McGraw.Hill PIC Robotics A Beginners Guide to Robotics Projects Using the PIC Micro eBook-LiB Part 15 pot

Color Robotic Vision System 267 Going Further Obviously, we have just scratched the surface of playing with the CMU camera.. This involves adding another servomotor to the robot, but w

Color Robotic Vision System  267 Going Further

Obviously, we have just scratched the surface of playing with the CMU camera One feature I didn’t have time to implement was an up­and­down tilt servomo­ tor that uses the MMY parameter This involves adding another servomotor to the robot, but would allow the robot to follow a target as it moves up and down

I quickly approached the memory limit of the PIC 16F84 If I had had more time, I would have implemented it, using another PIC microcontroller with a little more memory The PIC 16F628 is port B–compatible with the 16F84 and has twice as much memory (2048 bytes)

Latest updates and information on the CMU camera can be found at http://www.cmucam.com or http://www.cmucamera.com

Parts List

CMU camera (2) Servomotors (HS­425)

(2) Servomotor wheels

(2) 22­pF capacitors (2) 330­�, 1/ ­W resistors4 4.7­k�, 1/ ­W resistor4 Multidirectional wheel Aluminum sheet metal, shaft, plastic screws, and nuts Available from Images SI Inc (see Suppliers at end of book)

This page intentionally left blank

Images SI Inc

109 Woods of Arden Road

Staten Island, NY 10312

(718) 698­8305

(718) 982­6145 (fax)

www.imagesco.com

Jameco Electronics

1355 Shoreway Road

Belmont, CA 94002

(800) 831­4242

(800) 237­6948 (fax)

www.jameco.com

JDR Microdevices

1850 South 10th Street

San Jose, CA 95112

(800) 538­5000

(800) 538­5005 (fax)

www.jdr.com

269

This page intentionally left blank

Braitenberg vehicles, 133, 136–137

connect EPIC programming board to

Copyright © 2004 The McGraw­Hill Companies Click here for terms of use

271

272 Index

Color robotic vision system (Cont.):

interfacing CMU camera to robot,

compile, 39–43

EPIC programming board software, 44–48 programming the PIC chip, 43–44

Board)

Expert system, 83–86

Finished products (see Photographs of finished 

Index 273

Output, 70–71, 77–78

output, 77–78

PIC Experimenter’s Board (Cont.):

Robotic arm, 185–224 adding a base, 216–220 assembly multiple­servomotor assemblies,

274 Index

Speaker­dependent speech recognition system, TRIS register, 68

Speaker­independent speech recognition system, 168, Turtle robot (see Walter’s turtle)

172–173

applications, 167

circuit construction, 168–169 Vehicles—Experiments in Synthetic Psychology

finished product, 179–181

listening/speech understanding, 167 Walker robots (see Bipedal walker robot; Hexapod

programming speech recognition circuit, 177–178 Walter’s turtle, 87–124

16F84 microcontroller program, 176–177 attaching bumper to robot base, 101–103

speaker­dependent/speaker­independent system, bumper switch, 104–106

speech interface control circuit, 173–176 drive/steering motors, 90

Stand­alone servomotor bracket assembly, 191 parts list, 123–124

Standard­based expert programming, 83–86 photographs of finished product, 122

sensor array, 112–114 Testing the PIC microcontroller, 49–81 servomotor, 90–97

accessing ports for output, 70–71 sheet metal fabrication, 97–98

input/output commands, 77–78 wink.bas circuit (solderless breadboard), 53

parts list, 79, 81

ABOUT THE AUTHOR

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, Do­It­Yourself Holography; Robots, Androids, and

Animatrons: 12 Incredible Projects You Can Build,

considered a cult classic; Kirlian Photography: A Hands­On 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

This page intentionally left blank