loop where the program remains until switch SW1 is reopened. You can swap again and forth among counting and noncounting states. Figure 6. 25 is a schematic of our button test circuit. The following program is written for the PicBasic compiler. ‘Program for PicBasic compiler symbol trisb = 134 ‘Set TRISB to 134 symbol portb = 6 ‘Set port b to 6 ‘Initialize Port(s) poke trisb,128 ‘Set port b pins (16 output), pin 7 input Figure 6. 25 Schematic of seven LEDs and one switch connected to port B for the switch detection and counting program. Testing the PIC Microcontroller label 1: b1s = 0 loop1: for b0 = 0 to 127 poke portb, b0 pause 250 button 7,0,254,0,b1,1,label2 next b0 goto loop1 label12: b1=0 loop2: poke portb,0 button 7,1,254,0,b1,1,label1 goto loop2 seventy five ‘Set button variable to 0 ‘Counting loop ‘Place b0 value at port to light LEDs ‘Pause counting or it’s too fast to see ‘Check button status; if closed, jump ‘Next b0 value ‘Set button variable to 0 ‘Second loop not counting ‘Turn off all LEDs ‘Check button status; if open, jump back When the program is run, it begins counting.