PIC Robotics : A Beginner's Guide to Robotics Projects Using the PIC Micro,9780071373241

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PIC Robotics : A Beginner's Guide to Robotics Projects Using the PIC Micro

by Iovine, John

Edition:

1st

ISBN13:

9780071373241

ISBN10:

0071373241

Format:

Paperback

Pub. Date:

1/2/2004

Publisher(s):

McGraw-Hill/TAB Electronics

Other versions by this Author

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Summary

Over the past 5 years, dramatic improvements in technology combined with the availability of the powerful, low-cost PIC microcontroller have spawned a renaissance in robot building. PIC Robotics, from popular electronics hobbyist author John Iovine, shows electronics enthusiasts how to incorporate the power of the PIC microprocessor into more than 6 complete and inexpensive robotics projects. * Projects include a bi-pedal robot that walks upright, an artificial vision robot that will track and follow various visual cues, and a functional robotic arm * Discusses Braitenberg vehicles, Grey Walter behavioral robots, and a speech recognition system * Step-by-step directions for each project and inspiration for hundreds more

Author Biography

John Iovine is the author of several popular TAB titles that explore the frontiers of scientific research. He has written Homemade Holograms: The Complete Guide to Inexpensive, Do-It-Yourself Holography; Robots, Androids, and Animatrons: 12 Incredible Projects You Can Build, considered a cult classic; Kirlian Photography: A Hands-On Guide; Fantastic Electronics: Build Your Own Negative-Ion Generator and Other Projects; and A Step Into Virtual Reality. Mr. Iovine has also written extensively for Popular Electronics, Nuts & Volts, Electronics Now, and other periodicals.

Preface

Chapter 1. Robot Intelligence

(10)

What Is a Microcontroller?

(1)

Why Use a Microcontroller?

(1)

Designer Computers-So Many Microcontrollers

(1)

The Compiler

(1)

PIC Programming Overview

(1)

Software and Hardware

(1)

PicBasic and PicBasic Pro Compilers

(1)

EPIC Programmer

(1)

Firmware

(1)

Consumables

(1)

16F84 PIC Microcontroller

(1)

Step 1: Writing Code (the Basic Program)

(1)

Step 2: Using the Compiler

(1)

Step 3: Installing the Firmware, or Programming the PIC Chip

(1)

Ready, Steady, Go

(1)

Parts List

(3)

Chapter 2. Installing the Compiler

(8)

Installing the PicBasic Compiler Software

(1)

Installing the PicBasic Pro Compiler

(7)

Chapter 3. Installing the EPIC Software

(4)

Installing the EPIC Software in Windows

(3)

Installing the EPIC Software, DOS Version

(1)

Supplemental-Applications Directory

(1)

Chapter 4. CodeDesigner

(14)

CodeDesigner Features

(2)

Software Installation

(1)

Setting CodeDesigner Options

(6)

First Program

(2)

The EPIC Programming Board Software

(2)

Parts List

(2)

Chapter 5. Using DOS to Code, Compile, and Program

(12)

Compile 39

Programming the PIC Chip

(1)

The EPIC Programming Board Software

(5)

Using EPIC DOS Version

(1)

Continuing with the wink.bas Program

(4)

Chapter 6. Testing the PIC Microcontroller

(34)

The PIC Microntroller

(5)

The Solderless Breadboard

(1)

Three Schematics, One Circuit

(3)

Wink

(1)

Troubleshooting the Circuit

(1)

PIC Experimenter's Board and LCD Display

(11)

PIC Experimenter's Board 56 Use

(2)

Simple Experiment

(2)

Built-in LCD

(3)

Using the LCD: PicBasic and PicBasic Pro Examples

(2)

Introduction to Binary and the PIC Microcontroller

(13)

Using TRIS and Port Registers

(2)

Accessing the Ports for Output

(1)

Counting Program

(1)

Counting in Binary by 1

(1)

Input

(1)

The button Command

(2)

A button Example

(1)

peek

(1)

peek and PicBasic Pro

(1)

Basic Input and Output Commands

(1)

Servomotors

(1)

Parts List

(4)

Chapter 7. Intelligence

(4)

Approaches to Building Intelligence

(2)

Where's the Intelligence?

(1)

Layered Behavioral Responses

(1)

Behavior-Based Robotics

(1)

Chapter 8. Walter's Turtle

(38)

Behavior-Based Robotics

(1)

William Grey Walter-Robotics Pioneer

(1)

Four Modes of Operation

(1)

Observed Behavior

(1)

Building a Walter Tortoise

(1)

Drive and Steering Motors

(1)

Modifying the HS-42568 Servomotor

(6)

Sheet Metal Fabrication

(2)

Shell

(1)

Finding the Center of Gravity

100

(1)

Attaching Bumper to Robot Base

101

(3)

Bumper Switch

104

(3)

Mounting the Steering Servomotor

107

(2)

Photoresistor

109

(3)

Trimming the Sensor Array

112

(2)

Schematic

114

(1)

Program

115

(6)

Adding Sleep Mode

121

(1)

Power

121

(1)

Behavior

121

(1)

Fudge Factor

121

(1)

Light Intensity

121

(2)

Handedness

123

(1)

Parts List

123

(2)

Chapter 9. Braitenberg Vehicles

125

(18)

Neural I/O Relationships

126

(1)

Vehicles

126

(2)

Building Vehicles

128

(13)

Back Wheels

129

(2)

Front Wheels

131

(2)

CdS Photoresistor Cells

133

(4)

Trimming the Sensor Array

137

(2)

PIC 16F84 Microcontroller

139

(1)

Testing

139

(2)

Second Braitenberg Vehicle (Avoidance Behavior)

141

(1)

Parts List

141

(2)

Chapter 10. Hexapod Walker

143

(22)

Imitation of Life

143

(1)

Six Legs-Tripod Gait

143

(1)

Three-Servomotor Walker Robot

144

(1)

Function

144

(1)

Moving Forward

145

(1)

Moving Backward

146

(1)

Turning Left

147

(1)

Turning Right

148

(1)

Construction

148

(16)

Mounting the Servomotors

151

(1)

Leg Positioning

152

(2)

Linkage

154

(1)

Center (Tilt) Servomotor

154

(1)

Sensors

155

(3)

Electronics

158

(1)

Microcontroller Program

159

(5)

Parts List

164

(1)

Chapter 11. Speech Recognition

165

(20)

Applications

167

(1)

Software Approach

167

(1)

Learning to Listen

167

(1)

Speaker-Dependent and Speaker-Independent Recognition

167

(1)

Recognition Style

168

(1)

Speech Recognition Circuit

168

(4)

Circuit Construction

168

(1)

Keypad

169

(1)

To Train

169

(3)

Testing Recognition

172

(1)

Error Codes

172

(1)

Clearing the Trained Word Memory

172

(1)

Independent Recognition System

172

(1)

Voice Security System

173

(1)

Speech Interface Control Circuit

173

(4)

How the Circuit Works

174

(2)

PIC 16F84 Microcontroller Program

176

(1)

Active High Output

177

(1)

SPDT Relay Output

177

(1)

Circuit Construction

177

(1)

Programming the Speech Recognition Circuit: Training, Testing, and Retraining

177

(3)

SRI-02 and SRI-03 Interfaces

180

(1)

Robot Control

180

(1)

Parts List

181

(4)

Chapter 12. Robotic Arm

185

(40)

Servomotor Building Blocks for Robotics

185

(1)

Basic Servomotor Bracket Assembly

186

(3)

Assembling Multiple-Servomotor Assemblies

189

(3)

Building a Five-Servomotor Robotic Arm

192

(5)

Servomotors

197

(7)

Servomotor Controllers

199

(1)

Simple Servomotor Controller

200

(4)

Four- and Five-Servomotor Controllers

204

(11)

Increasing the Lifting Capacity of the Robotic Arm

215

(1)

Adding a Robotic Arm Base

216

(7)

Parts List

223

(2)

Chapter 13. Bipedal Walker Robot

225

(18)

A Question of Balance?

226

(1)

A Little Feedback

227

(1)

Servomotors

227

(1)

Servomotor Brackets

228

(1)

Footpads

228

(2)

Assembly

230

(1)

Schematic

231

(2)

Program

233

(8)

Subroutines M1, M2, and M3

234

(7)

Going Further

241

(1)

Turning Right and Left

242

(1)

Parts List

242

(1)

Chapter 14. Color Robotic Vision System

243

(26)

CMU Camera

244

(1)

Serial Communication

245

(3)

VB Application Program

248

(2)

Interfacing the CMU Camera to a Robot

250

(1)

PIC 16F84 Runs at 16 MHz

251

(1)

Program 1

251

(3)

Program 2

254

(7)

Incandescent or Fluorescent Lighting

254

(5)

Servomotors for Robot

259

(2)

Program 3

261

(5)

Robot Construction

264

(2)

Running the Program

266

(1)

Going Further

267

(1)

Parts List

267

(2)

Suppliers

269

(2)

Index

271

PIC Robotics : A Beginner's Guide to Robotics Projects Using the PIC Micro

9780071373241

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Questions About This Book?

Summary

Author Biography

Table of Contents