... Capacity of the Robotic Arm 21 5
Adding a Robotic Arm Base 21 6
Parts List 22 3
Chapter 13. Bipedal Walker Robot 22 5
A Question of Balance? 22 6
A Little Feedback 22 7
Servomotors 22 7
vi Contents
Setting ... and Left 24 2
Parts List 24 2
Chapter 14. Color Robotic Vision System 24 3
CMU Camera 24 4
Serial Communication 24 5
VB Application Program 24 8
Interfa...
... wink.bas
The compiler reads the text file and compiles two additional files, an .asm
(assembly language) and a .hex (hexadecimal) file.
The
wink.asm file is the assembly language equivalent to the ... simple. To install, run the
install.bat file on the 3.5-in EPIC diskette. The install.bat file exe-
cutes the main self-extracting program that automatically creates a...
... microcontroller installed onto the board. If you have an ac
adapter for the EPIC programmer board, plug it into the board. If not, attach
two fresh 9-V batteries. Connect the “battery on” jumper to apply ... disconnect the printer, if one is connected, and attach
the EPIC programming board, using a 6-ft DB25 cable.
When you connect the EPIC programming board to the...
... command to communicate and output mes-
sages to the LCD display.
The PicBasic and PicBasic Pro compilers can send and receive serial
information at 300, 120 0, 24 00, and 9600 Bd. Data are sent as ... breadboard area.
gram, with the exception that we are only using one LED this time. The fol-
lowing are a small PicBasic program and PicBasic Pro program to blink an
LED on...
... Location
16 8 4 2 1
RA0
RA1
RA2
RA3
RA4
Figure 6 .22 Diagram of port A registers.
69
78 Chapter Six
The PicBasic Pro has an additional command structure that can be used
with both the input and output ... could be a rock
Testing the PIC Microcontroller 81
(2) 22 -pF capacitors
(1) Solderless breadboard RadioShack PN# 27 6-175
(1) 0.1-F capacitor
RadioShack PN# 27 2-...
... will also carry the light-gauge sheet metal and aluminum bar
materials needed to make the chassis.
I built the chassis out of (
1
8
-
1
2
-in) aluminum rectangle bar and 22 - to 24 -
gauge ... lamps on each tortoise shell. The robots
developed an interaction that to an observer appears as a kind of social behav-
ior. The robots danced around each other, at time...
... also vary from one another and then are not as closely matched.
Once you have a pair of CdS cells to use, they need to be attached to the
robot. I soldered the CdS cells and capacitors to a ... first look at how the standard program functions.
Fudge Factor
The variable RV (range value) is the fudge factor. At the beginning of the pro-
gram the variable RV is ass...
... 9.9).
The second gearbox motor is secured to the other side in a similar manner.
Back wheels
The shaft diameter of the gearbox motor is a little too small to make a good
friction fit to the ... that matches
,
as best as one can match them,
in resistance.
Since the resistance values of the CdS cells can vary so greatly, it’s a good
idea to buy a few more t...
...
Mounting the servomotors
The back servomotors are attached to the aluminum body using plastic 6- 32
machine screws and nuts. The reason I used plastic screws is that the plas-
4
Hexapod Walker ...
Pressure is applied to bend the aluminum bar at a 90° angle. It’s best to apply
pressure at the base of the aluminum bar close to the vise. This will bend the...
... servomotor (see Fig.
12. 2), the bracket becomes a modular component that may be attached to oth-
er brackets and components. The bracket allows the top and bottom compo-
nents to swivel along the axis ... less than the interface board containing 10 relays. The advantage of the
relay board is that the miniature power relays have enough current capacity
to directly c...