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ACTUATORS
12 V Bidirectional Motor Control
3 Amp PWM DC Motor Controller*
Catapult for Robots… or Other Uses
PIC 12C508 Stepper Motor Controller
zBot: 10-A Power Stage for DC Motor
MICROCONTROLLERS
Optimised STK200/300 Programmer
Propeller Prototyping Board for BoeBot*
Contents
SENSORS
Compass Sensor for Lego Mindstorms NXT
From Cassette Recorder to Robot Propulsion
An Inclinometer for your Robot
Overheat Detector Alarm/Switch
PIC or Basic Stamp IR Telemeter
Positioning with Photodiode Arrays
A Robot that won’t lose its bearings
Sensor for Line Following Robots
Simple D/A Converter for Robots
Ultrasonic Distant Obstacle Detector
Summer Circuits 2007
COMMUNICATIONS
2.4 GHz Antenna for Robotics Vehicles
IR Communications using a UART
IR Remote Control with the R8C
Receiver for RC5 Remote Controls
TIPS & TRICKS
R8C Measures Negative Voltages
MISCELLANEOUS
New Lego Mindstorms NXT Motor Block
A Robot with an Elephant’s Memory
* PCB design included
Serial Interface for the Propeller*
‘Teaclipper’ Postage-Stamp Programmer
POWER SUPPLIES & CHARGERS
Adjustable Switching Regulator
Fast Charger for NiMH Batteries*
LDO Regulator with Soft Start or Tracking
Multi-purpose NiCd & NiMH Charger
zBot: Solar/Battery Power Supply
MECHANICS
Volume 33
July/August 2007
no. 367
CONTENTS
6
elektor electronics - 7-8/2007
Volume 33, Number 367/368, July/August 2007 ISSN 0268/4519
Elektor Electronics aims at inspiring people to master electronics at any personal
level by presenting construction projects and spotting developments in
electronics and information technology.
Publishers: Elektor Electronics (Publishing), Regus Brentford,
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Copyright Notice
The circuits described in this magazine are for domestic use only. All drawings, photographs, printed
circuit board layouts, programmed integrated circuits, disks, CD-ROMs, software carriers and article
texts published in our books and magazines (other than third-party advertisements) are copyright
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An Obstacle Detecting Robot
C. Tavernier
www.tavernier-c.com
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P15
P14
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P12
P11
P10
SIN
ATN
RES
VIN
P0
21
23
P1
P2
P3
P4
P5
10
P6
11
20
19
18
17
16
15
P9
14
P7
12
P8
13
22
24
5
4
6
7
+V
E
GND
+V
E
GND
9
1
2
3
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SUB D9
1
2
3
4
5
6
7
8
9
R2
1k
R1
1k
S2
S1
RIGHT
LEFT
rechargeables
4V8
dry cells
6V
dry cells (6V)
rechargeables (4V8)
070298 - 11
servo
servo
11
7-8/2007 - elektor electronics
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Full source listing for obstacle-detecting robot management program
‘ Obstacle avoider robot on a Rogue Blue base
Const Device = CB220
Dim Obstacle As Byte
Input 0
‘ Right whisker input
Input 1
‘ Left whisker input
Low 5
‘ P5 output for PWM
Low 6
‘ P6 output for PWM
Delay 1000
Do
If In(0)=1 Or In(1)=1 Then
‘ Whisker activated?
Pwm 1,3410,32768
‘ Servos stopped
Pwm 0,3410,32768
Pause 800
If In(0) = 1 Then
‘ Right whisker?
Obstacle = 1
Else
Obstacle = 2
‘ Left whisker!
End If
If In(0) = 1 And In(1)= 1 Then
‘ Right and left whiskers?
Obstacle =3
End if
Pwm 1,3590,32768
‘ Backward
Pwm 0,3195,32768
Pause 1500
Else
Obstacle = 0
‘ No whisker activated
End If
‘ Obstacle variable analysis
Select Case Obstacle
Case
0
‘
No
obstacle
Pwm 0,3590,32768
‘ Forward
Pwm 1,3195,32768
Case 1
‘ Obstacle on the right side
Pwm 0,3600,32768
‘ Slight turn to the left
Pwm 1,3600,32768
Pause 1000
Case 2
‘ Obstacle on the left side
Pwm 1,3180,32768
‘ Slight turn to the right
Pwm 0,3180,32768
Pause 1000
Case
3
‘
Head-on
obstacle
Pwm 0,3750,32768
‘ Full half turn
Pwm 1,3750,32768
Pause 1500
End Select
Loop
12
elektor electronics - 7-8/2007
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(070298-I)
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Wireless pulse sensor
For robots and other
control applications
Markus Bindhammer
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(070006-I)
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TR
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2
7
6
4
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3
5
8
1
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2
3
1
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470n
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100n
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10n
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1n
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100n
T2
BC547
T1
BD139
R11
100
7
R8
6k8
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22k
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220
7
R4
10k
R3
47k
R2
1k
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100k
R7
220
7
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P2
100k
P1
100k
P3
10k
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1k8
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LED1
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1k8
6
5
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2
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C
B
E
B
E
C
BD139
30 ... 40 kHz
IC1
8
4
IC1 = LM358
070006 - 11
2
1
3
plastic tube
heat shrink sleeve
LED
070006 - 12
LDR
15mm
21 mm
Ø 22 mm
13
7-8/2007 - elektor electronics
Stereo Robot Ears
Get your robot to home-in
on a sound source
Claude Baumann & Laurent Kneip
Service robots of the future will most likely need
to act on spoken commands and be able to
recognise voices. This article takes a look at
one aspect of this behaviour namely locating
the position of a sound source using the cross-
correlation function. A technique is developed which
drastically cuts down on the number crunching
so that even a basic microcontroller fitted with
binaural sensors can pinpoint a continuous audio
signal with an accuracy of just 10 degrees.
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060040 - 13
Sound source
Figure 1.
The head acts as a low-pass filter
attenuating frequencies above 1 kHz.
The ear nearest the sound source will hear the
sound louder than the far ear.
14
elektor electronics - 7-8/2007
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Figure 2.
A sound pressure wave from the side will not arrive at both ears at the same time. Points
in space where a sound source produces identical delays at the ears are on a hyperbola (red)
approaching the asymptote (white). The brain cannot identify the position but only approximate
the direction of a sound source anywhere along this line.
RA4/T0CKI
PIC16F88
RB0/INT
OSC2
IC2
OSC1
MCLR
RA1
RA0
RA2
RA3
RB1
RB2
RB3
RB4
RB5
RB6
RB7
18
17
13
12
11
10
16
15
14
1
3
9
8
7
6
2
4
5
X1
20MHz
C10
22p
C9
22p
K2
K3
Digital
TX
K4
RX
K5
PWM/Servo
MICR
R3
22k
C1
1
μ
16V
R4
1k
R5
47k
R6
10k
2
3
1
IC1.A
C2
1
μ
16V
R7
2k2
R8
100k
R9
10k
6
5
7
IC1.B
V
REF
V
REF
+5V
MICL
R10
22k
C3
1
μ
16V
R11
1k
R12
47k
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10k
9
10
8
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C4
1
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10k
13
12
14
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10k
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10k
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10k
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JP2
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100k
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HOLD
RELA
TIVE
C8
100n
K1
C6
100
μ
16V
C5
22
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16V
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IC1
11
4
R1
47k
R2
33k
+5V
V
REF
IC1 = LM324N
POWER
060040 - 11
Figure 3.
The circuit has two audio channels each with an electret microphone and two-stage amplifier.
The two amplifier outputs are connected to the two A/D converter inputs on the microcontroller.
15
7-8/2007 - elektor electronics
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16
elektor electronics - 7-8/2007
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060040- 1
(c) Elektor
1
14
7
8
1
18
9
10
1
1
1
1
1
1
1
060040-1
(c) Elekto r
C1
C2
C3
C4
C5
C6
C7
C8
C9
C10
IC1
IC2
JP
1
JP
2
Q1
R1
R2
R3
R4
R5
R6
R7
R8
R9
R10
R1
1
R12
R13
R14
R1
5
R1
6
R17
R18
R19
R20
SL1
SL2
SL3
SL4
SL5
SL6
SL7
Figure 4.
Component layout of the binaural sensor PCB.
The PCB files can be downloaded from [3].
Figure 5.
Resolution of the sound source
bearing is a function of its azimuth.
The average value is approximately 9°.
Figure 6.
The binaural sensor prototype.
Components list
Resistors
R1,R5,R12 = 47k
7
R2 = 33k
7
R3,R10 = 22k
7
R4,R11 = 1k
7
R6,R9,R13,R16,R18,R19,R20 = 10k
7
R7, R14 = 2k
72
R8, R15 = 100k
7
R17 = 100k
7 preset
Rx = 100k
7
Capacitors
C1,C2,C3,C4 = 1μF 16 V
C5 = 22μF 16 V
C6 = 100μF 16 V
C7,C8 = 100nF
C9,C10 = 22pF
Semiconductors
IC1 = LM324
IC2 = PIC16F88, programmed, order code
060040-41 from Elektor SHOP
Miscellaneous
Q1 = 20MHz quartz crystal
DIL14 socket
DIL18 socket
SL1,SL2,(SL4),SL5,SL6,SL7 = 2-way SIL
pinheader (SL4 bridged with a 100k
resistor, see text)
SL3 = 6-way SIL pinheader
JP1,JP2 = jumper
MicR, MicL = CZ034 electret microphone
insert
PCB, ref. 060040-1, free artwork download
from Elektor website
17
7-8/2007 - elektor electronics
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(060040-I)
>LISPURZ
[1] www.convict.lu/Jeunes/RoboticsIntro.htm
[2] www.ultimaterobolab.com
[3] www.elektor-electronics.co.uk
K2
5 Bit Digital IN
R2
10k
R1
20k
R4
10k
R3
20k
R6
10k
R5
20k
R8
10k
R7
20k
R10
20k
R9
20k
2
3
1
IC1.A
6
5
7
IC1.B
IC1
8
4
+5V
K1
IC1 = LM358N
U
out
060040 - 12
Figure 7.
The resistor network functions as a simple D/A converter.
Sensor output values:
Sound direction
(s+2) 8-bit-Integer
(TX)
PWM/Servo
(s+6) 5-bit-Integer
(Digital)
Extreme right
22
2 ms
26
Central
12
1.5 ms
16
Extreme left
2
1 ms
6
Simple D/A Converter for Robots
Tilo Gockel
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Web link
[1] http://ww1.microchip.com/downloads/
en/AppNotes/00538c.pdf
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PWM1
070133 - 11
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18
elektor electronics - 7-8/2007
CMUCam1 Vision System
Ken Gracey (Parallax, Inc.)
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Seattle Robotics give BoeBot (and other robots) vision!
Table 1. Basic command set
Command
Parameter(s)
Description
1
\r
none
The ‘Enter’ or ‘Return’ key. Set the camera board into an idle state.
GM
none (\r)
Get the Mean colour value in the current image.
L1
value \r
Control the green LED tracking Light.
MM
mode \r
Controls the Middle Mass mode which adds the centroid coordinates to the normal tracking
data.
NF
active \r
Controls the Noise Filter setting. It accepts a Boolean value 1 (default) or 0. A value of 1 enga-
ges the mode while a value of 0 deactivates it.
PM
mode \r
Puts the board into Poll Mode. Setting the mode parameter to 1 engages poll mode while 0
(default) turns it off.
RS
none (\r)
ReSets the vision board. Note, on reset the first character is a /r.
SW
[x y x2 y2] \r
Sets the Window size of the camera. It accepts the x and y Cartesian coordinates of the upper
left corner followed by the lower right of the window you wish to set.
TC
[R
min
R
max
G
min
G
max
B
min
B
max
]\r
Track a Colour. Accepts the minimum and maximum RGB (CrYCb) values and outputs a type M
or C data packet (set by the MM command).
TW
none (\r)
Track the colour found in the central region of the current Window.
1
Complete descriptions may be found in the user manual.
19
7-8/2007 - elektor electronics
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Table 2. Advanced commands
Command
Parameter(s)
Description
1
CR
[ reg1 value1 [reg2
value2 ... reg16
value16] ]\r
Sets the Camera’s internal Register values directly. The register locations and possible settings
can be found in the Omnivision documentation.
DF
none (\r)
Dump a Frame out the serial port to a computer.
DM
value \r
sets the Delay before packets that are transmitted over the serial port.
GV
none (\r)
Gets the current Version of the firmware from the camera.
HM
active \r
puts the camera into Half-horizontal resolution Mode for the DF command and the LM com-
mand when dumping a bitmap image.
I1
none (\r)
Uses the servo port as a digital Input.
LM
active \r
Turns on Line Mode which uses the time between each frame to transmit more detailed data
about the image.
RM
bit_flags \r
Engage the Raw serial transfer Mode. It reads the bit values of the first 3 (lsb) bits to configure
settings.
S1
position \r
Lets you Set the position of servo 1. 0 turns the servo off and holds the line low. 1-127 will set the
servo to that position while it is tracking or getting mean data.
SM
value \r
Used to enable the Switching Mode of colour tracking.
1
Complete descriptions may be found in the user manual.
20
elektor electronics - 7-8/2007
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(070132-I)
Web references
[1] www.parallax.com
[2] www.stampsinclass.com
[3] www.seattlerobotics.com
[4] www.cs.cmu.edu/~cmucam
[5] www.milinst.com
[6] www.ubicom.com/processors/sx/
sx_family.html
[7] www.ovt.com
[8] www.seattlerobotics.com/video.htm
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^OP[LZ\YMHJL0U[OPZ^H`[OLZLUZVYJHU
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VULVU[OLSLM[ZPKLHUKVULVU[OLYPNO[
0[PZHK]PZHISL[V\ZLH[SLHZ[[OYLLZLUZVYZ
¶VULSLM[VULYPNO[HUKVULPU[OLTPKKSL
HZHMHPSZHMLWYLJH\[PVUHNHPUZ[[OLYVIV[
KYVWWPUNVMMH[HISLLKNL
0U[OPZJPYJ\P[[OL]VS[HNLVU[OLWOV[V[YHU-
ZPZ[VYPZJVTWHYLK^P[OHYLMLYLUJLSL]LSZL[
I`7>OLU0*PZPSS\TPUH[LK[OL]VS[HNL
VUP[KYVWZ*VTWHYH[VY0*(JVTWHYLZ[OL
]VS[HNLHNHPUZ[[OLZL[YLMLYLUJL0M[OLYLM-
LYLUJL]VS[HNLPZOPNOLY[OHU[OH[VUWOV-
[V[YHUZPZ[VY[OLJVTWHYH[VY»ZV\[W\[PZKYVWZ
[VHSTVZ[aLYV;OPZVJJ\YZ^OLU[OLYLPZH
ISHJRSPUL\UKLY[OLZLUZVY;OLV\[W\[ZPN-
UHSMYVT[OLJVTWHYH[VYPZ[OLUJVUULJ[LK
[VLP[OLYHTPJYVWYVJLZZVYVYHU`JVU[YVS
SVNPJ[OH[OVWLM\SS`YLZWVUKZI`HKQ\Z[PUN
[OLJV\YZLVM[OLYVIV[
;OLJPYJ\P[ZULLKZ[VILJHSPIYH[LKILMVYL
\ZL;OLILZ[TL[OVKPZ[VZL[[OL7WYL-
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[OLZLUZVYHIV]L[OLZ\YMHJLP[PZZ\WWVZLK
[VKL[LJ[^OLYLP[PZ^OP[L5V[L[OH[[OL
OLPNO[VM[OLZLUZVYHIV]L[OLZ\YMHJLPZ
PTWVY[HU[ 0[ KVLZU»[ TH[[LY [OH[ T\JO
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WHYH[VYPZNVVKPLWPU/PNOTV]L[OL
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L_WLJ[LKWPU3V^`V\»YLKVULJHSPIYH[-
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HUKHKQ\Z[7\U[PS[OLJVYYLJ[JHSPIYH[PVU
PZHJOPL]LK
;OLZJOLTH[PJMVYVUS`VULVMMV\YJOHU-
ULSZ[OH[JHUILTHKL^P[OQ\Z[VUL34
0*;OLW\SS\WYLZPZ[VYH[JVTWHYH[VYWPU
PZ\ZLKILJH\ZL[OL34 OHZVWLUJVS-
SLJ[VYV\[W\[Z9KL[LYTPULZ[OLJ\YYLU[
NVPUN[V[OL093,+
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34 5Q\Z[OHWWLULK[VILH]HPSHISL
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ZLUZVYI\[UV[L[OH[THU`KPMMLYLU[WPUV\[Z
L_PZ[ZVJOLJRV\[[OH[KH[HZOLL[
(070230-I)
CNY70
IC2
3
4
1
2
IC1
4
5
2
3
12
LM339N
10k
P1
R2
100k
R3
1k
R1
10k
+5V
070230 - 11
21
7-8/2007 - elektor electronics
Overheat Detector Alarm/Switch
T. K. Hareendran
([[OLOLHY[VM[OPZJPYJ\P[PZHWYLJPZPVU
PU[LNYH[LK[LTWLYH[\YLZLUZVY[`WL34
0*^OPJOWYV]PKLZHUHJJ\YH[LS`SPULHY
HUKKPYLJ[S`WYVWVY[PVUHSV\[W\[PUT=
V]LY[OLaLYV[VKLNYLLZ*[LTWLYH-
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]VS[HNLVMT=2JOHUNLPUTLHZ\YLK
[LTWLYH[\YL+LZPNULK[VKYH^HTPUPTHS
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/LYL[OLV\[W\[VM[OL34PZHWWSPLK
[V[OLUVUPU]LY[PUNPUW\[VMHJVTWHYH-
[VY^PYLKHYV\UKH*(VWHTW0*
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[OYLZOVSK]VS[HNLH[[OLPU]LY[PUNPUW\[VM
[OLVWHTW;OL[OYLZOVSK]VS[HNLKL[LY-
TPULZ[OLHKQ\Z[HISL[LTWLYH[\YL[YPWSL]LS
H[^OPJO[OLJPYJ\P[PZHJ[P]H[LK
>OLU[OLTLHZ\YLK[LTWLYH[\YLL_JLLKZ
[OL \ZLYKLMPULK SL]LS [OL JVTWHYH[VY
W\SSZ P[Z V\[W\[ /PNO [V HWWYV_ =
JH\ZPUN[YHUZPZ[VY;[VILMVY^HYKIPHZLK
PUZ[HU[S`;PZHSZVZ^P[JOLKVUZ\WWS`PUN
[OLVZJPSSH[VYJPYJ\P[HYV\UK0*^P[OZ\M-
ÄJPLU[]VS[HNL[VZ[HY[^VYRPUN;OLZL[
\WPUHZ[HISLTVKLKPYLJ[S`KYP]LZHJ[P]L
WPLaVLSLJ[YPJI\aaLY)a[VYHPZLHSV\K
HSLY[*VTWVULU[Z99HUK*KL[LY-
TPUL[OLVUVMMYO`[OTVM[OLZV\UKLY
( [YHUZPZ[VY IHZLK YLSH` KYP]LY TH` IL
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(060349-I)
CA3130
IC2
2
3
6
7
4
1
8
5
R1
1k
R3
10k
R5
2k2
R6
1M
R8
22k
R7
220k
R2
12k
R4
12k
C1
10
M
16V
C3
1
M
16V
C4
10
M
16V
C5
47
M 16V
C6
100
M
16V
LM35
IC1
1
3
2
10k
P1
T1
BC 547
T2
IC3
LMC555
DIS
THR
OUT
TR
CV
2
7
6
4
R
3
5
8
1
BZ1
5V
2x
+5V
REG
TP1
060349 - 11
PIC or Basic Stamp IR Telemeter
with a PIC or
a Basic Stamp
C. Tavernier
(S[OV\NO[OLZPTWSLZ[YVIV[ZTH`ILJVU-
[LU[[VZPTWS`KL[LJ[PUNVIZ[HJSLZTHU`
YVIV[Z[OH[YLX\PYLWYLJPZPVUPU[OLPYWVZP-
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ZL]LYHSTL[YLZ
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SHYNLZ[HUKTVZ[YLHKPS`H]HPSHISLPUZVMHY
HZ^L^PZO[VZ[PJR^P[OWYVK\J[ZH[WYPJLZ
JVTWH[PISL^P[OHUºHTH[L\Y»YVIV[
;OPZYHUNL^OVZLWHY[U\TILYZHSSILNPU
^P[O.7¯PUJS\KLZ[LSLTL[LYZ[OH[WYV-
Signal
processing
circuit
LED drive
circuit
Reflective
object
IR LED
Light detector (PSD)
Regulator
V
CC
V
CC
GND
V
CC
V
OUT
V
IN
(Control
signal
input)
Control
circuit
V
CC
12k
4
3
1
2
070235 - 11
1
22
elektor electronics - 7-8/2007
]PKLVUVMMV\[W\[Z[OV\NO[OLZLHYLU»[
YLHSS`[LSLTL[LYZHZZ\JOPUMVYTH[PVUPU
HUHSVN\LMVYTHUKPUMVYTH[PVUPUKPNP[HS
MVYT;OV\NO[OL]LYZPVUZWYV]PKPUNHUH-
SVN\LPUMVYTH[PVU^V\SKHWWLHY[VIL[OL
LHZPLZ[[V\ZLP[»ZHIZ\YK[V\ZL[OLTPUH
YVIV[KYP]LUI`HTPJYVJVU[YVSSLY^OPJO
^PSS PTTLKPH[LS` JVU]LY[ [OPZ HUHSVN\L
]VS[HNLPU[VHKPNP[HSZPNUHS]PHP[ZI\PS[PU
JVU]LY[LYZVHZ[VILHISL[VTHRL\ZLVM
P[:VP[PZIL[[LY[VOH]LKPNP[HSPUMVYTH-
[PVUH]HPSHISLYPNO[MYVT[OLV\[ZL[L]LUPM
P[TPNO[ZLLTHSP[[SLOHYKLY[VYLHKH[[OL
[LSLTL[LYV\[W\[
0U [OLZL JPYJ\TZ[HUJLZ [^V [`WLZ HYL
J\YYLU[S`YLHKPS`H]HPSHISL![OL.7+
JHWHISLVMTLHZ\YPUNMYVTJT[VJT
HWWYV_PTH[LS`HUK[OL.7+JHWHISL
VM TLHZ\YPUN MYVT [V JT HWWYV_P-
TH[LS`;OLZL[^V[`WLZHYLM\SS`JVTWH[-
PISLIV[OTLJOHUPJHSS`HUKLSLJ[YPJHSS`
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;OPZPZ[OLJHZLPU[OL:OHYW[LSLTL[LYZ
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WV^LYLK\UKLYP[ZJVU[YVSHSSV^PUNH]LY`
ZPNUPÄJHU[YLK\J[PVUPUX\PLZJLU[WV^LY
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ZPNUHSVYSHZ[S`IP[KPNP[HSPUMVYTH[PVU
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L[LY^P[OLP[OLYH)HZPJ:[HTWVYH70*
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THJOPULJVKL
LX\HSS`HWWSPJHISL[VIV[OVM[OLT
;OLWYPUJPWSLVMHU09[LSLTL[LYPZYLSH[P]LS`
ZPTWSL!HU3,+LTP[ZHU09ILHT[OH[PM
P[LUJV\U[LYZHUVIQLJ[PZYLÅLJ[LKIHJR
[V^HYKZHWOV[VKPVKL3LM[H[[OH[Z\JOH
Z`Z[LTPZHUVUVMM[`WLHUKPZYLHSS`TVYL
HUVIZ[HJSLKL[LJ[VY[OHUH[Y\L[LSLTL[LY
(S[OV\NOJLY[HPUVM[OL:OHYW[LSLTL[LYZ
KV^VYRHSVUN[OLZLSPULZ[OL[^V[`WLZ
^L»]L JOVZLU HYL JHWHISL VM WLYMVYT-
PUN [Y\L KPZ[HUJL TLHZ\YLTLU[ HZ [OL
YH`ZYLÅLJ[LKI`[OLVIQLJ[HYLUVSVUNLY
WPJRLK\WI`Q\Z[HZPTWSLWOV[VKPVKLI\[
I`H**+HYYH`
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YLÅLJ[LKILHTYLHJOPUN[OPZHYYH`]HYPLZ
HJJVYKPUN[VOV^MHYH^H`[OLKL[LJ[LK
VIQLJ[PZHUKOLUJLHSSV^Z[Y\LKPZ[HUJL
TLHZ\YLTLU[WYV]PKLK[OLYLPZHTPUP-
THSHTV\U[VMZPNUHSWYVJLZZPUN[VL_WSVP[
[OL PUMVYTH[PVU NLULYH[LK I` [OL **+
ZLUZVY
Listing 1. Use of GP2Dxx with a Basic Stamp.
Vin
con
0
‘ Definition of control input
Vout
con
1
‘ Definition of data output
Measr
var
Byte
‘ Allocation of one byte for the result
Measr = 0
‘ Initialization of variable « Measr »
Read:
Vin = 0 ‘
Validation
of
telemeter
Wait:
IF Vout = 0 THEN Wait
‘ Wait until result is available
SHIFTIN Vout, Vin, 2, [Measr]
Vin = 1
‘ Put telemeter to sleep
Pause = 1
‘ Pause as a precaution
‘ The result of the measurement is available in the variable ‘Measr’
Listing 2. Use of GP2Dxx with a PIC controller.
Read
BCF
PortA.0
‘ Validation of telemeter
NOP
Wait
BTFSS
PortA,1
‘ Wait until result is available
GOTO
Wait
BSF
PortA,0
‘ Vin goes High
CLRF
Measr
‘ Initialization of the variable ‘Measr’
MOVLW
8
‘ Get ready to read 8 bits
MOVWF
Count
BCF
Status,C
‘ Zero the carry
NOP
Readbit
BCF
Porta.0
‘ Make clock Low
NOP
NOP
RLF
Measr,f
‘ Rotation of preceding bit
BTFSC
PortA.1
‘ Read data bit
BSF
Measr,0
BSF
PortA.0
‘ Make clock High
NOP
NOP
DECFSZ Count,f
‘ Count down number of bits to read
GOTO
Readbit
‘The result of the measure is available in the variable ‘Measr’
23
7-8/2007 - elektor electronics
;OL [LSLTL[LY HWWSPJH[PVU JPYJ\P[ JHU
IL Z\TTLK \W HZ ZOV^U PU -PN\YL
^OL[OLYP[»Z^P[OH70*VYH)HZPJ:[HTW
;OL.7+VY.7+KL[LJ[VYPZ
WV^LYLKHSS[OL[PTLI\[ILJH\ZLP[
OHZHJVU[YVSPUW\[P[JVUZ\TLZ]PY[\-
HSS`UV[OPUN^OLU[OLYLPZUVTLHZ\Y-
PUN[HRPUNWSHJL(NSHUJLH[[OL[PTPUN
KPHNYHTPU-PN\YLZOV^Z\Z[OH[[OPZ
PUW\[PZ\ZLKUV[Q\Z[MVY]HSPKH[PUN[OL
TLHZ\YLTLU[I\[HSZVHZHJSVJRMVY
[YHUZMLYYPUN[OLYLHKPUN[V[OL=
V\[
[LY-
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I`[OLHZZVJPH[LKTPJYVJVU[YVSSLYI\[
HZP[T\Z[UV[ILZ\IQLJ[LK[VH]VS[HNL
HIV]L=KPVKL+PZVSH[LZP[MYVT
[OLTPJYVJVU[YVSSLYV\[W\[^OLU[OL
SH[[LYPZOPNO
;OL[PTPUNKPHNYHTPU-PN\YLZOV\SK
LUHISL`V\[VLHZPS`MVSSV^[OLSPZ[PUNZ
VM[OL]LY`ZOVY[WYVNYHTZ^L»]L^YP[-
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NYHTTLKPU)HZPJVYPU70*HZZLTISLYMVY
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NYHTZWYV]PKL[OLKPNP[HSKH[HYL[\YULK
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ZOVY[JVTPUNVM[OLZL[LSLTL[LYZ·[OL
PUMVYTH[PVU[OL`WYV]PKLPZMHYMYVTSPU-
LHYHZZOV^UPU-PN\YL
(070235-I)
2
3
4
070235 - 12
1
D1
PIC
or
Basic Stamp
+5V
1N4148
Connector
GP2Dxx
RA0 (PIC) or
P0 (Stamp)
RA1 (PIC) or
P1 (Stamp)
White paper: KODAK made gray chart R-27
white surface (reflectivity: 90%)
Gray paper: KODAK made gray chart R-27
gray surface (reflectivity: 18%)
220
200
180
160
140
120
100
80
60
40
20
0
0
20
40
60
80
100
120
140
Distance measur
ing output (DEC)
Distance to reflective object L (cm)
White
Gray
070235 - 14
V
IN
Output
Example of distance measuring output (8-bit)
70 ms or more
1 ms or more
0.2 ms or less
MSB
LSB
LSB
070235 - 13
1.5 ms or more
1.5 ms or more
Power
OFF
2
3
4
Sound Activated Switch
Hesam Hoshiri
*VU[YVSI`ZV\UKTH`IL]LY`\ZLM\S
UV[Q\Z[VUHYVIV[I\[HSZVMVYHIP[
VM OVTL H\[VTH[PVU MVY L_HTWSL H
ZV\UKHJ[P]H[LKSPNO[YLZWVUKPUN[VH
RUVJRVU[OLKVVYVYHOHUKJSHW;OL
SPNO[ ^PSS IL H\[VTH[PJHSS` Z^P[JOLK
VMMHM[LYHML^ZLJVUKZ(UHS[LYUH[P]L
\ZLPZI\YNSHYWYV[LJ[PVU·PMZVTLVUL
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[OPUN[OLSPNO[^PSSJVTLVUZ\NNLZ[PUN
[OH[ZVTLVUL»ZH[OVTL
;OL JPYJ\P[ JHU ^VYR MYVT HU` ¶
=+*YLN\SH[LKWV^LYZ\WWS`WYV-
]PKLKHYLSH`^P[O[OLZ\P[HISLJVPS]VS[-
HNLPZ\ZLK
>OLU `V\ MPYZ[ JVUULJ[ [OL Z\WWS`
]VS[HNL [V [OL JPYJ\P[ [OL YLSH` ^PSS
ILLULYNPZLKILJH\ZLVM[OLLMMLJ[VM
JHWHJP[VY*(SSV^HML^ZLJVUKZMVY
[OLYLSH`[VILZ^P[JOLKVMM@V\JHU
PUJYLHZLVYKLJYLHZL[OLºVU»WLYPVK
I`JOHUNPUN[OL]HS\LVM*(OPNOLY
]HS\LYLZ\S[ZPUHSVUNLYºVU»WLYPVK
HUK ]PJL ]LYZH +V UV[ \ZL H ]HS\L
NYLH[LY[OHU-
)PHZPUN YLZPZ[VY 9 KL[LYTPULZ [V H
SHYNLL_[LU[[OLTPJYVWOVULZLUZP[P]-
P[`(ULSLJ[YL[TPJYVWOVUL\Z\HSS`OHZ
VULPU[LYUHS-,;PUZPKL^OPJOYLX\PYLZ
HIPHZ]VS[HNL[VVWLYH[L;OLVW[PT\T
IPHZSL]LSMVYYLZWVUZL[VZV\UKOHZ[V
ILMV\UKI`[YPHSHUKLYYVY
(SSYLSL]HU[LSLJ[YPJHSZHML[`WYLJH\-
[PVUZZOV\SKILVIZLY]LK^OLUJVU-
ULJ[PUNTHPUZWV^LYLKSVHKZ[V[OL
YLSH`JVU[HJ[Z
(060379-I)
T1
2SC945
T2
2SC945
T3
BD140
R2
3M3
R1
5k6
R3
47k
R4
33k
R6
1k8
R5
330
7
C1
0
M1
C2
4
M7
RE1
D1
1N4007
MIC1
+5V...+12V
060379 - 11
24
elektor electronics - 7-8/2007
A Robot that won’t Lose its Bearings
C. Tavernier
*YLH[PUNHYVIV[JHWHISLVMMVSSV^PUNHU
L_HJ[ JV\YZL ^P[OV\[ ULLKPUN HU`
L_[LYUHSWO`ZPJHSOLSW·SPRLH
SPULTHYRLKVU[OLNYV\UK
MVY L_HTWSL · OHZ MVY
H SVUN [PTL ILLU H
]LY` [YPJR` VWLYH[PVU
[V HJOPL]L ;OHURZ [V
[OL IVVT PU HTH[L\Y
YVIV[PJZ VU [OL VUL
OHUKHUK[V[OLKL]LS-
VWTLU[VMUL^ZLUZVYZVU
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POSITION = (PULSE –
500) / 50
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¶"
•
YLNPZ[LYZ HUK JVU[HPU [OL HUNSL
BS2
IC1
SOUT
P15
P14
P13
P12
P11
P10
SIN
ATN
RES
VIN
P0
21
23
P1
P2
P3
P4
P5
10
P6
11
20
19
18
17
16
15
P9
14
P7
12
P8
13
22
24
5
4
6
7
8
9
1
2
3
CMPS03
CMP03
or
1
2
3
4
5
6
7
8
9
S1
+U
070304 - 11
1
25
7-8/2007 - elektor electronics
JVKLK[OPZ[PTLPU[^VI`[LZPU
[OLMVYTVMHU\TILYIL[^LLU
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PU[OL]LY`ZOVY[SPZ[PUNILSV^
^YP[[LUMVY[OL)HZPJSHUN\HNLVM
[OL*\ISVJ!
I2CSTART
Temp = I2CWRITE (&HC0)
Temp = I2CWRITE(0)
I2CSTART
Temp = I2CWRITE(&HC1)
Version = I2CREAD(0)
Temp = I2CWRITE(&HC1)
Position8 = I2CREAD(0)
Temp = I2CWRITE(&HC1)
P o s i t i o n 1 6 . b y t e 1 =
I2CREAD(0)
Temp = I2CWRITE(&HC1)
P o s i t i o n 1 6 . b y t e 0 =
I2CREAD(0)
;OL MPYZ[ [OYLL PUZ[Y\J[PVUZ
HKKYLZZ[OLTVK\SLHUKZLSLJ[
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UL_[PUZ[Y\J[PVUZYLHK[OLMV\Y
WYL]PV\ZS`KLZJYPILK YLNPZ[LYZ
PUZ\JJLZZPVU[O\ZTHRPUN[OL
ZVM[^HYL]LYZPVUU\TILYH]HPS-
HISLPU[OL]HYPHISLVersion
[OLIP[JVKLKHUNSLPU[OL]HY-
PHISLPosition8HUK[OL
IP[HUNSLPU[OLIP[]HYPHISL
Position16
;OL ]HYPHISL Temp PZ UV[ \ZLK
MVY HU`[OPUN I\[ PZ YLX\PYLK
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HYL\ZPUN
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ILHYPUNZ»
(070304-I)
Web Links
Devantech
http://www.robot-electro-
nics.co.uk/shop/Compass_
CMPS032004.htm
A little background reading:
http://zedomax.com/blog/zedo-
max-diy-hack-lets-make-a-digital-
compass/
http://zedomax.com/
blog/2006/08/16/digital-compass-
using-cmps03/
CMPS03
CMP03
or
1
2
3
4
5
6
7
8
9
S1
+U
070304 - 12
R2
4k7
R1
4k7
CB220
IC1
SOUT
P15
P14
P13
P12
P11
P10
SIN
ATN
RES
VIN
P0
21
23
P1
P2
P3
P4
P5
10
P6
11
20
19
18
17
16
15
P9
14
P7
12
P8
13
22
24
5
4
6
7
8
9
1
2
3
SCL
SDA
Pin 9 - 0V GND
Pin 8 - No Connect
Pin 7 - 50/60 Hz
Pin 6 - Calibrate
Pin 5 - No Connect
Pin 4 - PWM
Pin 3 - SDA
Pin 2 - SCL
070304 - 13
Pin 1 - +5V
2
3
A/D Converter for Robots
Tilo Gockel
;OL;3* *7HUHSVN\L[VKPNP[HSJVU-
]LY[LY(+MYVT;L_HZ0UZ[Y\TLU[ZPZH
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WH[PISLTPJYVJVU[YVSSLYZ;OLZLWHY[PJ\SHY
JVU]LY[LYZHYLYLHKPS`H]HPSHISLSV^JVZ[
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( ZOVY[ M\UJ[PVU ^OPJO YLHKZ [OL ZLYPHS
ten
ten
tsu(CS)
B7
B0
B1
B2
B3
B4
B5
B6
B7
Conversion
operating sequence
Data B
MSB
MSB
LSB
Hi-Z State
MSB
LSB
(see Note B)
MSB
Previous Conversion Data A
A7
A7
A6 A5 A4 A3 A2 A1 A0
Hi-Z State
Don’t
1
1
(see Note A)
tconv
tsu(CS)
Access
Cycle B
8
8
7
6
5
4
3
2
7
6
5
4
3
2
CLOCK
I/O
CS
OUT
DATA
Care
Sample
Cycle B
Access
Cycle C
Sample
Cycle C
twH(CS)
NOTES: A. The conversion cycle, which requires 36 internal system clock periods (17
Ms maximum), is initiated with the eighth I/O clock pulse
trailing edge after CS goes low for the channel whose address exists in memory at the time.
B. The most significant bit (A7) is automatically placed on the DATA OUT bus after CS is brought low. The remaining seven bits (A6–A0)
are clocked out on the first seven I/O clock falling edges. B7–B0 follows in the same manner.
26
elektor electronics - 7-8/2007
KH[H MYVT [OL ;3* HUK YL[\YUZ [OL
]HS\LHKKH[PZNP]LUILSV^;LZ[Z^P[OHU
(; :*VU[YVSSLY)VHYK[OL,SLR[VY
,SLJ[YVUPJZ+LJLTILY-SHZO4PJYV
)VHYKPUKPJH[LK[OH[[OLF^HP[JHUIL
VTP[[LKILJH\ZL[OLJVU[YVSSLYY\UZZSV^S`
unsigned char count;
unsigned char addat = 0;
P1_B2 = 0; // clk
P3_B0 = 0; // Chip Select
P3_B0 = 1; //
//_wait(); // > 20 usek (50kHz)
P3_B0 = 0;
for(count = 0; count
< 8; count++){
addat = addat << 1;
if (P1_B3 == 1) ++addat;
P1_B2 = 1;
//_wait();
P1_B2 = 0;
}
return addat;
}
(ZHUL_HTWSL[^V;3* (+JVU]LY[-
LYZJHUIL^PYLK[VHTPJYVJVU[YVSSLY[V
TLHZ\YL[OLHTV\U[VMSPNO[MHSSPUNVU[V
[^V3PNO[+LWLUKHU[9LZPZ[VYZ3+9;OPZ
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ULJ[[OL3+9LP[OLYPUWSHJLVM[OL]HYPHISL
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(070134-I)
LUV\NOUV[[VULLKP[MHZ[LYWYVJLZZVYZ
TH`YLX\PYLP[I\[P[OHZILLUºJVTTLU[LK
V\[»PU[OPZSPZ[PUN;OLHJ[\HSM\UJ[PVU
^YP[[LUPU*PZ!
unsigned char ReadADC1() {
1
2
10k
3
8
+5V
DC
REF+
V
CC
ANALOG
I/O CLOCK
Px.x
Px.x
Px.x
070134 - 12
GND
DATA OUT
REF-
7
6
A7
A6
A5
A4
A3
A2
A1
A0
5
4
TLC549
MC51
From Cassette Recorder
to Robot Propulsion
B. Broussas
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(]HPSHISL PU HU WPU +07 WHJRHNL [OL
LB1630
VCONT
IC1
OUT2
OUT1
IN1
IN2
NC
7
2
5
4
1
8
3
6
M1
400mA max.
M
C1
10
M
16V
+6V
070303 - 11
IN1
IN2
1
27
7-8/2007 - elektor electronics
3) PZ YPKPJ\SV\ZS` ZPTWS` [V
\ZLHZZOV^UPU-PN\YL0UMHJ[
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^OPJO HYL ;;3JVTWH[PISL ^OLU
[OLJPYJ\P[PZWV^LYLKMYVTH]VS[-
HNLVM[OLVYKLYVM=;OLZ\WWS`
T\Z[ILIL[^LLUHUK=HUK
T\Z[UV[\UKLYHU`JPYJ\TZ[HUJLZ
L_JLLK=H[YPZRVMKLZ[YV`PUN[OL
0*
;OL J\YYLU[ KYH^U I` [OL TV[VY
ILPUNKYP]LUJHUIL\W[VT(
TH_PT\T[OV\NOWLHRZ\W[V(
HYLHSSV^LKI\[VUS`PU[OLMVYT
VMW\SZLZ^OVZLK\YH[PVUTH`UV[
L_JLLK TZ H[ H K\[` J`JSL VM
;OLWYV[LJ[PVUKPVKLZ]P[HS^OLU
KYP]PUNHULSLJ[YPJTV[VY\ZPUN[YHU-
ZPZ[VYZ HYL I\PS[ PU[V [OL 3)
HUKZVKVU»[ULLK[VILHKKLK[V
[OLJPYJ\P[ZOV^U
;OL[^VPUW\[Z05HUK05HSSV^
SVNPJJVU[YVSVM[OLTV[VYHZWLY
[OL;HISL
0UW\[Z05HUK05VM[OL3)
Q\Z[ULLK[VILPUVWWVZP[LZ[H[LZMVY
[OLTV[VY[V[\YUVUL^H`VY[OLV[OLY:V
P[»Z]LY`LHZ`[VJVU[YVS\ZPUN[^VWHYHSSLS
WVY[SPULZMYVTHU`TPJYVJVU[YVSSLY
0UKLWLUKLU[S`VM[OPZºVUVMM»[`WLJVU[YVS
[VTHRL[OLTV[VYY\UPUVULKPYLJ[PVUVY
[OLV[OLY[OLZWLLKJHUHSZVILJVU[YVS-
SLK(SS[OH[PZULLKLKPZ[VHWWS`7>4
W\SZLZ[VVULVY[OLV[OLYVMPUW\[Z05
VY05
-PN\YL ZOV^Z VUL ^H` VM WLYMVYTPUN
[OPZZVY[VMZWLLKJVU[YVS\ZPUNH*\ISVJ
*)^OPJOOHZ[OLHK]HU[HNLV]LY[OL
THU`V[OLYTPJYVJVU[YVSSLYZ[OH[JHUIL
WYVNYHTTLKPU)HZPJVMILPUNHISL
[VNLULYH[LJVU[PU\V\Z7>4ZPNUHSZ
>P[OZ\JOHJPYJ\P[HSS`V\OH]L[V
KVPZ^YP[LMVYL_HTWSL!
OUT 6,0
PWM 0, SPEED, 255
[VTHRL[OLTV[VYY\UPUVULKPYLJ-
[PVUH[HZWLLK[OH[JHUILHKQ\Z[LK
I` TLHUZ VM [OL ]HYPHISL :7,,+
^OPJOJHU]HY`MYVT¶HUK!
OUT 6,1
PWM 0, (255-SPEED), 255
[VTHRLP[Y\UH[[OLZHTLZWLLKI\[
PU[OLV[OLYKPYLJ[PVU
5V[L[VV[OH[NP]LU[OH[05HUK
05VM[OL3)HYLSVNPJPUW\[Z
ZL]LYHSVM[OLTJHUILJVUULJ[LK
PUWHYHSSLSZVHZ[VJVU[YVSZL]LYHS
TV[VYZPUHUPKLU[PJHSTHUULY)\[
^H[JOV\[0M`V\»YLJVU[YVSSPUN[^V
[YHJ[PVUTV[VYZWVZP[PVULKIHJR[V
IHJRVULP[OLYZPKLVMHYVIV[[OL`»SS
ULLK[V[\YUPUVWWVZP[LKPYLJ[PVUZ
[VTHRL[OLYVIV[TV]LMVY^HYKZVY
IHJR^HYKZ0U[OPZJHZL`V\ULLK[V
JYVZZV]LY[OLPUW\[Z[V[OL3)Z05
VMVULNVLZ[V05VM[OLV[OLYHUK]PJL
]LYZHPM`V\HYLJVU[YVSSPUN[OLT[VNL[OLY
VYLSZL^PYL[OLTV[VYZPUVWWVZP[LZLUZLZ
[V[OL6<;HUK6<;V\[W\[Z
(070303-I)
CB220
IC2
SOUT
P15
P14
P13
P12
P11
P10
SIN
ATN
RES
VIN
P0
21
23
P1
P2
P3
P4
P5
10
P6
11
20
19
18
17
16
15
P9
14
P7
12
P8
13
22
24
5
4
6
7
8
9
1
2
3
LB1630
VCONT
IC1
OUT2
OUT1
IN1
IN2
NC
7
2
5
4
1
8
3
6
M1
400mA max.
M
C1
10
M
16V
+6V
070303 - 12
Truth table
for LB1630 motor control IC.
IN1
IN2
OUT1
OUT2
Motor
H
L
H
L
Forward run
L
H
L
H
Reverse run
H
H
HiZ
HiZ
Stop
L
L
HiZ
HiZ
Stop
2
IR Close Object Detector
B. Broussas
(S[OV\NO \S[YHZV\UK PZ ^LSS Z\P[LK [V
KL[LJ[PUNKPZ[HU[VIQLJ[ZP[PZX\P[L\U\ZH-
ISLMVYJSVZLYVIQLJ[ZPL^OLU[OLKL[LJ-
[PVU KPZ[HUJL JVTLZ KV^U [V HYV\UK H
JLU[PTL[YLVYSLZZ<UKLY[OLZLJVUKP[PVUZ
[^VZVS\[PVUZJHUIL\ZLK![OLI\TWLY
VYZPTPSHYKL]PJLHJ[P]H[PUNVULVYTVYL
TPJYVZ^P[JOLZ·I\[[OH[PZZ[PSSHTLJOHU-
PJHSZVS\[PVU·VY[OLPUMYHYLKKL[LJ[VY
^L»YLZ\NNLZ[PUNI\PSKPUNOLYLJVTIPUPUN
[OLLSLNHUJLVMLSLJ[YVUPJZ^P[OMYLLKVT
MYVTHU`TV]PUNWHY[Z
;OLWYPUJPWSLVMZ\JOHKL[LJ[VYPZ]LY`
ZPTWSL ( [YHUZTP[[PUN LSLTLU[ ^OPJO
OLYLPZNVPUN[VILHZPTWSL3,+LTP[ZH
TVYLVYSLZZKPYLJ[PVUHSILHTVM097VZP-
[PVULKUL_[[V[OPZ[YHUZTP[[LYHYLJLP]PUN
LSLTLU[^OPJOTH`ILHWOV[VKPVKLVY
WOV[V[YHUZPZ[VYPZZ\P[HIS`VYPLU[LKZV[OH[
\UKLY UVYTHS JPYJ\TZ[HUJLZ P[ KVLZU»[
YLJLP]LHU`[OPUN)\[HZZVVUHZHUVIZ[H-
JSL PZ WYLZLU[ H[ H Z\P[HISL KPZ[HUJL P[
YLMSLJ[Z WHY[ VM [OL SPNO[ LTP[[LK I` [OL
3,+IHJRVU[V[OLWOV[VKPVKLVY[YHUZPZ-
[VY"[OLWYLZLUJLVMHUV\[W\[ZPNUHSMYVT
[OLSH[[LY[OLUPUKPJH[LZ[OLWYV_PTP[`VM
[OPZVIZ[HJSL
;OL KPZ[HUJL \W [V ^OPJO [OPZ WYVJLZZ
^VYRZWYVWLYS`]LY`JSLHYS`KLWLUKZVU
U\TLYV\Z MHJ[VYZ! [OL S\TPUV\Z WV^LY
LTP[[LKI`[OL3,+[OLZLUZP[P]P[`VM[OL
KL[LJ[VYI\[HSZV·HUKHIV]LHSS·VU
[OLYLÅLJ[P]LWYVWLY[PLZVM[OLVIZ[HJSL(
ISHJRJH[^PSSILT\JOSLZZLHZPS`KL[LJ[LK
[OHUH^OP[L^HSS
0UHUZ^LY[VHX\LZ[PVUMYLX\LU[S`HZRLK
PUYVIV[PJZJSHZZLZUV[L[OH[[OPZWYPUJPWSL
^VYRZQ\Z[HZ^LSS\ZPUN]PZPISLSPNO[I\[
[OL\ZLVM09ZPTWS`THRLZP[WVZZPISL[V
H]VPK[VZVTLL_[LU[[OLZLUZVYPZILPUN
KHaaSLKI`HTIPLU[SPNO[6MJV\YZLPM`V\
\ZLHYVIV[Ä[[LK^P[OZ\JOHZLUZVYPU
M\SSZ\USPNO[VYILULH[OHOHSVNLUZWV[[OPZ
HU[PKHaaSLLMMLJ[WYVIHIS`^VU»[IL]LY`
LMMLJ[P]LNP]LU[OLOPNOSL]LSVM09YHKP-
H[LKI`Z\JOZV\YJLZ
5V[L[VV[OH[[OPZZ`Z[LTPZUV[H[LSLT-
L[LYHUKZVPZ\UHISL[VNP]L[OLZSPNO[-
LZ[PUMVYTH[PVUHIV\[[OLKPZ[HUJLVM[OL
VIZ[HJSL;OLVUS`WHYHTL[LY[OH[HJ[\HSS`
YLSH[LZ[V[OPZKPZ[HUJLPZ[OLHTWSP[\KL
VM[OLYLÅLJ[LKZPNUHSI\[[OPZKLWLUKZ
HSZV PUKLLK [V H ]LY` SHYNL L_[LU[ VU
[OLYLÅLJ[P]LWYVWLY[PLZVM[OLWHY[PJ\SHY
VIZ[HJSL[OPURHNHPUVM[OH[ISHJRJH[HUK
^OP[L^HSS
:VV\YKL[LJ[VYPZJHWHISLVMVWLYH[PUN
V]LYHYHUNLL_[LUKPUNMYVTHML^TT
[V HYV\UK TT VY ZV KLWLUKPUN VU
[OL[`WLVMZLUZVY\ZLK>OH[»ZTVYLP[»Z
UV[JVUÄULK[VZPTWSLVIZ[HJSLKL[LJ[PVU
28
elektor electronics - 7-8/2007
PU[OLJVU]LU[PVUHSZLUZL-VY
L_HTWSLPU[OLJHZLVMHYVIV[
[OH[»ZTLHU[[VZ[H`VUH[HISL
HSS`V\OH]L[VKVPZQ\KPJPV\ZS`
WVZP[PVUZ\JOKL[LJ[VYZHYV\UK
[OL \UKLYZPKL VM [OL LKNL VM
[OLYVIV[»ZJOHZZPZ(ZZVVUHZ
P[NL[Z[VVJSVZL[V[OLLKNL[OL
ZLUZVYZ[VWZYLJLP]PUN[OLZPNUHS
YLÅLJ[LKI`[OL[HISLPUKPJH[PUN
[OH[P[ULLKZ[V[\YUIHJR
*VUZ[Y\J[PVUVMV\Y09VIZ[H-
JSLKL[LJ[VYPZ]LY`ZPTWSLHZ
[OLÄN\YLZOV^Z.P]LU[OL0*
\ZLKP[»ZWVZZPISL[VI\PSK[^V
H[VUJL^OPJOPZUV[\UOLSWM\S
(Z[OLKL[LJ[PVUaVULVMZ\JO
H Z`Z[LT PZ YLSH[P]LS` SPTP[LK
^L»]LWSHUULK[V\ZL[^VZLU-
ZVYZ[OH[^L»]LJHSSLK9HUK3
MVY YPNO[ HUK SLM[ [OV\NO [OPZ
KVLZU»[ILHYHU`WHY[PJ\SHYYLSH-
[PVU[V[OLPYHJ[\HSWVZP[PVUZVU
[OLYVIV[;OLÄN\YLZOV^Z[OL
JPYJ\P[VMHZPUNSLJOHUULS[OL
V[OLY PZ VI]PV\ZS` PKLU[PJHS"
VUS`KLJV\WSPUNJHWHJP[VYZ*
HUK*HYLJVTTVU[V[OLTIV[O
;OL3,+PU[OLZLUZVY0*PZWLYTHULU[S`
WV^LYLK]PHYLZPZ[VY9^OPSL[OLJVSSLJ-
[VY VM [OL WOV[V[YHUZPZ[VY PU [OPZ KL[LJ-
[VYPZ[HRLU[V[OLWVZP[P]LYHPS]PH9:V
^OLU[OL[YHUZPZ[VYPZVMMPL^OLUP[PZ
UV[YLJLP]PUNHU`SPNO[TLHUPUN[OLYLPZ
UVVIZ[HJSL^LOH]LH]VS[HNLH[[OPZWVPU[
HWWYVHJOPUN[OLWV^LYYHPS(Z[OL[YHUZPZ-
[VYZ[HY[ZJVUK\J[PUN[OH[PZ^OLUHZ\M-
[OL^H`0*(»ZPUW\[ZHYLJVU-
ULJ[LK P[ PZ SVNPJ OPNO PU [OL
WYLZLUJLVMHUVIZ[HJSL
*VUZ[Y\J [PVU PZ W LY ML J [S`
Z[YHPNO[MVY^HYKI\[[OLLMMLJ-
[P]LULZZVM[OLJPYJ\P[KLWLUKZ
VU[OLJVYYLJ[JOVPJLVMZLU-
ZVYZ >L Z\NNLZ[ [OYLL [`WLZ
[OH[^L»]L[YPLKV\[PUHWYPJL
YHUNLMYVTHYV\UK[V
I\[[OLYL»ZUV[OPUNZ[VWWPUN`V\
· X\P[L [OL JVU[YHY` PU MHJ[
·MYVT[Y`PUNV\[V[OLY[`WLZ
VYL]LUTHRPUN`V\YV^UZLU-
ZVY\ZPUNZLWHYH[L093,+ZHUK
WOV[V[YHUZPZ[VYZ VM `V\Y V^U
JOVPJL
;OL JOLHWLZ[ ZLUZVY PZ [OL
*5@ HYV\UK 0[ VUS`
KL[LJ[ZH[]LY`ZOVY[KPZ[HUJLZ
VM [OL VYKLY VM TT HUK PZ
LHZPS`KHaaSLKI`HTIPLU[SPNO[
([HWWYV_PTH[LS`MV\Y[PTLZ[OL
WYPJL^LMV\UK[OL/6(
MYVT/VUL`^LSSH]HPSHISL
MYVT9HKPVZWHYLZHTVUNZ[V[O-
LYZ0[[VVJHUVUS`KL[LJ[\W[V
HYV\UKTTI\[^P[OZPNUPÄJHU[S`IL[[LY
LMÄJPLUJ`[OHU[OL*5@HUKP[WYV]LZ
OHYKLY[VKHaaSL3HZ[S`PM`V\KV\ISL[OL
Z[HRLZHNHPUPLLPNO[[PTLZ[OLWYPJLVM
[OL*5@`V\JHU\ZL[OL/6(
Z[PSSMYVT/VUL`^LSS]LY`OHYK[V
KHaaSLHUK^OPJOKL[LJ[Z\W[VHKPZ[HUJL
VMTT
(070300-I)
ÄJPLU[S`YLÅLJ[P]LHUKVYJSVZLVIZ[HJSL
YLÅLJ[Z[OLSPNO[LTP[[LKI`[OLKPVKLIHJR
VU[V[OLWOV[V[YHUZPZ[VY[OPZSL]LSKYVWZ
;OPZPUMVYTH[PVUPZZOHWLKI`JVTWHYH[VY
0*(^OVZLZ^P[JOPUN[OYLZOVSKJHUIL
HKQ\Z[LK\ZPUN70U[OPZ^H`[OLJPYJ\P[
JHUILHKHW[LK[VKPMMLYLU[ZLUZVYZHUK[OL
KL[LJ[PVUYHUNLJHUILHKQ\Z[LK[VZVTL
L_[LU[;OLJPYJ\P[V\[W\[PZ;;3JVTWH[-
PISLPMP[PZWV^LYLKMYVT=HUKNP]LU
2
3
1
IC2.A
R2
10k
R3
22k
R4
10k
R1
270
7
P1
10k
lin
+U
B
C1
10n
C2
47
M
16V
R6
10k
R7
22k
R8
10k
R5
270
7
P2
10k
lin
6
5
7
IC2.B
+U
IC2 = LM339
8
4
+U
IC1
IC3
070300 - 11
R
L
obstacle
PIR-Sensor
Abraham Vreugdenhil
>OLUKLZPNUPUNHYVIV[HJOVPJLOHZ[V
ILTHKLHZ[V[OL[`WLZVMZLUZVYZ[OH[P[
^PSSOH]L;OPZJOVPJL^PSSILKL[LYTPULK
TVZ[S`I`[OLW\YWVZLVM[OLYVIV[)\[[OL
KLNYLLVMJVTWSL_P[`YLX\PYLKPU\ZPUN[OL
ZLUZVYHUK[OLJVZ[VM[OLZLUZVYHSZVWSH`
HYVSLVMJV\YZL:LUZVYZ[OH[HYLMH]V\Y-
HISL PU [OLZL YLZWLJ[Z HYL MVY L_HTWSL
I\TWLYZHUKMLLSLYZ^P[OTPJYVZ^P[JOLZ
09KPZ[HUJLZLUZVYZMYVT:OHYWHUK\S[YH-
ZVUPJZLUZVYZ0M^L^HU[[VKL[LJ[TV]-
PUN^HYTVIQLJ[ZZ\JOHZWLVWSLHUKHUP-
THSZ[OLU709WHZZP]LPUMYHYLKYHKPH[PVU
ZLUZVYZMYVT,S[LJPUWHY[PJ\SHYILJVTL
H JVUZPKLYH[PVU Z\JO HZ [OL ,S[LJ
;OPZPZH]LY`UPJLZLUZVYI\[[OLWYPJL
PZHWYVISLT\UMVY[\UH[LS`TVYL[OHU
KVSSHYZ*VUYHK,SLJ[YVUPJZHSZVOH]LH709
ZLUZVYH]HPSHISL[OL3/0 VYKLYU\TILY
MVYQ\Z[V]LY;OLKPZHK]HU-
[HNLVM[OPZZLUZVYPZ[OH[HUHTWSPÄLYOHZ
[VILHKKLKPUVYKLY[VVI[HPUH\ZHISL
1
29
7-8/2007 - elektor electronics
V\[W\[ZPNUHS;OLKVJ\TLU[H[PVUMVY[OL
ZLUZVYPZUV[WHY[PJ\SHYS`JSLHYHIV\[[OPZ
(UV[OLYZVS\[PVUPZHZLUZVY[OH[^LVM[LU
TLL[PUKHPS`SPML![OL^LSSRUV^UTV]L-
TLU[KL[LJ[VYMVYV\[KVVYSPNO[PUN^OPJOPZ
H]HPSHISLMYVTHU`I\PSKLY»ZTHYRL[VYOHYK-
^HYLZ[VYLMVYHYLHZVUHISLWYPJL;OLZLHYL
VMMLYLKMVYZHSLH[SLZZ[OHU(M[LYKPZ-
HZZLTIS`VM[OLZLUZVY[OLTHPUIVHYK^P[O
P[ZKH\NO[LYIVHYKYLTHPU-PN\YL;OL
KH\NO[LYIVHYKJVU[HPUZ[OL709ZLUZVYHUK
HJJVTWHU`PUNLSLJ[YVUPJZ;OLJVUULJ[PVU
WVPU[ZMVY[OLWV^LYZ\WWS`HUKV\[W\[ZPN-
UHSJHUILMV\UKVU[OLIHJR-PN\YL
;OLZLUZVYPZUVYTHSS`WV^LYLKMYVT=
I\[P[Z[PSS^VYRZ^LSSH[=
(YVIV[^PSSVM[LUILÄ[[LK^P[OT\S[PWSL
709ZLUZVYZ[OH[HYLTV\U[LKH[KPMMLYLU[
HUNSLZ ;V HJOPL]L [OPZ ^L JHU TV\U[
[OYLLZLUZVYZVUHWPLJLVMWYV[V[`WPUN
IVHYKHUKSPTP[[OL]PL^VMLHJOZLUZVY
^P[OHZOVY[ZLJ[PVUVMLSLJ[YPJHSJVUK\P[
;OLSLUN[OVM[OLJVUK\P[KL[LYTPULZ[OL
ÄLSKVM]PL^;OLZLUZVYZVU[OLPYV^U
OH]LHÄLSKVM]PL^VMKLNYLLZZV[OL
ZOPLSKPUNPZKLÄUP[LS`YLX\PYLK0[PZHK]HU-
[HNLV\ZPM[OLÄLSKZVM]PL^VM[OLZLUZVYZ
V]LYSHW0U[OPZ^H`[OYLLZLUZVYZJHUIL
\ZLK[VTHRLÄ]LKL[LJ[PVUaVULZ0[PZVM
JV\YZLHSZVWVZZPISL[V\ZLTVYLZLUZVYZ
ZV[OH[HNYLH[LYYLZVS\[PVUPZVI[HPULK
0U[OPZTHUULYP[PZYLHZVUHIS`JOLHW[V
I\PSK H UPJL 709 ZLUZVY \UP[ ;OL VUL
ZOV^UPU[OLL_HTWSL-PN\YLJVTWYPZLZ
[OYLL709ZLUZVYZ;OPZZLUZVY\UP[PZLHZ`
[VI\PSKHUK^VYRZ^LSS
(070189-I)
Sig
+
–
2
3
Light-seeking Robot
B. Broussas
>OH[L]LY[OLPU[LYLZ[VM[OLTHU`[`WLZVM
YVIV[[OH[JHUILI\PS[[VKH`[OLTVIPSL
YVIV[PZZ[PSSHU\UTPZZHISLZ[HNL[OYV\NO
^OPJOHU`YVIV[PJZHTH[L\YOHZ[VWHZZ
MVYH[SLHZ[[^VYLHZVUZ;OLTVIPSLYVIV[
WYLZLU[ZHJVUJLU[YH[PVUVM[OLKPMÄJ\S[PLZ
HUKOLUJLZVS\[PVUZ[OH[TH`ILLUJV\U-
[LYLKPUYVIV[PJZ@V\OH]L[VKLHS^P[O
WYVISLTZ VM TLJOHUPJZ HUK RPUL[PJZ PU
VYKLY[VTHUHNLP[ZTV]LTLU[ZWYVISLTZ
VMZLUZVYZ^OPJOJHUILL_[YLTLS`KP]LYZL
KLWLUKPUNVU^OH[^L^HU[[VKL[LJ[VY
VU[OLV[OLYOHUKH]VPKILOH]PV\YHSPU[LS-
SPNLUJLWYVISLTZMVYWYVJLZZPUN[OLPUMVY-
TH[PVU WYV]PKLK I` [OLZL ZLUZVYZ L[J
)\[[OLZLJVUKYLHZVU^O`[OLYVIV[PJZ
HTH[L\YULLKZ[VWHZZ[OYV\NO[OLºTVIPSL
YVIV[»Z[HNLPZVM[LUT\JOSLZZWYVZHPJHZ
P[»ZZPTWS`HPTLKH[PTWYLZZPUN[OLWLV-
WSLHYV\UK`V\WHYLU[ZMYPLUKZNPYSIV`-
MYPLUK>OH[JV\SKILTVYLPTWYLZZP]L
[OHU[OPZº[OPUN»Z[YHPNO[V\[VMHZZJPÄ
TV]PLTV]PUNHYV\UKHSSI`P[ZLSMMVSSV^-
PUNHSPULVU[OLNYV\UKH]VPKPUNJOHPY
SLNZ VY YLZWVUKPUN [V H ZPNUHS MYVT P[Z
THZ[LY&
:VYVIV[PJZUV]PJLZVMHSSRPUKZ`V\^PSS
OH]LYLHSPaLK[OH[HTVIPSLYVIV[PZ^OH[
^L»YLNVPUN[VZ\NNLZ[JVUZ[Y\J[PUN(UK
ZV`V\»SSILHISL[VZLLX\PJRS`Q\Z[^OH[
`V\YV^UOHUKZHYLJHWHISLVMJYLH[PUN
^L»]LJOVZLUZVTLZVS\[PVUZ[OH[HYLZPT-
+6V
BS1-IC
IC1
RES
PCI
PCO
PWR
+5V
+V
E
GND
+V
E
GND
GND
P0
P1
P2
P3
10
P4
11
P5
12
P6
13
P7
14
7
6
8
9
4
3
1
5
2
R1
R2
C1
100n
C2
100n
C3
100n
C4
470
M
16V
070306 - 11
Servo
Servo
30
elektor electronics - 7-8/2007
WSLI\[UVSLZZZ\JJLZZM\SPUWYVK\JPUNH
JLY[HPULMMLJ[
8\P[LZPTWS`P[»ZHSPNO[ZLLRPUNYVIV[·
HZVY[VMTV[OVU^OLLSZPM`V\WYLMLY
ZPUJLQ\Z[SPRLP[ZJV\U[LYWHY[PU[OLSP]-
PUN^VYSKP[PZHS^H`ZNVPUN[VOLHKMVY
[OLIYPNO[LZ[ZV\YJLP[JHUÄUKPU[OLYVVT
^OLYL`V\SL[P[SVVZL
;VZPTWSPM`JVUZ[Y\J[PVUHUKLUHISL`V\[V
IL\WHUKY\UUPUNPUQ\Z[HML^OV\YZVY
SLZZHM[LYYLHKPUN[OPZHY[PJSL^LZ\NNLZ[
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(070306-I)
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3PZ[PUN
PINS = 0
DIRS = %00001111
SYMBOL RightStop = 150
SYMBOL LeftSTop = 150
SYMBOL Move = 30
SYMBOL LightDif = b2
SYMBOL RightLDR = b6
SYMBOL LeftLDR = b7
Main :
POT 7, 128, LeftLDR
POT 6, 128, RightLDR
LightDif = RightLDR – LeftLDR
b 0 = R i g h t S t o p + M o v e
- LightDif
b1 = LeftStop - Move + LightDif
PULSOUT 0, b0
PULSOUT 1, b1
GOTO Main
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Bat’s Ear
Alexander Wiedekind-Klein
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31
7-8/2007 - elektor electronics
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(070281-I)
2
1
3
IC1.A
r1
5
6
4
IC1.B
r1
12
13
11
IC1.D
r1
8
9
10
IC1.C
r1
R1
39k
P1
10k
R5
470k
C1
150p
STI
1
3
2
4
R9
22k
+5V
US TX
(40kHz)
US
+5V
(40kHz)
US
2
3
1
IC2.A
9
10
8
IC2.C
13
12
14
IC2.D
R3
56k
R6
100k
C3
10p
C6
10p
C7
100n
C2
100n
R7
3k9
R2
4k7
D1
LL4448
R4
180k
R8
180k
C4
4
M7
25V
C8
4
M7
25V
V+
R10
22k
C9
100n
US RX
6
5
7
IC2.B
IC2
11
4
IC1
14
7
C5
100n
V+
070281 - 11
+5V
GND
CONTROL
IC1 = CD4001
IC2 = TL084
1
t
1
t
2
control input
analogue output
time
070281 - 12
2
t
1
t
2
control input
analogue output
time
070281 - 13
strong refection
3
t
1
control input
analogue output
time
070281 - 14
1
st
maximum
2
nd
maximum
1
rd
maximum
4
32
elektor electronics - 7-8/2007
An Inclinometer for Your Robot
C. Tavernier
www.tavernier-c.com
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HUK
9VSS$HYJZPU(
Y
(
@
R2
47
7
R1
220k
ADXL311
IC1
XOUT
BIAS
YOUT
VDD
COM
NC
ST
NC
8
3
1
2
4
5
7
6
6
5
7
IC2.B
2
3
1
IC2.A
C2
47n
C3
47n
C1
100n
+6V...+12V
X
Y
C4
10n
8
4
IC2 = OP284
070305 - 11
R2
47
7
R1
220k
ADXL311
IC1
XOUT
BIAS
YOUT
VDD
COM
NC
ST
NC
8
3
1
2
4
5
7
6
6
5
7
IC2.B
2
3
1
IC2.A
C2
47n
C3
47n
C1
100n
+6V...+12V
C4
10n
8
4
IC2 = OP284
C5
10
M
16V
070305 - 12
PIC16F876
RA4/T0CKI
RA3/AN3
RA5/AN4
RA1/AN1
RA0/AN0
RA2/AN2
RC3/SCL
RC4/SDA
MCLR
IC3
OSC2
OSC1
RB0
RC6
RC7
RC0
RC1
RC2
RC5
RB1
RB2
RB3
RB4
RB5
RB6
RB7
20
10
28
27
26
25
24
23
22
21
11
12
13
14
16
15
17
18
19
8
1
9
3
2
4
6
5
7
1
2
33
7-8/2007 - elektor electronics
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tilt = tilt – 512
‘ adjust accord-
ing to the voltage
output
‘ when the incli-
n o m e t e r i s
horizontal
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t
i
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t
=
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tilt = tilt - 512
‘ a d j u s t
according to the voltage output
‘ w h e n t h e i n c l i n o m e t e r i s
horizontal
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(070305-I)
R2
47
7
R1
220k
ADXL311
IC1
XOUT
BIAS
YOUT
VDD
COM
NC
ST
NC
8
3
1
2
4
5
7
6
6
5
7
IC2.B
2
3
1
IC2.A
C2
47n
C3
47n
C1
100n
+6V...+12V
C4
10n
8
4
IC2 = OP284
CB220
IC3
SOUT
P15
P14
P13
P12
P11
P10
SIN
ATN
RES
VIN
P0
21
23
P1
P2
P3
P4
P5
10
P6
11
20
19
18
17
16
15
P9
14
P7
12
P8
13
22
24
5
4
6
7
8
9
1
2
3
070305 - 13
3
Positioning with Photodiode Arrays
Pascal Choquet
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[O
34
elektor electronics - 7-8/2007
JSVJRLKNLHUKJVU[PU\LZ\U[PS[OLUL_[
:0ZPNUHS;OLV\[W\[]HS\LZHYL[OLYLZ\S[
VM[OLWYL]PV\ZPU[LNYH[PVUWLYPVKZVPM[OL
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HYLPU]HSPKHUKZOV\SKILKPZJHYKLK;OL
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JVSV\YYLJVNUP[PVU
(070314-I)
K1
MAX232
T1OUT
T2OUT
R1OUT
R2OUT
R1IN
IC1
T1IN
T2IN
R2IN
C1–
C1+
C2+
C2–
11
12
10
13
14
15
16
V+
V-
7
8
9
3
1
4
5
2
6
X1
4.9152MHz
C10
15p
C9
15p
C5
100n
C6
100n
K2
R2
10k
R1
330
7
RX
TX
+5V
070314 - 11
RA5/AN4/SS/LVDIN
RC0/T1OSO/T1CKI
RC1/T1OSI/CCP2
RA3/AN3/VREF+
RA2/AN2/VREF-
RC3/SCK/SCL
RC4/SDI/SDA
PIC18F242
RA4/T0CKI
RC7/RX/DT
RC6/TX/CK
MCLR/VPP
RC2/CCP1
RB0/INT0
RB3/CCP2
RB1/INT1
RB2/INT2
RA0/AN0
RB7/PGD
RB6/PGC
RA1/AN1
RC5/SDO
RB5/PGM
IC3
OSC1
OSC2
RB4
20
11
28
27
26
25
23
24
22
21
19
12
13
14
10
18
17
16
15
8
9
1
3
2
4
6
5
7
MLX90255
A OUT
IC2
CLK
SI
5
3
1
4
2
C1
1
M
25V
C2
1
M
25V
C3
1
M
25V
C4
1
M
25V
Photodiode Array properties
Array
MLX90255
TLS1301
TLS1401
TLS208R
Pixel (* see text):
128 (+ 4*)
102
128
512
Pitch (DPI):
385
300
400
200
Weighting:
Cosine
Equal
Equal
Equal
Length x width (μm):
200 x 66
85 x 77
63,5 x 55,5
120 x 70
Output (V):
0.125 - 2.4
0 - 2.0
0 - 2.0
0 - 2.0
JHUILTHKL\ZPUNZ[LLSN\P[HYZ[YPUNZ;OL
TH[LYPHSPZ]LY`ÅL_PISLHZ^LSSHZILPUN
Whiskers on Robots
Alexander Wiede-
kind-Klein
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1
35
7-8/2007 - elektor electronics
*\[HSLUN[OVMZ[LLSN\P[HYZ[YPUNJT
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;VLUZ\YL[OH[L]LU[OLNLU[SLZ[JVSSPZPVU
KVLZUV[WHZZ\UUV[PJLK^LYLJVTTLUK
[OH[`V\\ZL[OL^OPZRLY[V[YPNNLYHÅPWÅVW
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(070282-I)
IC1.A
3
C
1
R
2
D
4
S
5
6
Q
Q
10k
+5V
070282 - 11
SENSOR INPUT
RESET
IC1 = 74HC74
2
3
CO Sensor
;OL-PNHYV;.:ZLUZVYPZHJHYIVU
TVUV_PKL ZLUZVY [OH[ PZ \ZLK WYPTHYPS`
PUPUK\Z[YPHSHWWSPJH[PVUZZ\JOHZZTVRL
KL[LJ[VYZÄYLKL[LJ[PVULX\PWTLU[HUK
]LU[PSH[PVUJVU[YVSSLYZMVYPUKVVYJHYWHYRZ
HUK[OLSPRL;OLZLUZVYPZX\P[LZ\P[HISLMVY
\ZLPUIH[[LY`WV^LYLKHWWSPJH[PVUZHUKP[
OHZZL]LYHSHK]HU[HNLZV]LYJVU]LU[PVUHS
ZLUZVYZ;OLLSLJ[YVS`[LPZLU]PYVUTLU[HSS`
MYPLUKS`HUK[OLOV\ZPUNPZSLHRWYVVM;OL
ZLUZVYJHUTLHZ\YL*6JVUJLU[YH[PVU\W
[VHUKP[OHZH[LTWLYH[\YLYHUNLVM¶
¢*[V¢*;OLOV\ZPUNOHZ[OLZHTL
MVYTHZHU((IH[[LY`
(ML^ZWLJPÄJH[PVUZ!
•
:\P[HISL MVY \ZL PU IH[[LY`WV^LYLK
LX\PWTLU[
Gas inlet
Gas inlet
Cap / Working electrode
terminal
Active charcoal filter
Gasket
Gas sensing layer
Water
Backing
Layer
Catalyst
Layer
Separator
(immersed by liquid
alkaline electrolyte)
Gas diffusion
control film
Can /
Counterelectrode
terminal
Washer
070187 - 12
2
3
1
IC1
AD708
R1
1k
R2
100k
C1
22
M
070187 - 11
U
out
TGS5042
counter
working
Figure 1.
Internal structure of the sensor.
Figure 2.
A simple sample application circuit.
36
elektor electronics - 7-8/2007
•
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•
=LU[PSH[PVUJVU[YVSMVYPUKVVYJHYWHYRZ
(070187-I)
LYZ(SSVM[OPZPZWHJRHNLKPUHJ`SPUKYPJHS
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TPNO[V[OLY^PZLVJJ\Y^OLU[OLJPYJ\P[PZ
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Compass Sensor
for Lego Mindstorms NXT
Zeno Otten
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Robot Compass
CMPS03
Module
GND
+5V
SCL
SDA
9
1
2
3
82k
82k
SCL
SDA
070156 - 11
GND
4
I
2
C NXT SCL
+V
I
2
C NXT SDA
NXT 4V3
NXT GND
5
6
3
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IYPJR
(070156-I)
References
[1] Compass sensor for Lego RCX, Elektor
Electronics July/August 2002
[2] Devantec: http://www.robot-electronics.
co.uk/shop/Compass_CMPS032004.htm
[3] BricX: http://bricxcc.sourceforge.net/
37
7-8/2007 - elektor electronics
Ultrasonic
Distant Obstacle Detector
B. Broussas
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(070236-I)
T1
BC548B
T2
BC548B
T3
BC548B
R1
4k7
R2
470k
R3
330
7
R4
470k
R5
2k2
R7
10k
P1
1k
lin.
RXUS
TXUS
C1
22n
C2
560p
C4
10n
C3
470n
C5
100
M
15V
R6
220k
D2
1N4148
D1
1N4148
1
2
1
IC1.A
3
4
S2
S1
1
IC1.B
+5V...+12V
IC1
14
7
IC1 = 74HC14
070236 - 11
Distance
maximum
de
détection
Obstacle
070236 - 12
1
2
38
elektor electronics - 7-8/2007
Light Sensing with an LED
Andreas Grün
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(070356-I)
Web link
[1] www.merl.com/publications/TR2003-035/
T1
R1
070356 - 11
V
CC
Listing
Example program:
#include <avr/io.h>
#include <avr/interrupt.h>
#define LEDPIN 0x40 // LED on PB6
int main()
{
unsigned char cr=0,cb=0;
DDRB = 0x00; // PORTB input
DDRA = 0xff; // PORTA output for display LEDs
PORTA = 0; // off
PORTB = LEDPIN; // PB6 hi
sei();
while(1)
{
if((PINB & LEDPIN) == 0) // discharge complete
{
PORTB = LEDPIN; // PB6 hi
// multiple times
to get enough charging time
DDRB |= LEDPIN; // PB6 output and hi, charges LED
DDRB |= LEDPIN; // PB6 output and hi, charges LED
DDRB |= LEDPIN; // PB6 output and hi, charges LED
DDRB |= LEDPIN; // PB6 output and hi, charges LED
DDRB &= ~LEDPIN; // PB6 input, still charging w/ pullup
PORTB = 0; // switch off pullup
PORTA ^= LEDPIN; // toggle PORTA for display LEDs
}
}
return(0);
}
photo
I
070356 - 12
IN
070356 - 14
V
CC
070356 - 13
1
2
3
4
39
7-8/2007 - elektor electronics
40
elektor electronics - 7-8/2007
MotoBox
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WYV]PKLKI`[OL3 LHJOKYP]PUNHZPUNSL
Drives stepper, DC and servo motors
Joseph Zamnit (MCAST, Malta)
Before a robot moves, no matter if that’s walking, swimming,
cruising a maze or tearing up asphalt, you need to address the
interfacing and driving of different types of motors. Developing
the relevant algorithms will increase project development time
as tweaks and adaptations seem to be necessary for each
new application. This project solves these issues by presenting
a generic motor driver board that can drive three different
types of motors, stepper, DC and servo, without having to
program the algorithm for each motor. MotoBox is ideal
for newcomers to robotics as well as for old hands
who can use the board for prototyping and
development. The board can also be used with
two different types of motors simultaneously!
MotoBox Specifications
• Drives 3 types of motors:
• bipolar stepper motors
• DC motors
• servo motors
• Motor actuated using serial port @ 9600,N,1
• Up to 13.8V supply for motors
• Easy to use command set
• Curr
ent monitoring, up to 2
A (DC and servo motor)
or 4 A
(stepper motor)
• LED indicator: gr
een ‘ok’, r
ed ‘err
or’
• Individual contr
ol of each motor driver bridge
41
7-8/2007 - elektor electronics
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1A2
7
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6
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D
8
VCC1
9
2A1
10
2EN
11
2A2
12
2Y1
13
2Y2
14
2E
15
IC4
L298KV
1
3
2
IC6A
RA0/AN0
17
RA1/AN1
18
RA2/AN2/VREF
1
RA3/AN3/CMP1
2
RA4/T0CKI/CMP2
3
RB0/INT
6
RB1/RX/DT
7
RB2/TX/CK
8
RB3/CCP1
9
RB4/PGM
10
RB5
11
RB6/T1OSO/T1CKI/PGC
12
RB7/T1OSI/PGD
13
VS
S
5
RA5/MCLR/VPP
4
RA7/OSC1/CLKIN
16
RA6/OSC2/CLKOUT
15
VD
D
14
IC1
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1
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D
2
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3
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4
C2-
5
VE
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6
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7
R2IN
8
R2OUT
9
T2IN
10
T1IN
11
R1OUT
12
R1IN
13
T1OUT
14
GND
15
VCC
16
IC3
MAX232CPE
D1
D2
D3
D4
D5
D6
C17
100n
C19
100n
C21
100n
K6
K7
K8
GND
GND
GND
Vsup
Vsup
+5V
R1
10
k
R11
330
D14
5W
R9
0R
22
R5
4k7
R3
10
k
R4
10k
C13
100n
C12
220n
GND
1E
1
1Y1
2
1Y2
3
VC
C2
4
1A1
5
1A2
7
1EN
6
GN
D
8
VC
C1
9
2A1
10
2EN
11
2A2
12
2Y1
13
2Y2
14
2E
15
IC5
L298KV
7
5
6
IC6B
D7
D8
D9
D10
D11
D12
C18
100n
C16
100n
K5
K10
K9
GND
GND
Vsup
Vsup
+5V
R2
10k
R13
330
D15
5W
R10
0R22
R8
4k7
R6
10k
R7
10k
C15
100n
C14
220n
GND
GND
C4
100n
R12
47
0
+5V
+5V
GND
K4
C10
100n
C11
100n
GND
D13
1N4148
25V
C8
1u
25V
C6
1u
25V
C7
1u
25V
C9
1u
25V
C22
10u
C3
100n
1
2
3
4
5
6
7
8
9
11
10
K3
D Connector 9
K2
K1
Vsup
63V
C1
100u
25V
C20
47u
C5
100n
C2
100n
+5V
GND
3
2
1
IC2
L78L05CZ
R14
470
D16
R15
4k7
+5V
GND
+5V
GND
4
8
IC6C
GND
GND
6x 1N5400
6x 1N5400
IC6 = LM358AJG
070129 - 11
1
2
3
4
5
6
1
2
3
4
5
6
R16
5k6
+5V
R17
1k5
C23
100n
GND
Table 1. Driver options chart
Motor header function
Output
Motor 1
Motor 2
μC Pin
RB3
RB2
RB1
RB0
RB7
RB6
RB5
RB4
Header pin
2
3
4
5
2
3
4
5
Mode
Stepper driver
Each output
drives a motor phase
Each
output drives a motor phase
DC motor driver (1)
Servo driver (2)
(3)
P(4)
P(4)
(3)
(3)
P(4)
P(4)
(3)
(1) Differential drive
(2) Use the ground pin on the connectors for the servo
(3) Allows 2 servos to driven simultaneously with the same signal
(4) Used to power servo motor
Figure 1.
Circuit diagram of Motobox, the ‘one size fits all’ controller for motors typically used in robots.
42
elektor electronics - 7-8/2007
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Table 2. Command syntax
Command
Command Description
1
ST1FOR
Stepper 1 cw
2
ST1BAK
Stepper 1 ccw
3
ST2FOR
Stepper 2 cw
4
ST2BAK
Stepper 2 ccw
5
STBFOR
Both steppers cw — simultaneously
6
STBBAK
Both steppers ccw — simultaneously
7
STSYNC
Get both steppers in same position in case of slip
8
AMSTOP
Emergency stop. Stop All motors — e.g. overcurrent
9
ST1FXX
Turn stepper 1 xx (999 steps max) positions cw
10
ST1BXX
Turn stepper 1 xx (999 steps max) positions ccw
11
ST2FXX
Turn stepper 2 xx (999 steps max) positions cw
12
ST2BXX
Turn stepper 2 xx (999 steps max) positions ccw
13
DC2FOR
DC motor 2 ON/cw
14
DC2BAK
DC motor 2 ON/ccw
15
DC2OFF
DC motor 2 OFF
16
DC1FOR
DC motor 1 ON/cw
17
DC1BAK
DC motor 1 ON/ccw
IC3
R9
D6
1
C7
C
6
C4
C2
3
C2
0
D1
2
6
1
C9
9
5
C3
C2
2
C1
1
K3
R1
7
R1
2
R1
6
R1
5
D1
3
K4
C1
0
C1
2
C8
IC1
D1
4
R1
1
R1
C1
8
IC4
R5
C1
6
15
D3
R2
C5
R1
3
D1
5
IC2
C2
R1
0
C1
7
1
C1
9
K1
C1
IC5
15
D9
R4
K2
R3
C1
3
IC6
R6
D1
6
C1
5
C2
1
R8
R7
C1
4
R1
4
D1
D5
D2
D4
D7
D1
1
K6
K7
K8
D8
D1
0
K5
K10
K9
Figure 2. Component mounting plan of the PCB designed for Motobox. The copper track layout is a
free download from the Elektor website.
43
7-8/2007 - elektor electronics
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18
DC1OFF
DC motor 1 OFF
19
DCBFOR
DC both motors cw
20
DCBBAK
DC both motors ccw
21
DCBOFF
DC both motor OFF
22
SV2FOR
Servo 1 cw
23
SV2BAK
Servo 1 ccw
24
SV2MID
Servo 1 centre position
25
SV2HLD
Servo 1 hold
26
SV1FOR
Servo 2 cw
27
SV1BAK
Servo 2 ccw
28
SV1MID
Servo 2 centre position
29
SV1HLD
Servo 2 hold
30
MTYPEX
Return motor type
31
STDELX
Configure stepper motor delay
32
ECHOST
Configure echo. Default = ON
33
AMONXX
All motors ON
34
MONOFF
Do not monitor current consumption
35
CMONON
Monitor current consumption
36
RESUME
Enable Motors after overcurrent condition
COMPONENTS LIST
Resistors
R1-R4,R6,R7 = 10k
7
R5,R8,R15 = 4k
77
R9,R10 = 0.22
7 5W
R11,R13 = 330
7
R12,R14 = 470
7
R16 = 5k
76
R17 = 1k
75
Capacitors
C1 = 100μF 40V radial
C2-C5,C10,C11,C13,C15-C19,C21 = 100nF
C6-C9 = 1μF 25V radial
C12,C14 = 220nF
C20 = 47μF 25V radial
C22 = 10μF 25V radial
C23 = 100nF
Semiconductors
D1-D12 = 1N5400
D13 = 1N4148
D14,D15 = bicolour LED, 5mm, 2 terminals
D16 = LED, 5mm
IC1 = PIC16F628-04/P, programmed, order
code 070129-41
IC2 = 78L05
IC3 = MAX232
IC4,IC5 = L298N with heatsink for
Multiwatt15 case (mouser.com)
IC6 = LM358
K1,K5-K10 = 2-way PCB terminal block,
lead pitch 5mm
K2 = 3-way SIL pinheader
K3 = 9-way sub-D socket (female),
angled pins, PCB mount
K4 = 4- way SIL pinheader
PCB, ref. 070129-1
PIC source & hex code files, free
download # 070129-11.zip from Elektor
website.
44
elektor electronics - 7-8/2007
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Author’s websites and email address
http://telecomms.no-ip.org
www.mcast.edu.mt
jozamm@gmail.com
Web links
www.microchip.com
www.st.com/stonline/products/literature/
ds/1773.pdf
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(070129-I)
M
M
M
Motor
Board
Power supply
Serial
input
Motor
Board
Power supply
Serial
input
3
2
2
3
070129 - 12
1
4
5
6
Motor
Board
Power supply
Serial
input
2
3
4
5
Figure 3. How to connect up your motors.
12 V Bidirectional Motor Control
Stefan Brandstetter
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TR1
C1
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R1
150
7
R2
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R7
0
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47
P1.A
2k2
D5
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BC327
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150
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150
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T4
230V
070104 - 11
1W
1W
18V
1A5
4x 1N5401
T3, T4 = BDW94C; BD902; BD680
T1, T2 = BDW93C; BD901; BD679
45
7-8/2007 - elektor electronics
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(070104-I)
zBot: 10-A Power Stage for DC Motor
Jens
Altenburg
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(070172-I)
[1] The complete document called
Zbot — the Robot Experimental Platform
is available for free downloading from the
Elektor Electronics website. The file number is
070172-11.zip (July/August 2007).
T4
RFP30P06
T7
BUK101
D2
1N4001
D5
1N4001
R14
10k
R18
10k
T3
BC337
R15
10k
1
2
3
IC7.A
&
9
10
8
IC7.C
&
4
5
6
IC7.B
&
IC8
EN
2
3
1
T5
RFP30P06
T8
BUK101
D1
1N4001
D6
1N4001
R21
10k
R17
10k
T6
BC337
R18
10k
12
13
11
IC7.D
&
IC8
EN
5
6
4
M
U+
C11
IC7
14
7
IC8
14
7
070172 - 11
IC7 = 74HCT00
IC8 = 74HCT125
STOP
PWR
DIR
46
elektor electronics - 7-8/2007
Complete Stepper Motor Driver
Hesam Moshiri
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TXD/P3.1
T0/P3.4
T1/P3.5
IC2
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7
P3.7
RST
X1
X0
20
10
12
13
14
15
16
17
18
19
11
5
4
2
3
1
6
7
8
9
C5
10
M
16V
R1
8k2
R2
10k
S1
HALF
R3
10k
S2
FULL
R4
10k
S3
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R5
10k
S4
LEFT
X1
12MHz
C4
33p
C3
33p
ULN2003
IC3
GND
DS
10
11
12
13
14
15
16
I1
I2
I3
I4
I5
I6
I7
O1
O2
O3
O4
O5
O6
O7
9
1
2
3
6
7
4
5
8
STEP
STEP
M1
M
R6
10k
R7
10k
R8
10k
R9
10k
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7805
IC1
C1
47
M
16V
C2
100n
+5V
+9V
070228 - 11
M1 = 5V Stepper Motor
Table 1
Step angle
(degrees)
Steps per
revolution
0.72
500
1.8
200
2.0
180
2.5
144
5.0
72
7.5
48
15
24
Table 2. Full-step mode.
Rotation to the right
(cw)
Step
Winding A
Winding B
Winding C
Winding D
Rotation to the left
(ccw)
§
1
1
0
0
0
£
2
0
1
0
0
3
0
0
1
0
4
0
0
0
1
Table 3. Half-step mode.
Rotation to the right
(cw)
Step
Winding A
Winding B
Winding C
Winding D
Rotation to the left
(ccw)
§
1
1
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0
0
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0
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0
1
47
7-8/2007 - elektor electronics
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(070228-I)
Controlling Servos
Using a PIC
programmed in
Basic, a Basic
Stamp or a Cubloc
C. Tavernier
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1.5 ms
10 ... 20 ms
centred
1 ms
10 ... 20 ms
- 45 n
2 ms
070238 - 11
10 ... 20 ms
+ 45
n
servo
070238- 12
+5V
Servo
V
SS
P0 (Stamp)
P5 (Cubloc)
red
black
white, yellow
Basic Stamp
or
Cubloc
1
2
48
elektor electronics - 7-8/2007
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(070238-I)
[OPZ^H`P[JHUMVYL_HTWSLTV]LHZLU-
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Listing 1
‘ Basic Stamp I and II or in
Basic programmed PIC version
loop:
for b2 = 100 to 200
for b3 = 1 to 5
pulsout
0,b2 ‘ servo connected to port P0
pause 15
next
next
goto loop
Listing 2
‘ Cubloc Version
Const Device = CB220
Dim Position As Integer
Low
5
‘ Servo is connected to port P5
Do
For Position = 2300 to
Position = 4300 Step 20
Pwm 0, Position, 32768
Delay 100
Next
Loop
PIC12C508 Stepper Motor Controller
C. Tavernier
www.tavernier-c.com
>OLU ^L»YL UV[ \ZPUN H Z[LWWLY
TV[VY[VLUZ\YLWYLJPZLWVZP[PVUPUNVM
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KP[PVUZ[OLYL»ZUVSVUNLYHU`ULLK
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IC2
7805
C1
10n
C3
220n
C4
470
M
25V
C2
47
M
16V
GP5/OSC1
GP3/MCLR
GP4/OSC2
GP2/T0CK
12C508
IC1
GP0
GP1
7
1
8
3
5
6
2
4
R1
10k
GP0
GP1
GP4
GP5
L
R
070302 - 11
+U
1
49
7-8/2007 - elektor electronics
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(070302-I)
R1
1k
R2
1k
T4
BD679
T3
BD679
D1
D2
M1
M
D8
D7
R3
1k
R4
1k
T2
BD679
T1
BD679
D3
D4
D6
D5
+U
L1
L2
L3
L4
+U
GP0
GP1
GP4
GP5
D1...D8 = 1N4004
070302 - 12
M
2
Table 1. Programming step duration
by modifying a constant used in the
program.
Binary Step
constant
duration
10010010
1 ms
10010011
2 ms
10010100
4 ms
10010101
8 ms
10010110
16 ms
10010111
32 ms
MA
M
MB
M
GP0A
GP1A
GP4A
GP5A
GP0B
GP1B
GP4B
GP5B
L1
L2
L3
L4
L5
L6
L7
L8
ULN2803
IC1
VEE
11
12
13
14
15
16
17
18
I1
I2
I3
I4
I5
I6
I7
I8
O1
O2
O3
O4
O5
O6
O7
O8
10
1
2
3
6
7
8
4
5
9
070302 - 13
+U
M
+U
3
50
elektor electronics - 7-8/2007
Rajkumar Sharma
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OUT B
14
OSC OUT
4
IN+
2
RT
6
CT
5
DISC
7
CMPEN
9
IN-
1
SYNC
3
GND
12
SS
8
VC
C
15
VC
13
OUT A
11
VR
EF
16
SD
10
IC1
SG3525AN
BS1
1
OUT1
2
DIR
3
B
4
PWM
5
VS
6
GND
7
CS
8
T
9
OUT2
10
BS2
11
IC2
LMD18200
C3
18n
C2
100n
C4
100n
GND
GND
GND
R1
10k
R6
2k7
R3
2k2
C1
100n
R4
18
k
R5
330
C5
100n
C9
100n
C7
100n
R2
18k
S1
VCC2
VCC2
VCC1
VCC1
VCC1
1
3
2
IC3
L7805ACV
63V
C8
100u
63V
C6
100u
R7
1k5
D1
D2
GND
GND
GND
100k
P2
VCC2
K1
K3
K2
P1
10k
060339 - 11
0
0
C3
3
IC3
2
C9
R1
IC1
C1
D1
R6
R5
R4
11
R7
1
C8
C5
K2
D2
C6
C7
K3
IC2
C4
K1
P1
P2
R3
R2
1
S1
C2
Featur
es
• Moto
r supp
ly volt
age 1
2 V to 3
0 V DC
• Deli
vers u
p to 3 a
mps c
ontinu
ous ou
tput
• PWM f
reque
ncy a
djusta
ble fro
m 1.16
kHz to 3
5.1 KH
z
• PWM c
ontinu
ously a
djusta
ble by p
ot
• Duty
cycle 0 to 1
00%
• Dire
ction c
ontrol by s
witch
• Sho
rted lo
ad prote
ction
• Therma
l shutdo
wn
• No S
MD co
mpon
ents
• No micr
ocontr
oller
1
2
3 Amp PWM DC Motor Controller
51
7-8/2007 - elektor electronics
[OL JOPW [LTWLYH[\YL PZ KLNYLLZ
;OL0*PZH\[VTH[PJHSS`ZO\[KV^U^OLU
KLNYLLZ * PZ YLHJOLK 7PU VM [OL
34+PZ[OLJ\YYLU[ZLUZLPUW\[9
JVUULJ[Z[OPZWPU[VNYV\UK;OL)YHRL
PUW\[WPUPZOHYK^PYLK[VNYV\UK*
HUK*H[[OLTV[VYV\[W\[HYLºIVV[Z[YHW»
JHWHJP[VYZ7PUZHUKHYL[OL/)YPKNL
V\[W\[ZWV^LYPUN[OL+*TV[VY
0U[OLWV^LYZ\WWS`ZLJ[PVUJHWHJP[VYZ*
[OYV\NO* ZLY]L[VZ\WWYLZZUVPZLVU[OL
[^VZ\WWS`YHPSZ;OL3(*=]VS[HNL
YLN\SH[VYMVY[OLSVNPJZ\WWS`HJJLW[ZHU`
\UZ[HIPSPZLK+*]VS[HNLIL[^LLU=[V
=HWWSPLK[V2;OLV[OLYZ\WWS`JVU-
ULJ[VY2PZMVY[OLTV[VYWV^LY;OL
JHWHJP[` VM [OL TV[VY Z\WWS` VM JV\YZL
KLWLUKZVU[OLTV[VY\ZLK0M[OLTV[VY
PZ ZWLJPMPLK H[ = [OLU 9 ZOV\SK IL
R£HUKPMP[PZ=[OLUR£ZOV\SK
ILÄ[[LK0M`V\^HU[[V\ZLHOLH]`K\[`
TV[VYJVUZ\TPUNTVYL[OHUHIV\[(P[
TH`IL^VY[O^OPSL[VZ[YLUN[OLU[OLJVW-
WLY[YHJRZ[VMYVT22^P[OSLUN[OZVM
TT
2
ZVSPKJVWWLY^PYL
0M`V\^HU[[VPU[LYMHJL[OLKYP]LY^P[OH
ZV\YJL Z\WWS`PUN = ZPTWS` YLTV]L
WV[LU[PVTL[LY7HUKHWWS`[OLHUHSVN\L
]VS[HNL[VWPUVM0*
-PN\YLZOV^Z[OL7*)KLZPNULKMVY[OL
KYP]LY ^OPJO ZOV\SK MP[ THU` HWWSPJH-
[PVUZH[JY\JPHSSVJH[PVUZPUHYVIV[(M[LY
HSSTVZ[MVYTZVMTV[PVUVMHYVIV[^PSS
YLX\PYLHTV[VYVMZVTLRPUK;OLIVHYK
OHZILLUKLZPNULKMVYJVTWHJ[ULZZ^OPZ[
\ZPUN SLHKLK JVTWVULU[Z VUS` PL UV
:4+ZPUZPNO[OLYL;OLJVWWLY[YHJRSH`-
V\[ HUK JVTWVULU[ TV\U[PUN WSHU HYL
JVU[HPULKPUMYLLKV^USVHKUV
aPWMYVTV\Y^LIZP[L
(060339-I)
COMPONENTS LIST
Resistors
R1 = 10k
7
R2,R4 = 18k
7
R3 = 2k
72
R5 = 330
7
R6 = 2k
77
R7 = 1k
75
P1 = 10k
7 potentiometer
P2 = 100k
7 preset
Capacitors
C1,C2,C4,C5,C7, C9, = 100nF
C3 = 18nF
C6,C8 = 100μF 63V
Semiconductors
D1,D2 = LED
IC1 = SG3525AN
IC2 = LMD18200
IC3 = L7805ACV
Miscellaneous
K1,K2,K3 = 2-way PCB terminal block, lead
pitch 5mm
S1 = slide switch
PCB, ref. 060339-1
from www.thepcbshop.com
Driving Higher Power DC Motors
B. Broussas
+YP]PUN [OL ºZTHSS» TV[VYZ [OH[ TH` IL
\ZLKPUYVIV[PJZKVLZU»[\Z\HSS`WVZLT\JO
VMHWYVISLT:LY]VTV[VYZHJ[\HSS`OH]L
[OLPYV^UKYP]LLSLJ[YVUPJZZ[LWWLYTV[VYZ
JHU IL LHZPS` KYP]LU I` JVU]LU[PVUHS
WV^LY[YHUZPZ[VYZVYI`<350*ZHZ
OHZILLUZOV^ULSZL^OLYLPU[OPZPZZ\L
HZ[OL`YHYLS`KYH^TVYL[OHUHML^O\U-
KYLKZVMT(-VYZTHSS+*TV[VYZZPTWSL
[YHUZPZ[VYZ^PSSZ\MÄJL\USLZZ`V\WYLMLYMVY
L_HTWSL[OL3)MYVT:HU`V[OV\NO
SPTP[LKHSHZ[VHJ\YYLU[VMT(HUKH
]VS[HNLVM=
6U[OLV[OLYOHUKHZZVVUHZ[OLTV[VY
Z[HY[ZKYH^PUN(VYTVYLVYP[ZZ\WWS`
]VS[HNLL_JLLKZ=VYZV[OLZP[\H[PVU
NL[ZTVYLJVTWSPJH[LK·HSS[OLTVYLZV
ILJH\ZLTHU`VM`V\KVU»[T\JOJHYLMVY
WV^LYLSLJ[YVUPJZ:V[OPZHY[PJSLOVWLZ[V
NP]L`V\HML^PKLHZVYYLZLHYJOWH[OZMVY
KYP]PUNZ\JOTV[VYZ
;OLÄYZ[TL[OVKMVYJVU[YVSSPUNHOPNOLY
WV^LY+*TV[VYPZUVULV[OLY[OHU[OL
NVVKVSKYLSH`VY[VILWYLJPZLWHPYVM
YLSH`Z(ZSVUNHZ`V\^PYL[OLTHZZOV^U
PU -PN\YL `V\ OH]L JVU[YVS V]LY [OL
VWLYH[PUNKPYLJ[PVUKLWLUKPUNVU^OPJO
YLSH`PZLUNHNLKHUK^OPJOPZUV[HZ^LSS
HZHZ[VWJVU[YVS[OH[HJ[ZHZH]LY`LMMLJ-
[P]LLSLJ[YPJHSIYHRL^OLUIV[OYLSH`ZHYL
PU[OLZHTLWVZP[PVU0U[OPZZP[\H[PVU[OL
TV[VYPZZOVY[JPYJ\P[LKHUKPZIYHRLKI`
M1
M
RE2
RE1
+U
M
070317 - 11
control
2
control
1
RSA
SENSE A
OUT 1
RSB
SENSE B
070317 - 12
OUT 4
OUT 2
IN 1
IN 2
IN 3
IN 4
EN A
EN B
OUT 3
+V
S
100n
A
V
ref
B
1
2
3
4
+V
SS
100n
12
10
11
5
9
2
3
4
13
14
8
1
15
7
6
1
2
52
elektor electronics - 7-8/2007
P[ZV^UIHJRLTMLSLJ[YVTV[P]LMVYJL
9LSH`ZJHWHISLVMZ^P[JOPUN(HUK`L[
VUS`YLX\PYPUN=HUKHML^[LUZVMT(
MVY[OLPYJVPSZHYLJVTTVUWSHJLUV^HKH`Z
ZLLMVYL_HTWSL[OL-PUKLYYLSH`ZHUKZV
JHUIL\ZLKPU[OPZ^H`^P[OV\[KPMÄJ\S[`
0M`V\KVU»[SPRL[OPZLSLJ[YVTLJOHUPJHS
ZVS\[PVU^LYLJVTTLUK`V\[V\ZL[OL
IYPKNLWV^LY0*VUL^VY[O`YLWYLZLU[H-
[P]LVM^OPJOPZ[OL3 MYVT:;4PJYV-
LSLJ[YVUPJZ(ZP[ZPU[LYUHSISVJRKPHNYHT
JVUULJ[PVUZ[VLHY[OVY[V[OLZ\WWS`YHPS
HZPUKPJH[LKPU-PN\YL)`Q\NNSPUN^P[O
[OLJVTIPUH[PVUZVMSVNPJSL]LSZVU[OL
JVU[YVS HUK LUHISL PUW\[Z VM [OL 3
`V\JHUL]LUOH]L[^VVW[PVUZMVYTV[VY
Z[VWWPUNHZPUKPJH[LKPU[OL[HISLILSV^!
[OLºMYLL^OLLS»VY\UIYHRLKTVKLVY[OL
IYHRLKTVKLHZZLLUWYL]PV\ZS`^P[O[OL
YLSH`JPYJ\P[;HISLZOV^Z[OLYLSL]HU[
SVNPJSL]LSJVTIPUH[PVUZ
0M[OLKPYLJ[PVUVMYV[H[PVUVM[OLTV[VY
OHZ[VILHISL[VILJOHUNLKP[PZULJLZ-
ZHY`[V\ZLHIYPKNLVY/JVUULJ[PVUHZ
ZOV^UPU-PN\YL5V[L[OH[P[PZWVZZPISL
[VKYP]L[^VTV[VYZPU[OPZ^H`MYVTVUL
3 ZPUJL[OL0*JVU[HPUZMV\YHTWSPÄ-
LYZ:VHZPUNSL3 PZ\Z\HSS`LUV\NOMVY
[OLYPNO[HUKSLM[WYVW\SZPVUTV[VYZVMH
TVIPSLYVIV[
(S[OV\NO[OLJPYJ\P[KVLZOH]LWYV[LJ[PVU
HNHPUZ[ V]LYOLH[PUN IL H^HYL [OH[ `V\
JHUPUJYLHZLP[ZVWLYH[PUNZHML[`I`TVUP-
[VYPUN[OLJ\YYLU[KYH^UI`[OLTV[VYZ
;VKV[OPZHSS[OH[`V\OH]L[VKVPZ[V
Ä[H]LY`SV^]HS\LYLZPZ[VYIL[^LLU[OL
:,5:,( VY :,5:,) PUW\[Z HUK LHY[O
(SS[OLJ\YYLU[KYH^UI`[OLTV[VYJVU-
ULJ[LK[V[OLJVYYLZWVUKPUNHTWSPÄLY^PSS
[OLUWHZZ[OYV\NO[OPZYLZPZ[HUJLHUKI`
ZPTWS`HWWS`PUN6OT»ZSH^HUKTLHZ\YPUN
[OL]VS[HNLH[[OLZLPUW\[ZP[PZWVZZPISL[V
TVUP[VY[OPZJ\YYLU[
0M`V\KVU»[^PZO[V\ZL[OPZTVUP[VYPUN`V\
ZOV^Z -PN\YL [OPZ 0* PUJS\KLZ MV\Y
IYPKNL WV^LY HTWSPMPLYZ WYLJLKLK I`
SVNPJJVU[YVSJPYJ\P[Y`6YPNPUHSS`KLZPNULK
MVYKYP]PUNºIPN»Z[LWWLYTV[VYZ[OPZ0*PZ
Z\P[HISLMVYHOVZ[VMV[OLYHWWSPJH[PVUZVM
^OPJOOLYLHYLHML^L_HTWSLZ
)`]PY[\LVM[OLYLSH[P]LPUKLWLUKLUJLVM
[OLHTWSPÄLYZP[JVU[HPUZP[JHUIL\ZLK[V
KYP]LMV\YTV[VYZHZSVUNHZ`V\HYLJVU-
[LU[^P[OHZPUNSLKPYLJ[PVUVMYV[H[PVU0[PZ
[OLUWVZZPISL[V[HRLVULVM[OLZLTV[VY
+U
M
M2
M
D2
M1
M
D1
OUT1(3)
OUT2(4)
IN1(3)
IN2(4)
ENA(B)
+VSS
L298
GND
+VS
1
2
/
IN1(3)
IN2(4)
ENA(B)
+U
C1
100n
C2
100n
L
070317 - 13
D1, D2 = BY252; 1N5402
3
IN1(3)
IN2(4)
ENA(B)
+VSS
L298
1(3)
2(4)
GND
+VS
OUT
OUT
1
2
/
M1
M
D1
D2
D3
D4
IN1(3)
ENA(B)
IN2(4)
+U
M
C1
100n
070317 - 14
+U
C2
100n
L
D1 ... D2 =
BY252; 1N5402
Table 1.
EnA(B)
In1(3)
In2(4)
M1
M2
H
H
H
Braked
Running
H
L
L
Running
Braked
L
X
X
Freewheel
stop
Freewheel
stop
4
1
/ L298
4
D1
1N4148
R1
10k
C1
1n5
Inx
Outx
070317 - 15
5
+VSS
L298
GND
+VS
10
13
12
14
15
11
4
5
8
2
7
3
9
1
6
1
2
3
4
R1
Rs
OUT1
OUT2
IN1
IN2
EN
+U
M
C1
100n
+U
C2
100n
L
070317 - 16
6
53
7-8/2007 - elektor electronics
HYLYLJVTTLUKLK[VWYV[LJ[[OL0*HNHPUZ[
WVZZPISLZOVY[ZVMP[ZV\[W\[Z[VLHY[O^OPJO
HYL[OLTVZ[SPRLS`[VVJJ\YPUHYVIV[H
TV[VY[LYTPUHS[V\JOPUN[OLTL[HSJOHZZPZ
MVYL_HTWSL0U[OPZJHZL:;4PJYVLSLJ-
[YVUPJZYLJVTTLUKZ[OLJPYJ\P[PU-PN\YL
;OPZJPYJ\P[[YPWZPUMZHUKYLZL[ZI`P[ZLSM
^OLU[OLZOVY[KPZHWWLHYZ
;OL 3 PZ JHWHISL VM ^P[OZ[HUKPUN H
TH_PT\TZ\WWS`]VS[HNLVM=HUKLHJO
VMP[ZWV^LYHTWSPÄLYZJHUZ\WWS`HJ\YYLU[
VM(HSYLHK`HTVYL[OHUJVTMVY[HISL
]HS\LL]LUMVYHYLSH[P]LS`OLH]`TVIPSL
YVIV[0M[OH[PZU»[LUV\NOMVY`V\P[PZHSZV
WVZZPISL[VJVUULJ[[OLWV^LYHTWSPÄLYZ
PUWHYHSSLSHZSVUNHZ`V\NVHIV\[P[[OL
YPNO[^H`@V\[OLUOH]LHTH_PT\TV\[-
W\[J\YYLU[VM(;VKV[OPZ`V\T\Z[
HKOLYL[V[OLJPYJ\P[PU-PN\YLHUKUV
V[OLY"[OH[PZ[VZH``V\T\Z[VUS`WHYHSSLS
HTWSPÄLYZHUKVU[OLVULOHUKHUK
HUKVU[OLV[OLY
1\Z[ILMVYL^LYLHJO[OLLUKVMV\YHY[P-
JSLKVUV[L[OH[[OL3 KVLZUV[PUJS\KL
I\PS[PUWYV[LJ[PVUKPVKLZZVP[PZ]P[HS[V
WYV]PKL[OLTL_[LYUHSS`HZ^LOH]LKVUL
PULHJOVMV\YÄN\YLZV[OLY^PZL[OL3
PZN\HYHU[LLK[VILKLZ[YV`LK[OLÄYZ[[PTL
[OLYVIV[»Z^OLLSZ[\YU
;OPZ0*PZVMJV\YZLUV[[OLVUS`VUL[OH[
JHUIL\ZLKMVYKYP]PUNOPNOLYWV^LY+*
TV[VYZ MVY YVIV[PJZ HWWSPJH[PVUZ 4VYL
YLJLU[HUKVYOPNOLYWLYMVYTHUJLWHJR-
HNLZKVJ\YYLU[S`L_PZ[)\[[OL3 KVLZ
OH]L[OLHK]HU[HNLVMILPUNYLHKPS`H]HPS-
HISLPUL_WLUZP]LHUKHISL[VM\SÄSH^PKL
YHUNLVMULLKZ^OPJO[VV\YTPUKTVYL
[OHUQ\Z[PÄLZ[OPZWYLZLU[H[PVUVMP[Z]HYP-
V\ZTVKLZVM\ZL(UKPM`V\HYLL]LYZV
ZSPNO[S`J\YPV\Z`V\»SSÄUKJVWPV\ZHWWSP-
JH[PVUUV[LZHIV\[P[VU[OL:;4PJYVLSLJ-
[YVUPJZ^LIZP[L^^^Z[JVT^OPJO^PSS
ILHNVVKZV\YJLVMHKKP[PVUHSPKLHZMVY
PTWSLTLU[PUNP[
(070317-I)
Driving Stepper Motors: KISS
Without using a
specialised IC
B. Broussas
<ZLKHNYLH[KLHSPUYVIV[PJZ
^OLYLP[PZHKPYLJ[JVTWL[P[VY
MVY+*TV[VYZHUKYHKPVJVU-
[YVSZLY]VZ[OLZ[LWWLYTV[VY
KVLZ OV^L]LY Z\MMLY MYVT [OL
JVTWHYH[P]LKPMÄJ\S[`LUJV\U-
[LYLK PU KYP]PUN P[ <USPRL P[Z
+* LX\P]HSLU[Z ^OPJO YV[H[L
HZZVVUHZWV^LYPZHWWSPLK[OL
Z[LWWLYTV[VYYLX\PYLZHZ\JJLZ-
ZPVUVMW\SZLZHWWSPLK[VP[Z]HYP-
V\Z^PUKPUNZ[VTHRLP[[\YU6U
[OLV[OLYOHUKHUKWYV]PKLKP[Z
TLJOHUPJHSJHWHJP[PLZHYLUV[
L_JLLKLK[OLU\TILYVMIHZPJ
Z[LWZTV]LKI`[OLTV[VYJVYYL-
ZWVUKZ[V[OLU\TILYVMW\SZLZ
HWWSPLK[VP[Z^PUKPUNZ/LUJL
PU[OPZ^H`^LOH]LH]HPSHISL[V
\Z]PY[\HSS`H\[VTH[PJWVZP[PVU-
PUNPUMVYTH[PVUPTWVZZPISL[V
VI[HPU^P[OH+*TV[VY
0U THU` YVIV[Z ^L»]L ZLLU
KYP]PUN[OLZ[LWWLYTV[VYZ^HZ
[OLQVIVMHZWLJPHSPaLK0*VUL
VM[OLMYVU[Y\UULYZILPUN[OL
3 MYVT :; 4PJYVLSLJ[YVU-
PJZ^OPJOKLZWP[LP[ZHNLPZZ[PSS
]LY` T\JO J\YYLU[ @L[ [OLYL
HYLTHU`V[OLYZVS\[PVUZZ\JO
HZKPYLJ[JVU[YVSI`VULVM[OL
WVY[ZVM[OLTPJYVJVU[YVSSLY[OH[
Y\UZ[OLYVIV[·VY[OLVUL^L
HYLZ\NNLZ[PUNOLYL^OPJOQ\Z[\ZLZ[^V
Z[HUKHYK*46:SVNPJ0*Z
(Z `V\ TH`IL HSYLHK` RUV^ [OLYL HYL
HJ[\HSS`[^V[`WLZVMZ[LWWLYTV[VY!ZPUNSL
WVSLTV[VYZHUKWVSLVULZ>OPSL[OL
ÄYZ[VUS`ULLKZPUNSLW\SZLZZLU[[V[OLPY
MV\Y^PUKPUNZ[OLSH[[LYYLX\PYLPU]LYZPVU
VM[OLZPNUHSWVSHYP[`HWWSPLK[V[OL^PUK-
PUNZ:VHZUV[[VJVTWSPJH[LV\YJPYJ\P[
\UK\S`^LOH]LKLZPNULKP[MVYZPUNSLWVSL
TV[VYZ[OL[PTPUNKPHNYHTMVY^OPJOPZ
NP]LUPU[OL[HISLILSV^
IC2.A
3
6
5
7
1
2
C
J
K
S
4
R
R1
2k2
R2
2k2
T4
BD679
T3
BD679
D1
D2
M1
M
D8
D7
IC2.B
13
10
11
12
15
14
C
J
K
S
9
R
R3
2k2
R4
2k2
T2
BD679
T1
BD679
D3
D4
D6
D5
5
6
4
IC1.C
=1
8
9
10
IC1.D
=1
1
2
3
IC1.A
=1
12
13
11
IC1.B
=1
STEP
DIR
IC3
78L05
+U
+5V
+5V
+5V
IC1
14
7
IC2
16
8
C1
10n
C3
220n
C4
1000
M
25V
C2
10
M
16V
070299 - 11
IC1 = 4070
IC2 = 4027
D1...D8 = 1N4004
motor
50mA max
L1
L2
L3
L4
1
54
elektor electronics - 7-8/2007
9LHKPUN[OLJVS\TUZVM[OPZ[HISLMYVT
[VJVYYLZWVUKZ[VYV[H[PVUVM[OLTV[VY
PUVULKPYLJ[PVU^OPSLNVPUNMYVT[V
YL]LYZLZ[OLKPYLJ[PVUVMYV[H[PVU,HJO
JVS\TUVM[OPZ[HISLJVYYLZWVUKZ[VVUL
TLJOHUPJHSZ[LWVM[OLTV[VY;OLZLZ[LWZ
]HY`MYVT[VKLWLUKPUNVU[OL
[`WLVMTV[VYJOVZLU
:V[OLJPYJ\P[VMV\YKYP]LY^P[OV\[ZWLJPHS-
PaLK0*ZZOV^UPU-PN\YLPZ]LY`ZPTWSL
ZPUJLP[ZºPU[LSSPNLUJL»PZPUMHJ[JVUÄULK[V
[^VSVNPJ0*Z0*HUK0*^OPJOHYLZPT-
WSLL_JS\ZP]L69?69NH[LZHUKHK\HS
12ÅPWÅVW^OPSL[OLWV^LYZ[HNLPZI\PS[
HYV\UKWLYMLJ[S`VYKPUHY`NLULYHSW\YWVZL
IPWVSHY[YHUZPZ[VYZ
;OLW\SZLZ[VTHRL[OLTV[VY[\YUT\Z[
ILHWWSPLK[V[OL:;,7PUW\[,HJOW\SZL
THRLZ[OLTV[VY[\YU[OYV\NOHZPUNSLZ[LW
PUVULKPYLJ[PVUVY[OLV[OLY"[OPZKPYLJ[PVU
PZKL[LYTPULKVMJV\YZLI`[OLZ[H[LVM[OL
+09PUW\[;OPZHJ[ZVUL_JS\ZP]L69NH[LZ
0*HHUK0*K\ZLKOLYLHZWYVNYHTTHISL
PU]LY[VYZ
9LTLTILY[OH[HUL_JS\ZP]L69NH[LJHU
ILYLNHYKLKHZHNH[L[OH[PU]LY[ZVYUV[
[OLZPNUHSMYVTVULVMP[ZPUW\[ZKLWLUKPUN
VU[OLZ[H[LVMP[ZV[OLYPUW\[;OPZPZLHZ`
[VZLLMYVT[OL[Y\[O[HISLPU-PN\YL0M
PUW\[(PZº»[OLV\[W\[PZ[OLZHTLHZ[OL
ZPNUHSHWWSPLK[VPUW\[)NP]LZHUK
NP]LZ/V^L]LYPMPUW\[(PZº»[OLZPN-
UHSHWWSPLK[VPUW\[)HWWLHYZPU]LY[LKH[
[OLV\[W\[NP]LZHUKNP]LZ5V[O-
PUN]LY`UL^[OLYLI\[^LKPK^HU[[V
\UKLYSPUL[OPZPU[LYWYL[H[PVUVM[OL[Y\[O
[HISLVM[OLL_JS\ZP]L69\ZLKHZHWYV-
NYHTTHISLPU]LY[LYHZ^LOH]LUV[PJLK
[OH[THU`VM`V\HYLU»[MHTPSPHY^P[OP[VY
OH]LMVYNV[[LU
:[PSSVU[OLZ\IQLJ[VM[OLTV[VYZ\WWS`
]VS[HNLUV[L[OH[P[JHUIL\W[V=PM
ULJLZZHY`(ZSVUNHZ[OLJ\YYLU[KYH^UI`
[OLTV[VYKVLZU»[L_JLLK([OL[YHUZPZ-
[VYZKVU»[ULLKHOLH[ZPURI\[VULPZHK]PZ-
HISLHIV]L[OH[0[ULLKVUS`ILHML^JT
2
ZPUJL[OL[YHUZPZ[VYZHYLVWLYH[PUNOLYLPU
Z^P[JOPUNTVKLHUKZVKPZZPWH[LYLSH[P]LS`
SP[[SLWV^LY
(070299-I)
Web Link
L293 spec. sheet
http://www.st.com/stonline/books/pdf/
docs/1328.pdf
;OL[Y\S`HJ[P]LWHY[VM[OLJPYJ\P[PZMVYTLK
I`[OL[^V12ÅPWÅVWZ0*(HUK0*)
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VMVUS`=
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C
CLK
J
K
J
K
Q
Q
S
R
XOR
070299 - 12
JK FLIP-FLOP
A
B
S
S
B
A
0
0
0
1
1
0
1
0
1
0
1
1
K
J
CLK
x
1
0
X
X
0
1
X
1
1
X
0
1
0
1
Qo
X
1
1
0
0
Qo
X
Q
n
Q
n
+ 1
Qn
Table
Step number
1
2
3
4
Winding 1
1
1
0
0
Winding 2
0
0
1
1
Winding 3
1
0
0
1
Winding 4
0
1
1
0
2
Robot Footballer
by Julian Straub
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spring
coil
ABS rod
070316 - 12
a
b
1
55
7-8/2007 - elektor electronics
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(070316-I)
BT1
1V5
THY1
TIC126D
R1
2k2
R2
LDR
C1
L1
kicker coil
070316 - 11
charger circuit
from
disposable
camera
330V
120
M 400V
2
PIC Indicator Relay
Herbert Musser
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(070090-I)
R5
1k
R1
1k
R2
1k
R3
1k
R4
100k
R6
1k
D1
4V7
C1
100n
T1
BC547
T2
IRF4905
PIC12F675
IC1
GP2
GP5
GP3
GP4
GP0
GP1
7
1
2
8
4
5
6
3
JP1
D2
1N4001
+12V
070090 - 11
56
elektor electronics - 7-8/2007
Catapult for Robots ...or Other Uses
Pascal Liégeois
0U[OPZHNLVMSHZLYYH`ZP[ZLLTZHUHJOYV-
UPZ[PJ[V[HSRVMJH[HW\S[Z·I\[P[»ZUV[HZ
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JVTWL[P[PVU
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[OLTVM[LUWVZLZHWYVISLTVMHJJ\YHJ`
HUKYLSPHIPSP[`
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Circuit
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HYV\UKTZ;OL^PK[OVM[OLWVZP[P]L
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[OLZLY]VTV[VY
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PZIHZLKVU[OL\ZLVMH+7+;YLSH`HUK
[^VTPJYVZ^P[JOLZ:^PZ\ZLK[V[YPNNLY
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[OLSL]LY3PZYLSLHZLKW\SSLK\WI`ZWYPUN
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SH[JOLZ]PHP[ZJVU[HJ[YL)HUKTPJYVZ^P[JO
NE555
IC1
DIS
THR
OUT
TR
CV
2
7
6
4
R
3
5
8
1
D1
R1
P1
P2
C2
C1
R2
K1
Servo
C3
re1A
+4V8...+6V
re1B
RE1
Sw1
Sw2
T1
6V
R4
D2
R3
S1
070210 - 11
4k7
10k
1RT
1RT
2RT-6V
4k7
68k
330n
10n
470
M
16V
2N2219
1N4148
1N4148
P1, P2 = 4k7 ... 5k multiturn
electromagnet
fire button
G
2
1
L
P
V
070210 - 12
Sw1
Sw2
R
electromagnet
Figure 1.
The catapult electronics.
Figure 2.
Operating diagram of the catapult.
57
7-8/2007 - elektor electronics
square stock
sectional
steel/iron
Sw2
connecting
rod
spring
electromagnet
catch
Sw1
curved slots
070210 - 13
:^I`[OPZ[PTLYL[\YULK[VP[ZYLZ[Z[H[L
;OLZLY]VTV[VYZ[HY[Z[V[\YUJSVJR^PZL
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JH[JO"H[[OLZHTL[PTL:^PZVWLYH[LK
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7YLZL[7SL[Z\ZHKQ\Z[[OL\WWLYWVZP[PVU
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MVY[OLY\IILYZ[VWU\TILYLK
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[PVU[OLIHSS^PSSNVOPNOLYHUKPUWVZP-
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^HU[[VKYVWHWPUNWVUNIHSSPUHWVJRL[
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(070210-I)
Figure 3.
Mechanical construction details.
58
elektor electronics - 7-8/2007
Servo to Motor Conversion
Paul Goossens
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(070358-I)
1
2
3
4
5
59
7-8/2007 - elektor electronics
Driving Stepper Motors
Using a Basic Stamp
or a PIC programmed
in Basic
C. Tavernier
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070237 - 11
R1
1k
R2
1k
R3
1k
R4
1k
P0
P1
+5V Stamp / Cubloc
Basic Stamp
Cubloc
or
(50V max)
ULN2003
IC1
GND
DS
10
11
12
13
14
15
16
I1
I2
I3
I4
I5
I6
I7
O1
O2
O3
O4
O5
O6
O7
9
1
2
3
6
7
4
5
8
+U
motor
L3
L1
L2
L4
Table 1
Step number
1
2
3
4
Winding 1
1
1
0
0
Winding 2
0
0
1
1
Winding 3
1
0
0
1
Winding 4
0
1
1
0
‘ Control of a unipolar stepper motor
‘ The step number is put in w1
‘ The rotation direction is defined by b0
‘ Variable’s definition
Symbol direction = b0
Symbol incr = w1
Symbol index = w2
Symbol delay = b6
‘ Initialization
dirs = %00000011
pins = %00000001
b1 = %00000001
‘ Here the application program must initialize
‘ incr, direction and delay with the required values
if direction = 0 then incrincr
b1 = b1 ^ %00000011
incrincr:
for index = 1 to incr
pins = pins ^ b1
b1 = b1 ^ %00000011
pause delay
next
60
elektor electronics - 7-8/2007
respectively seven-way or eight-way inte-
grated power Darlingtons normally used to
drive relay coils. The required software is
very simple, thanks to a couple of tips sug-
gested by Parallax (the manufacturer of the
Basic Stamp).
The fi rst is to note that the status of wind-
ings 1 and 2 on the one hand, and wind-
ings 3 and 4 on the other, is always opposite,
as indicated in the attached table. Because of
this, the motor can be driven using just two
of the Basic Stamp outputs, as shown in the
very simple circuit we are suggesting.
Windings 1 and 3 are driven from two lines
of the Basic Stamp port, after amplifi cation
by the ULN2003 (or 2803). Windings 2
and 4 receive these signals after inversion,
performed using two of the spare ampli-
fi ers in the ULN2003 (or 2803), which is
overkill but perfectly practical. Note the
presence of the two essential 1 k pull-up
resistors, connected to the outputs of the
amplifi ers in the ULN2003 (or 2803), as
the Darlingtons are only open-collector.
The second tip suggested by Parallax con-
sists of directly calculating the sequence of
signals to be applied to the Basic Stamp’s
P0 and P1 outputs, rather than getting
these data from a table. All that’s actually
being used and the load it
is driving.
To be as general as possible, note that
this example of code has been written in
Basic Stamp I language. So it is fully trans-
posable, without restriction, to any other
type of Basic Stamp, as well, of course, as
to any PIC programmed in Basic, since the
majority of Basic compilers for PICs are
compatible with the Basic Stamp I lan-
guage. It can likewise be easily migrated
to a PicBasic or a Cubloc from Comfi le
Technology.
(070237-I)
needed
is a simple XOR logic func-
tion, as shown in the program
listing.
This short example of code may be
included as is into a more complete appli-
cation. As can be seen, it makes the step-
per motor connected as shown in the
fi gure turn through the number of steps
previously loaded into w1. The direction
of rotation is determined by the contents
of b0. If b0 is anything other than 0, the
motor turns one way; if not, it turns the
other way. This program also lets us defi ne
the wait time between each step, by means
of the data used in the PAUSE instruction;
the only proviso is not to reduce this delay
too much, taking into account the motor
61
7-8/2007 - elektor electronics
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62
elektor electronics - 7-8/2007
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Which Brain for my Robot?
A mini practical guide
C. Tavernier
www.tavernier-c.com
More than any other electronics project, these days a robot can
virtually not manage without at least one microcontroller to run it.
So of course this raises the question of how best to select one, and
this article is here to help you in this delicate task. Although the
simplest robots can get by with virtually any type of microcontroller
programmed in the language of your choice, as the complexity
of the robot increases, it becomes clear that certain ICs are
more suitable than others for a purely robotic application.
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63
7-8/2007 - elektor electronics
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Table 1: Pinout for the Basic Stamp 2 in the 24-pin package, adopted by many of its
competitors
(Basic Atom 24, Cubloc CB220, Javelin Stamp, among others).
Name
Pin no.
Function
S
OUT
1
Programming output (PC serial port)
S
IN
2
Programming input (PC serial port)
ATN
3
Programming input (PC serial port)
V
SS
4 et 23
Ground
P0 à P15
5 à 20
Input/output ports
V
DD
21
5 V stabilized output (input if VIN is too low)
RST
22
Manual external reset input (if required)
V
IN
24
Unstabilized positive supply from 5–15 V
(12 V for 2E, 2SX, and 2P24)
Photo 1.
Though it’s been a bit left behind now, here’s the father of all the Basic Stamps,
the Basic Stamp 1.
Figure 1.
The physical appearance,
dimensions, and pinout of the Basic
Stamp 2 have been taken up by many of its
competitors: Basic Atom 24, Javelin Stamp,
Cubloc CB220 amongst others.
64
elektor electronics - 7-8/2007
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VN`>L^VU»[[HSRHIV\[P[OLYLHZP[»Z
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LU[LK\ZL:V[VTHRLWHYHSSLSWVY[7NV
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V\ZRUV^SLKNLVMWYVNYHTTPUN4VYLV-
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VM.VVNSPUN[VZLLMVY`V\YZLSM
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NVVKJOVPJLMVYZVTLVUL^HU[PUN[VTHRL
HZ[HY[PUYVIV[PJZL]LUPMP[KVLZWYLZLU[
PUV\Y]PL^[^VKYH^IHJRZVM\ULX\HS
PTWVY[HUJL!P[»ZZ[PSSL_WLUZP]LJVTWHYLK
[VV[OLYZPTPSHY0*Z"HUKP[KVLZU»[Z\WWVY[
T\S[P[HZRPUN;OPZWVPU[T\Z[OV^L]LYIL
[HRLUYLSH[P]LS`PUHZT\JO[OH[HU\TILYVM
TPJYVJVU[YVSSLYZ[OH[KVZ\WWVY[P[HYLWPU
JVTWH[PISL^P[O[OLWPU)HZPJ:[HTWZ
HSSV^PUNLHZ`Z\IZ[P[\[PVUPU[OLL]LU[VM
`V\YYVIV[»ZL]VS]PUNPU[OPZKPYLJ[PVU
)HZPJ:[HTWºJSVULZ»
;OLZ\JJLZZVM[OL)HZPJ:[HTWOHZJSLHYS`
THKLZVTLWLVWSLLU]PV\ZHUK]HYPV\Z
Table 2: Principal characteristics of the various Basic Stamps and the Javelin Stamp.
Parameter
Basic Stamp
2
Basic Stamp
2SX
Basic Stamp
2E
Basic Stamp
2P24
Basic Stamp
2P40
Javelin Stamp
Microcontroller
PIC16C57
SX28
SX28
SX48
SX48
SX48
Clock frequency
20 MHz
50 MHz
20 MHz
20 MHz
20 MHz
25 MHz
Program memory (bytes)
2 K
8 x 2 K
8 x 2 K
8 x 2 K
8 x 2 K
32 K
Program memory
(instructions)
500
4 000
4 000
4 000
4 000
–
Working memory (bytes)
32
32
32
38
38
32 K
Scratch memory (bytes)
–
64
64
128
128
–
Speed (inst./sec.)
4 000
10 000
4 000
12 000
12 000
8 500
Number of Basic instructions
36
39
39
55
55
0 (Java)
Parallel inputs/outputs
16
16
16
16
32
16
Max. source/sink current per
output
20/25 mA
30/30 mA
30/30 mA
30/30 mA
30/30 mA
30/30 mA
Max. source/sink current
per chip / per group of 8
inputs/outputs
40/50
60/60
60/60
60/60
60/60
60/60
Programming interface
PC serial port
9,600 baud
PC serial port
9,600 baud
PC serial port
9,600 baud
PC serial port
9,600 baud
PC serial port
9,600 baud
PC serial port
28,800 baud
Supply voltage
5 - 15 V
5 - 12 V
5 - 12 V
5 - 12 V
5 - 12 V
5 - 24 V
Operating current
8 mA
60 mA
20 mA
40 mA
40 mA
80 mA
Stand-by current
100 μA
200 μA
100 μA
400 μA
400 μA
stand-by mode
65
7-8/2007 - elektor electronics
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Photo 2.
The Basic Stamp’s offspring.
66
elektor electronics - 7-8/2007
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Figure 2.
Internal architecture of the Cubloc CB220.
Figure 3.
Internal architecture of the Propeller – impressive, and allowing true multitasking.
Photo 3.
The PicBasic (right) marked Comfile Technology’s entry into the world of these special
microcontrollers. It wasn’t yet pin-compatible with the Basic Stamp 2 (left).
67
7-8/2007 - elektor electronics
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Table 3: Principal characteristics of the various Cublocs.
Parameter
CB220
CB280
CB290
CB405
Microcontroller
ATmega128
ATmega128
ATmega128
ATmega2560
Clock frequency
18.432 MHz
18.432 MHz
18.432 MHz
18.432 MHz
Program memory
80 K
80 K
80 K
200 K
Dynamic memory (RAM)
2 K (Basic)
1 K (Ladder)
2 K (Basic)
1 K (Ladder)
24 K (Basic)
4 K (Ladder)
51 K (Basic)
4 K (Ladder)
55 K (pile)
Data EEPROM
4 K
4 K
4 K
4 K
Speed (instr./s)
36,000
36,000
36,000
36,000
Inputs/outputs
16
49
91 (33 entrées, 32 sorties et
26 entrées/sorties)
64
Serial ports
1 RS-232 1 TTL
1 RS-232 1 TTL
1 RS-232 1 TTL
4 RS-232
ADC (10-bit)
8 channel
8 channel
8 channel
16 channel
DAC (16-bit, PWM)
3 channel
6 channel
6 channel
12 channel
External interrupts
–
4
4
4
Fast counters
2 x 32 bits
2 x 32 bits
2 x 32 bits
2 x 32 bits
Real-time clock
–
–
Oui
–
Supply voltage
5 - 12 V
5 V
5 V
5 V
Operating current
40 mA
40 mA
70 mA
50 mA
Package
24-pin DIL
(BS2 compatible)
64-pin module
108-pin module
80-pin module
Photo 4.
The Cubloc CB220 (right) is directly interchangeable with the Basic Stamp 2 (left).
68
elektor electronics - 7-8/2007
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(070319-I)
Addresses
URL
Company
Comments
www.atmel.com
Atmel
Manufacturer of AVR
microcontrollers
www.basicmicro
Basic Micro
Manufacturer of Basic Atom
www.comfile.co.kr/english2/
‘PicBasic’ website
Manufacturer of PicBasic
www.comfiletech.com
Comfile Technology
General site
Manufacturer of Cubloc
www.microchip.com
Microchip
Manufacturer of PIC
microcontrollers
www.oopic.com
Savage Innovations
Manufacturer of OOPic
www.parallax.com
Parallax
Manufacturer of: Basic Stamp,
Javelin Stamp, Propeller
www.tavernier-c.com
–
Author’s website
Photo 5.
The development tools for Basic
Stamp and Cubloc include a very useful
editing terminal.
Photo 6.
The Propeller development tool
showing an example of Spin — not exactly a
barrel of laughs, but the results are worth the
effort!
Photo 7.
The OOPic development tool
allows graphical interaction
with the objects used by the program.
Servo Control from a PC
Bas Lijten
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69
7-8/2007 - elektor electronics
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(070373-I)
Manufacturer of the controller:
http://www.lynxmotion.com
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Propeller Prototyping Board
for BoeBot
70
elektor electronics - 7-8/2007
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P0
1
P1
2
P2
3
P3
4
P4
5
P5
6
P6
7
P7
8
P8
13
P9
14
P10
15
P11
16
P12
17
P13
18
P14
19
P15
20
P16
21
P17
22
P18
23
P19
24
P20
25
P21
26
P22
27
P23
28
P24
33
P25
34
P26
35
P27
36
P28
37
P29
38
P30
39
P31
40
VS
S
9
BO
E
10
XO
31
XI
30
RE
S
11
VD
D
32
VD
D
12
VS
S
29
IC4
P8X32A-D40
NC
1
NC
2
NC
3
GN
D
4
SDA
5
SCL
6
WC
7
VC
C
8
IC3
24LC256
X1
5MHz
GND
3V3
GND
1
2
3
4
IC1
LM2937ES-5.0
1
2
3
4
IC2
LM2937ES-3.3
R1
270
D1
16V
C2
10u
16V
C1
10u
C3
100n
S1
S2
5V
3V3
K2
K3
C4
100n
C5
100n
3V3
GND
GND
K1
GND
R2
10k
RESn
TX
RX
RX
TX
RESn
+5V
+5V
+5V
+5V
GND
GND
GND
GND
GND
+5V
3V3
070275 - 11
Figure 1:
The circuit diagram of the Propeller prototyping board.
P26
P4
R2
C5
IC3
D1
K3
P31
P30
P27
P29
P28
K2
P0
P3
P1
P2
P24
P25
X1
P23
P22
P21
P20
P19
P18
P16
P17
IC4
C4
P5
P7
P6
P9
P8
P14
P15
P10
P11
P13
S2
P12
C2
R1
C1
K1
C3
S1
Figure 2:
The board layout is single-sided. If you expect to use the prototyping area a lot then a
double-sided through-hole plated version would be preferable.
Components list
Resistors
R1 = 270
7
R2 = 10k
7
Capacitors
C1,C2 = 10
MF 16V radial
C3,C4,C5 = 100nF
Semiconductors
IC1 = LM2937ES-5.0
IC2 = LM2937ES-3.3
IC3 = 24LC256
IC4 = Propeller chip P8X32A-D40
(Parallax)
Miscelllaneous
X1 = 5MHz quartz crystal
K2 = 5-way SIL pinheader
K3 = 4-way SIL pinheader
S1 = on/off switch
S2 = 1 make contact
4 pcs 3-way SIL pinheader
PCB, order code 070275-1 from Elektor
SHOP
71
7-8/2007 - elektor electronics
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(070275-I)
Web Link:
^^^WHYHSSH_JVTWYVWLSSLY
Figure 3:
This message confirms that the Propeller Tool has made a connection
and the fun can begin!
‘TEAclipper’
Postage-stamp Programmer
Richard Hoptroff
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72
elektor electronics - 7-8/2007
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Jürgen Wickenhäuser
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COMPONENTS LIST
Resistors
R1 = 240
7 SMD (0805)
R2 = 390
7 SMD (0805)
R3,R4,R7,R9,R11,R12,R13 = 1k
7 SMD (0805)
R5,R6,R8,R10 = 220k
7 SMD (0805)
Capacitors
C1 = 4μF7 25V SMD (1206 or 1210)
C2 = 10μF 6V SMD (1206 or 1210)
C3 = 100nF SMD (0805)
C4,C5,C6,C7,C8 = 1μF SMD (0805)
Semiconductors
D1 = GF1M
T1 = BC857 SMD (SOT23)
LED1,LED2 = LED, red, SMD (0805)
IC1 = LM317 SMD (SO8)
IC2 = 74HCT00 SMD (SO14)
IC3 = MAX3232 (SO16)
Miscellaneous
K1 = mains adaptor socket for PCB
mounting
K2 = 9-way sub-D socket, angled, PCB
mount
K3 = 5-way SIL pinheader
PCB, ref. 070084-1, from www.thepcbshop.
com
73
7-8/2007 - elektor electronics
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Figure 1.
‘Code Architect’ is a free tool that makes using
the LPC900 microcontroller very straightforward.
C7
1u
C6
1u
1
2
&
3
IC2A
4
5
&
6
IC2B
R6
220k
R10
220k
1
2
3
4
5
6
7
8
9
11
10
K2
16
C1+
1
C1-
3
C2+
4
C2-
5
T1IN
11
R1OUT
12
R1IN
13
T1OUT
14
V-
6
V+
2
GND
15
T2IN
10
R2OUT
9
T2OUT
7
R2IN
8
IC3
MAX3232
R5
220k
R8
220k
+3V3
12
13
&
11
IC2D
9
10
&
8
IC2C
R12
1k
R9
1k
R11
1k
+3V3
C5
1u
C8
1u
OUT
2
IN
1
3
ADJ
4
6
7
IC1
LM317
R1
240R
R2
390R
T1
BC857
R4
1k
K3
LED2
LED1
R7
1k
R3
1k
6V
C2
10u
25V
C1
4u7
D1
1N4001
+3V3
+3V3_ISP
R13
1k
+3V3
ISP connector
3V3
switched
CPU_VCC
CPU_RXD
CPU_TXD
CPU_RES
CPU_GND
C4
1u
+3V3_ISP
C3
100n
14
7
IC2
K1
IC2 = 74HCT00
070084 - 11
VCC
Figure 2.
Circuit of the LPC900 programmer.
R6
9
LED2
K3
LPC900 P ROGR A MME R
T1
R3
C
3
IC2
5
R5
R4
R 2
LE
D
1
C2
IC1
R 1
C 1 D1
K1
C8
C7
R1
3
C6
(c
)
E
le
k
to
r
07
00
84
-1
C 5
K 2
1
R1
2
IC
3
R1
1
R7
R9
C4
R1
0
6
R8
Figure 3.
Layout and component mounting
plan for the printed circuit board.
74
elektor electronics - 7-8/2007
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(070084-I)
References and links
[1] http://www.standardics.nxp.com/pro-
ducts/lpc900 (NXP, manufacturer of the
LPC900 family).
[2] http://www.esacademy.com (Embedded
Systems Academy: Flash Magic, Code
Architect).
[3] ELEKTOR RFID Reader (using an LPC936),
Elektor Electronics, September 2006,
p. 26.
[4] http://www.wickenhaeuser.de (μC/51
compiler, demonstration version).
[5] http://www.geo-precision.com (geotech-
nical research and development).
Figure 4.
Initialisation specific to the LPC900 requires just five instructions.
Figure 5.
The μC/51 compiler uses a well-structured classical ‘make’ system.
Figure 6.
Flash Magic is a free tool for programming LPC microcontrollers.
Figure 7.
Settings for the RTS and DTR signals
in the Flash Magic terminal program.
75
7-8/2007 - elektor electronics
Low
2
Cost USB Demo Board
C your way
through USB
Martin Valle
Slick graphics, reading
analogue values and making
them appear in graphs,
cockpit-style meters and dials,
all on USB… How do they do it?
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C2
100n
C1
100n
PIC18F4550
RC0/T1OSO
RC1/T1OSI
RA4/T0CKI
MCLR/VPP
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RD0/SPP0
RD1/SPP1
RD2/SPP2
RD3/SPP3
RD7/SPP7
RD4/SPP4
RD5/SPP5
RD6/SPP6
RB0/AN12
RB1/AN10
RB4/AN11
RA5/AN4
RA3/AN3
RA2/AN2
RE0/AN5
RE1/AN6
RE2/AN7
RB3/AN9
RB2/AN8
RA0/AN0
RB7/PGD
RB6/PGC
RA1/AN1
RB5/PGM
RC4/D-
RC7/RX
RC6/TX
RC5/V+
VUSB
IC1
OSC1
OSC2
11
15
40
39
38
37
35
36
34
33
31
12
10
32
16
17
18
19
20
21
22
13
14
26
25
24
23
30
27
28
29
1
3
2
4
6
5
7
8
9
R9
10M
X1
20MHz
C4
22p
C5
22p
K1
+5V
GND
D–
D+
1
2
3
4
R10
10
7
R11
10
7
R8
1
7
C6
100n
R12
330
7
D1
R13
330
7
D2
R14
330
7
D3
R15
330
7
D4
R5
470
7
R4
470
7
R6
10k
R7
10k
R1
10k
S3
S2
S1
R2
470
7
R3
470
7
C3
100n
JP1
P1
10k
JP2
RD0
RD1
RD2
RD3
R16
330
7
D5
PWR
VDD
VDD
USB-B
060342 - 11
Figure 1.
Schematic of the USB demo board.
USB Quick & Easy
• 2 analogue inputs (1 on pot)
• 2 digital inputs (switches)
• 4 digital outputs (LEDs)
• 1 (one) IC: PIC18F4550 (available
ready-pr
ogrammed)
• Full suite of softwar
e building blocks
• Project softwar
e for Builder C++ 6
• Demo pr
ogram for 2-channel A/D
with graph/meter r
eadout on PC
Figure 2.
Device Manager showing the installation of the PICDEM FS USB Demo Board.
76
elektor electronics - 7-8/2007
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-YVTUV^VU`V\JHUSVHKUL^WYVNYHTZ
Figure 3.
PICDEM FS USB tool showing the board (device) connected.
Figure 4.
Demo Mode of the Pdfsusb tool.
77
7-8/2007 - elektor electronics
)\PSKP[
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6W[PVUZ+H[HHSPNUTLU[
(060342-I)
Figure 5.
Two ADC Channels and USB of the PIC in action.
Listing 1.
/** D E F I N I T I O N S *****************************************/
#define EP0_BUFF_SIZE 8 // 8, 16, 32, or 64
#define MAX_NUM_INT 1 // For tracking Alternate Setting
/* Parameter definitions are defined in usbdrv.h */
#define MODE_PP _PPBM0
#define UCFG_VAL _PUEN|_TRINT|_FS|MODE_PP
//#define USE_SELF_POWER_SENSE_IO
//#define USE_USB_BUS_SENSE_IO
Optimised STK200/300 Programmer
for AVR Micros
Hesam Moshiri
;OL :;2 WYVNYHTTLY PZ
MV\UKPUULHYS`L]LY`WYVNYHTTLY
ZVM[^HYLMVY([TLS(=9TPJYVJVU-
[YVSSLYZ;OLWYVNYHTTLYZOV^UOLYL
KPMMLYZMYVTV[OLYZPTPSHYJPYJ\P[ZPU
UV[YLX\PYPUNHU`L_[YHWV^LYZ\WWS`
MVYP[ZLSM^OPSLZ[PSSVMMLYPUN:;2
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L_HTWSL)(:*64HUK*VKL=PZPVU
(060374-I)
74HC244
IC1
EN1
EN2
1D1
1D2
19
11
13
15
17
18
16
14
12
1
2
4
6
8
9
7
5
3
K1
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
1
2
3
4
5
6
7
8
9
IC1
20
10
C1
100n
R1
100k
SUB D25
060374 - 11
+5V
GND
CLK
MOSI
RST
MISO
78
elektor electronics - 7-8/2007
ISLMVYMYLLMVY[OLKLTVUZ[YH[PVU]LYZPVU
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PU[LYMHJL0M[OLPU[LYMHJL\ZLZ;;3ZPNUHS
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MYVT ZJYH[JO V\YZLS]LZ ^L THRL \ZL VM
Satnav for Robots
GPS guidance
for autonomous
vehicles
Ulli Sommer
A (frequently unfulfilled)
ambition of every robot builder
is to make their machine
capable of autonomous
navigation. This is an ideal
application for a GPS receiver
module: these have recently
become very cheap to buy.
Our GPS-based navigation
system is built around an
ATmega32, programmed
using BASCOM BASIC. It
communicates with the outside
world using an I
2
C bus.
How to program track points
Before attempting any autonomous journeys we must program a
series of set coordinates (‘track points’) into the navigation system.
The first step is to replace the GPS mouse with a (null modem) data
cable, connected to a PC. On the PC, start up a terminal emula-
tor program such as Hyperterminal. A terminal emulator is also
included in the BASCOM package.
The interface parameters must be set as for the mouse (i.e., to
4800 baud). When connection has been set up, press the reset and
programming buttons simultaneously. Then first release the reset
button and then the programming button around a second later.
You should see a welcome message (which indicates how to get
help) and a prompt on the terminal.
The following commands are also available: ‘Data’ lists the stored
GPS data; ‘Input’ allows the GPS data to be edited; and ‘Reset’
restarts the navigation system.
The coordinates of the track points can be determined using a sep-
arate GPS system; alternatively, the robot can be moved manually
to each track point in turn and the coordinates read off the LCD.
With the track point data programmed in, the robot can be left to
its own devices!
79
7-8/2007 - elektor electronics
Figure 2.
Prototype navigation system printed circuit board for autonomous robots.
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PCF8574
IC2
SDA
SCL
INT
P0
15
16
P1
P2
P3
P4
P5
10
P6
11
P7
12
14
13
A0
A1
A2
4
8
5
6
7
9
1
2
3
R9
4k7
R8
4k7
R7
4k7
R6
4k7
R10
4k7
R11
4k7
R12
4k7
R13
4k7
X1
16MHz
C2
22p
C1
22p
R23
10k
R17
470
7
R18
470
7
R22
470
7
S3
RESET
R24
10k
S2
PRG
D6
D5
D3
R14
10k
R15
10k
R16
10k
PB2(INT2/AIN0)
PB3(OC0/AIN1)
PB0(XCK/T0)
(TOSC1)PC6
(TOSC2)PC7
PB5(MOSI)
PB6(MISO)
PD2(INT0)
PD3(INT1)
PD4(OC1B)
PD5(OC1A)
PD6(ICP1)
(ADC7)PA7
(ADC6)PA6
(ADC5)PA5
(ADC4)PA4
(ADC3)PA3
(ADC2)PA2
(ADC1)PA1
(ADC0)PA0
ATmega32
PB7(SCK)
PD0(RXD)
PD1(TXD)
PD7(OC2)
(SCL)PC0
(SDA)PC1
(TCK)PC2
(TMS)PC3
(TDO)PC4
(TDI)PC5
PB1(T1)
PB4(SS)
XTAL1
XTAL2
IC1
AVCC
AREF
RST
GND
VCC
GND
12
11
10
13
31
30
32
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
33
34
35
36
37
38
39
40
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
10
K1
K6
K5
K7
K4
ISP
R1
2k2
R2
2k2
+5V
+5V
R5
10k
R4
10k
R3
10k
+5V
+5V
7805
IC3
D1
1N4001
+8V ... +15V
C4
47
M
C7
1
M
C5
100n
C6
100n
R19
470
7
D2
+5V
MISO
SCK
RST
MOSI
RXD
TXD
SYSTEM
RUN
DRIVE SIGNAL
READOUT
SDA
SCL
SDA
SCL
+5V
GND
+5V
GND
POWER
compass
I
2
C LCD 16 x 4
I
2
C - Bus
able
I
2
C - Bus
to main controller
trackpoint assignment
ADR
JP1
JP2
JP3
Figure 1.
The ATmega32 communicates with the compass and the LCD over an I
2
C bus; the GPS mouse is connected via RS-232.
The PCF8574 I
2
C interface chip takes on the task of accepting a control byte and making it available on pins 33 to 40 of the ATmega.
80
elektor electronics - 7-8/2007
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(070350-I)
Web links
[1] http://www.mcselec.com
[2] http://www.elektor-electronics.co.uk
[3] http://www.kanda.com
[4] http://www.robot-electronics.co.uk
[5] http://www.nxp.
com/cgi-bin/pldb/pip/pcf8574
P[H]HPSHISLVUWPUZ[VVM[OL(;TLNH
ZLL-PN\YL;OLZVM[^HYLJVUÄN\YLZ[OL
KL]PJL[VY\UPUPUW\[TVKL-VYHZPTWSLY
OHYK^HYLKLZPNUP[PZVMJV\YZLWVZZPISL[V
KPZWLUZL^P[O[OLPU[LYMHJLJOPWHUKKYP]L
[OLWVY[WPUZVM[OL(;TLNHOPNOHUK
SV^KPYLJ[S`HUKPUWHYHSSLS
;VZLSLJ[MVYL_HTWSL[YHJRWVPU[\ZPUN
[OL0
2
*PU[LYMHJL^LT\Z[ZLUK[OLU\TILY
º»[V[OL7*-0U)(:*64)(:0*[OPZ
TPNO[ILKVULHZMVSSV^Z
I2cstart
I2cwbyte &H7A (address of
PCF8574: see data sheet for
addressing scheme)
I2cwbyte 1 (track point number)
I2cstop
>OLU[OL[YHJRWVPU[ZLSLJ[PVUI`[LOHZ
ILLUZLU[[OLUH]PNH[PVUZ`Z[LTKL[LY-
TPULZ [OL KPYLJ[PVU [V [OL KLZ[PUH[PVU
;OPZ JHSJ\SH[LK KPYLJ[PVU PZ [OLU JVT-
WHYLK [V [OL J\YYLU[ VYPLU[H[PVU VM [OL
YVIV[VI[HPULKMYVT[OLJVTWHZZ0U[OPZ
JHSJ\SH[PVU^LPNUVYL[OLJ\Y]H[\YLVM[OL
LHY[OZPUJL^LKVUV[L_WLJ[V\YYVIV[[V
LTIHYRVUSVUNKPZ[HUJLQV\YUL`Z
0M[OLKLZPYLKHUKHJ[\HSKPYLJ[PVUZHYLPU
HNYLLTLU[[OLYVIV[HK]HUJLZPUHZ[YHPNO[
SPUL0MHZP[TV]LZ[OLYVIV[ZOV\SKKL]P-
H[LMYVT[OLSPUL[V[OLKLZ[PUH[PVU[OL
compass
RS232
GPS
I
2
C
I
2
C
track point
assignment
go left
go right
target OK
RST
LEFT
RIGHT
GPS-BOT-DRIVE
PRG
070350 - 13
Figure 3.
Simplified block diagram of the navigation system. The buttons are used when
programming. Commands for the motors are output on two port pins.
PCF8574
IC4
SD
A
SCL
INT
P0
15
16
P1
P2
P3
P4
P5
10
P6
11
P7
12
14
13
A0
A1
A2
4
8
5
6
7
9
1
2
3
K8
10k
+5V
LC DISPLAY
16 x 4
VSS
VDD
R/W
VO
RS
D0
D1
D2
10
D3
11
D4
12
D5
13
D6
14
D7
1
2
3
4
5
6
E
7
8
9
070350 - 12
SD
A
SCL
+5V
GND
Figure 4.
The LCD is driven over an I
2
C bus,
the PCF8574 interface chip making a second
appearance in the circuit (see Figure 1).
GPS mouse data
A typical data packet received from a GPS mouse using the simple $GPGGA protocol
might appear as follows.
$GPGGA,191410,5212.9324,N,00007.5930,E,1,04,4.4,11.5,M,48.0,M,,*73
Here ‘$GPGGA’ is the protocol type, ‘191410’ the time, ‘5212.9324,N’ the latitude,
‘00007.5930,E’ the longitude, ‘1’ indicates that the reading is valid and ‘04’ is the number
of satellites in view. As you can see, this covers all the information we need. All we need to
do is switch the GPS mouse to the $GPGGA protocol and set the communication speed to
4800 baud. Other protocols should be disabled, and the reporting interval set to approxi-
mately 1 s. The settings are made using the software provided with the GPS mouse.
Protocol
Time
Latitude
Longitude
measurement quality (0=insufficient, 1=ok)
no. of visible satellites
Motor_l
Motor_r
Function
0
0
STOP
1
1
straight on
1
0
turn left
0
1
turn right
81
7-8/2007 - elektor electronics
Serial Interface for the Propeller
Simple and
inexpensive
Luc Lemmens
;OL7YVWLSSLYWYV[V[`WPUNIVHYKKLZJYPILK
LSZL^OLYLPU[OPZPZZ\LULLKZHWYVNYHT-
TPUNPU[LYMHJLQ\Z[SPRL[OLIVHYKH]HPSHISL
MYVT7HYHSSH_;OLTHU\MHJ[\YLYVMMLYZ[OL
7YVWLSSLY7S\NHUK[OL7YVWLSSLY*SPWMVY[OPZ
W\YWVZL;OL`JHUIL\ZLK[VSPUR[OLIVHYK
[VH7*]PHH<:)WVY[;OLZLTPUPIVHYKZ
HYLÄ[[LK^P[OHU-;+0-;0*^OPJOOHZ
HWWLHYLKX\P[LYLN\SHYS`PU[OLTHNHaPUL
;OLKPMMLYLUJLIL[^LLU[OL7S\NHUK[OL
*SPWPZPUOV^[OL`JVUULJ[[V[OLWYVJLZ-
ZVYIVHYK;OL7S\NJVUULJ[Z[VH^H`:03
OLHKLY^OPSL[OL*SPWJVUULJ[Z[VMV\YZVS-
KLYWHKZH[[OLLKNLVM[OLIVHYK;OLSH[-
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]LYZPVUVM[OL7YVWLSSLYKLTVIVHYKHUKP[
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7S\NPZ[OLYPNO[<:)PU[LYMHJLMVY[OLWYV[V-
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VMTVUL`HUKWYLMLY[V\ZL[OLVSKMHP[OM\S
9:PU[LYMHJLHUK`V\Y7*OHZHZLYPHS
WVY[`V\JHUI\PSK[OLZPTWSLZLYPHSPU[LY-
MHJLKLZJYPILKOLYL
;OYLLNHYKLU]HYPL[`[YHUZPZ[VYZHOHUKM\S
VMYLZPZ[VYZHUKHJHWHJP[VYHYLHSSP[[HRLZ
[VSL[[OL7YVWLSSLYJVTT\UPJH[L^P[OH7*
]PH[OLZLYPHSWVY[;OLPU[LYMHJLHJ[\HSS`
JVUZPZ[ZVMUV[OPUNTVYL[OHU[OYLLPU]LY[-
LYZHUKSL]LSZOPM[LYZ^OPJOLUHISL[OL
7YVWLSSLYIVHYK^OPJOPZWV^LYLKMYVTH
=Z\WWS`[V[HSR[V[OL*64WVY[VMH
7*^OPJOVWLYH[LZ^P[Oo=ZPNUHSZ
*VUULJ[VY 2 ^OPJO WYV]PKLZ [OL SPUR
[V[OL7YVWLSSLYIVHYKOHZPU[LU[PVUHSS`
ILLUSHPKV\[^P[O[OLZPNUHSSPULZPU[OL
ZHTLZLX\LUJLHZVU[OL7YVWLSSLY7S\N
I\[OLYL^LULLKHUHKKP[PVUHSSPULMVY[OL
=Z\WWS`]VS[HNL;OPZTHRLZP[WVZ-
ZPISL[V\ZL[OLPU[LYMHJLIVHYK^P[O[OL
7HYHSSH_IVHYKHZ^LSS/V^L]LYPU[OH[
JHZLHZTHSSTVKPÄJH[PVUPZULJLZZHY`MVY
[OLZ\WWS`]VS[HNLJVUULJ[PVU
>L OH]L KLZPNULK H ZTHSS 7*) MVY [OPZ
JPYJ\P[I\[VMJV\YZLP[»ZUVWYVISLT[V
I\PSKP[VUWPLJLVMWLYMVYH[LKWYV[V[`WPUN
IVHYKPUZ[LHK>P[OHIP[VMLMMVY[`V\JHU
WYVIHIS`L]LUTHRLP[ZVJVTWHJ[[OH[[OL
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-VY[\UH[LS`^OLU`V\\ZL[OPZPU[LYMHJL
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PUNHSSZVY[ZVMZL[[PUNZIH\KYH[LU\TILY
VMIP[ZHUKZVVU·[OL7YVWLSSLY;VVS
KL]LSVWTLU[ZVM[^HYLKVLZHSS[OPZMVY`V\
<ZLH[VJHISLMVY[OLZLYPHSSPURUV[H
JYVZZV]LYJHISLVYU\SSTVKLTJHISL
(070276-I)
R7
R3
K1
T3
T2
1
6
R4
9
5
T1
R5
C1
R1
R6
K2
R2
C1
10n
R4
10k
R5
10k
R7
10k
R3
4k7
1
2
3
4
5
6
7
8
9
11
10
K1
D Connector 9
R1
10k
R2
10k
GND
3V3
R6
1k
K2
T2
BC547
T1
BC547
T3
BC560B
TX (P30)
RX (P31)
RESn
070276 - 11
+3V3
GND
COMPONENTS LIST
Resistors
R1,R2,R4,R5,R7 = 10k
£
R3 = 4k
£7
R6 = 1k
£
Capacitors
C1 = 10nF
Semiconductors
T1,T2 = BC547
T3 = BC557
Miscellaneous
K1 = 9-way sub-D socket (female), angled
pins, PCB mount
K2 = 5-way SIL socket
PCB, ref. 070276-1 from www.thepcbshop.
com
82
elektor elector - 7-8/2007
USB Converter
Jörg Schnyder
+VLZ[OPZZV\UKMHTPSPHY!`V\I\`HZTHSS
WPLJLVMLX\PWTLU[Z\JOHZHWYVNYHTTPUN
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SLYHUK`V\OH]L[V\ZLHJS\UR`(*^HSS
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^VYZL^OLU`V\»YL[YH]LSSPUNHUK[OLYL»ZUV
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`V\ JHU \ZL [OL <:) I\Z KPYLJ[S` HZ H
WV^LYZV\YJLPM[OLZ\WWS`]VS[HNLPZ=0M
`V\ULLKHOPNOLY]VS[HNL`V\JHU\ZL[OL
<:)JVU]LY[LYKLZJYPILKOLYL;OPZZTHSS
Z^P[JOTVKLZ[LW\WJVU]LY[LYJHUNLULY-
H[LHUV\[W\[]VS[HNLVM\W[V=^P[OH
TH_PT\TV\[W\[J\YYLU[VMT(
;OL34PZHNLULYHSW\YWVZLZ^P[JO
TVKL]VS[HNLJVU]LY[LY-PN\YLZOV^ZP[Z
PU[LYUHSISVJRKPHNYHT/LYL^L\ZLP[HZ
HZ[LW\WJVU]LY[LY;OLJPYJ\P[KPHNYHT
PU-PN\YLZOV^Z[OLULJLZZHY`JVTWV-
ULU[Z=VS[HNLJVU]LYZPVUPZHJOPL]LKI`
Z^P[JOPUNVU[OLPU[LYUHS[YHUZPZ[VY\U[PSP[
PZZ^P[JOLKVMMI`[OLJVTWHYH[VYVY[OL
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YLU[ÅV^Z[OYV\NOJVPS3^OPJOZ[VYLZ
LULYN` PU [OL MVYT VM H THNUL[PJ MPLSK
>OLU[OLPU[LYUHS[YHUZPZ[VYPZZ^P[JOLK
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V\[W\[]VS[HNLKLWLUKZVU[OLSVHKJ\Y-
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WHYH[VYPU[OL0*PUVYKLY[VYLN\SH[L[OL
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MVY[OLJ\YYLU[SPTP[PUNJPYJ\P[PZMVYTLKI`
[OYLL7YLZPZ[VYZPUWHYHSSLS99HUK
9ZPUJL:4+YLZPZ[VYZ^P[O]HS\LZSLZZ
[OHU7HYLOHYK[VÄUK;OLV\[W\[]VS[-
HNLYPWWSLPZKL[LYTPULKI`[OL]HS\LZHUK
PU[LYUHSYLZPZ[HUJLZVMJHWHJP[VYZ**
*HUK*;OL[V[HSLMMLJ[P]LYLZPZ[HUJLPZ
YLK\JLKI`\ZPUNZL]LYHSJHWHJP[VYZHUK
[OPZHSZVRLLWZ[OLJVUZ[Y\J[PVUOLPNO[VM
[OLIVHYKSV^3** HUK*HJ[HZ
HUPUW\[ÄS[LY,UZ\YL[OH[[OL+*YLZPZ[-
HUJLVMJVPS3PZUVTVYL[OHU7<ZL
H;`WL)7*)TV\U[<:)JVUULJ[VYMVY
JVUULJ[PVU[V[OL<:)I\Z([LYTPUHSZ[YPW
^P[OHWP[JOVMTTJHUIL\ZLKMVY
[OLV\[W\[]VS[HNLJVUULJ[VY6MJV\YZL
`V\JHUHSZVZVSKLYHJHISLKPYLJ[S`[V[OL
IVHYK;^VHKKP[PVUHSOVSLZHYLWYV]PKLK
PU[OLJPYJ\P[IVHYKMVY[OPZW\YWVZL
(Z^LOH]LU»[ILLUHISL[VPU]LU[HKL]PJL
[OH[WYVK\JLZTVYLLULYN`[OHUP[JVU-
Z\TLZ`V\ZOV\SKILHYPUTPUK[OH[[OL
PUW\[J\YYLU[VM[OLJPYJ\P[PZOPNOLY[OHU
[OLV\[W\[J\YYLU[(ZHNLULYHSY\SL`V\
JHUHZZ\TL[OH[[OLPUW\[J\YYLU[PZLX\HS
[V[OLWYVK\J[VM[OLV\[W\[J\YYLU[HUK
[OLV\[W\[]VS[HNLKP]PKLKI`[OLPUW\[
LM3578AM
I LIM
IC1
-IN
+IN
OSC
UIN
E
C
1
5
4
7
2
3
6
8
K2
+5V
GND
D–
D+
1
2
3
4
USB
L2
47
MH
L1
820
MH
C1
100n
C3
22p
C2
2n2
C4
100n
K1
R4
220k
R2
1
7
R1
1
7
R3
1
7
C11
68
M
20V
C7
68
M
20V
C9
47
M
16V
C6
68
M
20V
C5
1n5
C10
47
M
16V
C8
68
M
20V
R5
82k
R6
10k
D1
SK34SMD
070119 - 11
R5 and R6 for other
output voltages:
6V:
R5 = 47k,
R6 = 9,1k
12V:
R5 = 110k,
R6 = 10k
15V:
R5 = 130k,
R6 = 9,1k
1
2
83
7-8/2007 - elektor elector
]VS[HNLHUKKP]PKLKHNHPUI`:WLJPÄ-
JHSS`^P[OHUV\[W\[J\YYLU[VMT(H[
=[OLPUW\[J\YYLU[VU[OL<:)I\ZPZ
HWWYV_PTH[LS`T(
-PUHSS`-PN\YLZOV^ZHZTHSS7*)SH`-
V\[MVY[OLJPYJ\P[(SSVM[OLJVTWVULU[Z
L_JLW[[OLJVUULJ[VYHUK[OL[LYTPUHSZ[YPW
HYL:4+Z
(070119-I)
Web link
Author’s homepage: www.systech-gmbh-de
components list
(for U
O
= 9 V)
Resistors
R1,R2,R3 = 1
7
R4 = 220k
7
R5 = 82k
7
R6 = 10k
7
Capacitors
(SMD 1206)
C1 = 100nF
C2 = 2nF2
C3 = 22pF
C4 = 100nF
C5 = 1nF5
(tantalum SMD 7343)
C6 = 68μF 20V
C7 = 68μF 20V
C8 = 68μF 20V
C9 = 47μF 16V
C10 = 47μF 16V
C11 = 68μF 20V
Inductors
L1 = 820μH (SMD CD105)
L2 = 47μH (SMD 2220)
Semiconductors
D1 = SK34SMD (Schottky)
IC1 = LM3578AM (SMD SO8)
Miscellaneous
K1 = 2-way PCB terminal block, lead pitch
5mm (optional)
K2 = USB-B connector
PCB layout, free download from Elektor
website, 070119-1.pdf
3
zBot: Solar/Battery Power Supply
Jens Altenburg
6ULVM[OLTVZ[PTWVY[HU[WYVISLTZVM
TVIPSLYVIV[WSH[MVYTZPZHZZVJPH[LK^P[O
[OLWV^LYZ\WWS`>P[OL_JLW[PVUVMZVTL
ZWLJPHSZ`Z[LTZIH[[LYPLZKY`VYYLJOHYNL-
IH[[LYPLZPZMVY[OLWV^LYZ\WWS`VM[OL
TPJYVJVU[YVSSLYVUS`
([OPYKVW[PVUHSWV^LYZV\YJLPZ[OLZVSHY
WHULS0[PZUV[YLHSS`ULJLZZHY`MVYPUP[PHS
L_WLYPTLU[ZI\[P[OLSWZ[VRLLW[OLYVIV[
H\[VUVTV\ZSVUNLY
;OLJPYJ\P[VMa)V[»ZTHPUWV^LYZ\WWS`Z`Z-
[LTPUJS\KLZHZWLJPHSMLH[\YL![OLJOHYNL
JVU[YVSJPYJ\P[IHZLKHYV\UKH4(?-VY
LMMLJ[P]LVWLYH[PVU^LOH]L[VRUV^[OL
MAX472
IC6
SIGN
SHDN
N.C.
OUT
GND
VCC
RG1
RG2
5
8
1
4
7
2
3
6
7805
IC5
T9
RFP30P06
C13
10
M
25V
C14
10
M
25V
T10
BC337
R30
10k
R31
47k
R27
2k
R22
2k
R23
51k
R29
82k
R28
18k
R24
0
71
R26
0
71
+5V
D7
1N4001
C12
100n
JP6
D8
1N5408
10A T
F1
Solar Panel
BATT
POWER
POWER
ON
V BATT
V CHARGE
SIGN
070171 - 11
GND
HISLHYL[OLTVZ[JVTTVUS`ZLLUZV\YJLZ
VMLSLJ[YPJHSWV^LYPUYVIV[Z
;OLWV^LYZ\WWS`Z`Z[LTVMa)V[
JVUZPZ[Z
VM[^VWHY[Z[OLTHPUHJJ\T\SH[VYHUK[OL
H\_PSPHY`IH[[LY`;OLTHPUWV^LYZV\YJL
^HZYLHSPZLK^P[OH5P*KVY5P4/IH[-
[LY`WHJR0[ZZPaL^HZHKHW[LK[VÄ[[OL
IH[[LY`OVSKLYVM[OL;HT`HJOHZZPZZP_
=T(O*JLSSZ;OLTHPUWV^LY
PZHJ[P]H[LKMVY+*TV[VYKYP]PUNHUKMVY
[OLZLY]VZ
;OLH\_PSPHY`Z`Z[LT[^V(SRHSPUL(((
84
elektor elector - 7-8/2007
L_HJ[JHWHJP[`VM[OLIH[[LY`0THNPUPUN[OL
KPZJOHYNL]VS[HNLKPHNYHT^LRUV^[OH[
[OL]VS[HNLPZ]PY[\HSS`Z[HISLMVYTVZ[VM[OL
KPZJOHYNL[PTLHUKZ\KKLUS`IYLHRZKV^U
^OLU[OLIH[[LY`Y\UZV\[VMJHWHJP[`;OPZ
[PTLPZ]LY`ZOVY[ZVP[JV\SKOHWWLU[OH[
[OLYVIV[JV\SKILSVZ[
(ZPTWSL]VS[HNLJVU[YVSKVLZU»[NP]L\Z[OL
PUMVYTH[PVU^LULLK;OLVUS`^H`[VVI[HPU
L_HJ[]HS\LZPZTVUP[VYPUN[OLKPZJOHYNPUN
;OL4(?NP]LZ[^V]HS\LZ[OLJ\YYLU[
PSPHY`Z`Z[LTa)V[JVTT\UPJH[LZ^P[O[OL
VWLYH[VY^PYLSLZZS`0U[OPZ^H`[OLPUKL-
WLUKLU[WV^LYZV\YJLPUJYLHZLZ[OLZLJ\-
YP[`VM[OLZ`Z[LT
(070171-I)
[1] The complete document called
Zbot — the Robot Experimental Platform
is available for free downloading from the
Elektor Electronics website. The file number is
070172-11.zip (July/August 2007).
[OYV\NO99HZHWYVWVY[PVUHS]VS[HNL
H[WPUHUK[OLJ\YYLU[KPYLJ[PVU[OYV\NO
[OLYLZPZ[VYZ:0.5)V[O]HS\LZHSSV^JHS-
J\SH[PVUVM[OLJOHYNPUNZVSHYWHULSVYKPZ-
JOHYNPUNVM[OLIH[[LY`WHJR
;OLH\_PSSPHY`WV^LYPZZOV^UPU[OL*7<
\UP[;OL[^VHSRHSPULIH[[LYPLZZ\WWVY[[OL
*7<[OL^PYLSLZZYHKPVTVKLTHUK[OL
UH]PNH[PVUZ`Z[LTJVTWHZZVUS`
;OLYLHZVUMVY[OLKP]PZPVUVM[OLWV^LY
Z\WWS`PZZPTWSL>P[O[OLOLSWVM[OLH\_-
3-A Wide-input
Adjustable Switching Regulator
Luc Lemmens
;OL 7;5 PZ H ZLYPLZ VM OPNOLMMP-
JPLUJ`I\JRIVVZ[PU[LNYH[LKZ^P[JOPUN
YLN\SH[VYZ0:9MYVTNVVKVSK;L_HZ0UZ[Y\-
TLU[Z;0
;OLJHZLSLZZKV\ISLZPKLKWHJRHNLOHZ
L_JLSSLU[[OLYTHSJOHYHJ[LYPZ[PJZHUKPZ
9V/ZJVTWSPHU[
;OL 7;5 KL]PJLZ VWLYH[L MYVT H
YLTHYRHIS`^PKLPUW\[]VS[HNLYHUNL!
5V[L[OH[[OL¶(]LYZPVUZ\WWSPLZHULNH-
[P]LV\[W\[]VS[HNL
;OLKL]PJLZWYV]PKLOPNOLMÄJPLUJ`Z[LW
KV^U]VS[HNLJVU]LYZPVUMVYSVHKZVM\W
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6
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U
O
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O Sense
U
I
PTN78060
GND
INH
ADJ
SNS
GND
V
I
V
O
V
O
V
O
1
2
3
4
5
7
6
R
SET
0W05
1%
INH
C1
C2
100
M
070115 - 11
R
L
Device
V
in
V
out
PTN78060Wa(x)
7
to 36 V
2.5
to 12.6 V
PTN78060HA(x)
15
to 36 V
11.85
to 22.0 V
PTN78060AA(x)
9
to 29 V
–15
to –3V
Device
V
O
(desired)
(V)
R
SET
(standard value)
(k
7)
V
O
(actual)
(V)
V
I
range
(V)
PTN780x0W
2.5
Open
2.5
7 to 25
3.3
78.7
3.306
7 to 33
5.0
21.0
4.996
7 to 36
12.0
0.732
12.002
14.5 to 36
PTN780x0H
12.0
383
12.000
15 to 36
15.0
15.0
14.994
18 to 36
18.0
4.42
18.023
21 to 36
22.0
95.3
21.998
26 to 36
85
7-8/2007 - elektor elector
-VY7;5>ZZ\WWS`PUNV\[W\[
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[OLX\HSP[`VM[OLJHWHJP[VYZVU=
0
HUK=
6
HZ[OL`KL[LYTPUL[OLYLN\SH[VYZ[HIPSP[`
HUKV]LYHSSWLYMVYTHUJL[VHZ\IZ[HU[PHS
KLNYLL:\TTHYPaPUN[OLL_[LUZP]LPUMVY-
TH[PVUVUJHWHJP[VYZLSLJ[PVUMV\UKPU[OL
KH[HZOLL[Z[OLTPUPT\TYLX\PYLTLU[MVY
*PZ-^VY[OVMJLYHTPJJHWHJP-
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MVY[OL/KL]PJL;HU[HS\TJHWZHYLUV[
YLJVTTLUKLK
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ZOV\SKILH[SLHZ[-^VY[OVMSV^
,:9LSLJ[YVS`[PJZ
(070115-I)
Datasheets
http://focus.ti.com/docs/prod/folders/print/
ptn78060h.html
http://focus.ti.com/docs/prod/folders/print/
ptn78060w.html
http://focus.ti.com/docs/prod/folders/print/
ptn78060a.html
Paul
Goossens
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IV[O IH[[LYPLZ ;OL KPMMLYLUJL IL[^LLU
[OLZL[^V]VS[HNL^LJHSS[OLKPMMLYLUJL
]VS[HNL;OLULNH[P]L[LYTPUHSZJHUUV^
ILZVSKLYLK[VNL[OLY5V^^L[LTWVYHYPS`
ZVSKLYHYLZPZ[VYIL[^LLU[OL[^VWVZP[P]L
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ILH[SLHZ[[OLKPMMLYLUJL]VS[HNLKP]PKLK
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Paralleling LiPo Batteries
86
elektor elector - 7-8/2007
H[HSPTP[LKYH[L;OLSH[[LY^PSS[OLYLMVYL
JOHYNL ZSV^S` (M[LY H ^OPSL [OL KPMMLY-
LUJL]VS[HNL^PSSYLK\JLHUK[OLYLMVYL[OL
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ZVSV^[OH[HYLZPZ[VYVMTæ^V\SKOH]L
ILLULUV\NO(UL^HUKTVYLWV^LYM\S
3P7VIH[[LY`PZUV^HMHJ[
(070274-I)
MVY`V\YSPRPUN[OLU`V\JHUHKQ\Z[[OLYLZPZ-
[VY]HS\LMYVT[PTL[V[PTL[VPUJYLHZL[OL
JOHYNPUNJ\YYLU[HNHPU)V[OWVZP[P]L[LY-
TPUHSZTH`ILKPYLJ[S`JVUULJ[LK[VNL[OLY
VUJL[OLKPMMLYLUJL]VS[HNLOHZKYVWWLK
Switch-Mode 555 Supply
Martijn Geel
;OPZZ^P[JOTVKLWV^LYZ\WWS`PZI\PS[
HYV\UKH[PTLY0*0[WYV]PKLZHTH_P-
T\TV\[W\[]VS[HNLVM=^P[OH=
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;OL5,PZ\ZLKPUHU\UJVU]LU[PVUHS
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V\[W\[VM[OLVZJPSSH[VY0*PZSV^SVUNLY
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-,;PZUV[JYP[PJHS"`V\TH`HSYLHK`OH]L
VULPU`V\YZWHYLWHY[ZIPU[OH[JHUZ^P[JO
LUV\NOJ\YYLU[0M[OLJVPSILJVTLZ^HYT
[OLJVYLPZ[VVZTHSSVY[OL^PYLPZ[VV[OPU
;OL:JOV[[R`KPVKLPZ[OLVUS`JVTWVULU[
[OH[PZHJ[\HSS`JYP[PJHS+VUV[\ZLHUVYKP-
UHY`KPVKLZPUJLP[^PSSILJVTLT\JO[V
OV[@V\»YLIV\UK[VÄUKH:JOV[[R`KPVKL
PU HU VSK JVTW\[LY WV^LY Z\WWS` Q\Z[
JOLJRMVYHMVY^HYK]VS[HNLVM=VU
[OLKPVKLYHUNLVM`V\YT\S[PTL[LY
;OL Z\WWS` ZOV^U OLYL JHU KLSP]LY
HWWYV_PTH[LS` > ;OL PUW\[ Z\W-
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+VU»[MVYNL[[OH[[OLTH_PT\T]VS[HNL[OL
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ZPKLPZYLJVTTLUKLK
(070023-I)
NE555
IC1
DIS
THR
OUT
TR
CV
2
7
6
4
R
3
5
8
1
T1
BUZ11
R2
47k
R4
4k7
R3
470
7
R7
1k
R1
18k
R6
R5
1k
T3
BC547
T2
BC557
D2
r14V
D1
C3
220p
C7
220n
C1
220n
C5
47n
C6
470
M
C2
470
M
C4
470
M
L1
33
MH
+U
+12V
OUT
R = 0.6 / I
070023 - 11
Voltage Stabiliser
Alexander Wiedekind-Klein
,SLJ[YPJTV[VYZ\ZLKPUYVIV[HWWSPJH[PVUZ
VM[LUTHRLZ\KKLUHUKOLH]`KLTHUKZ
VU[OLPYWV^LYZ\WWS`(S[OV\NO[OLIH[-
[LYPLZUVYTHSS`\ZLKOH]LHSV^PU[LYUHS
YLZPZ[HUJL[OL`UL]LY[OLSLZZZVTL[PTLZ
OH]L KPMMPJ\S[` THPU[HPUPUN [OLPY V\[W\[
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HZVS\[PVU[V[OH[WYVISLT
;OL JPYJ\P[ PZ IHZLK HYV\UK H JVTWHJ[
Z^P[JOPUNYLN\SH[VY^OPJOPZJHWHISLVM
87
7-8/2007 - elektor elector
WYVK\JPUNHZ[LHK`+*]VS[HNLVM=H[
P[ZV\[W\[V]LYPUW\[]HYPH[PVUZMYVT=
[V=H[SVHKZVM\W[VT(0[Z[OYLL
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TH[LS` H:JOV[[R`Z^P[JOPUNKPVKL
MVY+;OLTVZ[ZWLJPHSPZLKJVTWVULU[PZ
[OLTPUPH[\YL[YHUZMVYTLYKLZPNULKMVY\ZL
PU[OPZ[`WLVMZ\WWS`-VY[OLWYV[V[`WL^L
\ZLKH*VPS[YVUPJZ*;?
;OLJ\YYLU[SPTP[PZZL[I`9;OLV\[W\[
]VS[HNLPZZJHSLKI`[OL]VS[HNLKP]PKLY
MVYTLK I` 9 HUK [OL ZLYPLZ JVTIPUH-
[PVU VM 9 HUK 9 ;OL V\[W\[ ]VS[HNL
PZJVU[YVSSLKZV[OH[H]VS[HNLVM=
HWWLHYZHJYVZZ9HUKOLUJLVU[OLMLLK-
IHJRPUW\[WPUVM0*;OLJPYJ\P[JHU
ILTVKPÄLKMVYKPMMLYLU[V\[W\[]VS[HNLZ
I`JOHUNPUN[OLJVTWVULU[]HS\LZPU[OL
]VS[HNLKP]PKLY-VYSV^LYV\[W\[]VS[HNLZ
[OL PUW\[ ]VS[HNL JHU HSZV IL YLK\JLK
JVYYLZWVUKPUNS`
.LYILYÄSLZMVY[OLWYV[V[`WLWYPU[LKJPYJ\P[
IVHYKHYLH]HPSHISLMVYMYLLKV^USVHKMYVT
[OL,SLR[VY^LIZP[LYLMaPW;OL
:4+JVTWVULU[Z\ZLKOH]L[OLMVSSV^PUN
V\[SPULZ!9999**HUK*!
"*!"0*!::67";!:6
(SS[OL:4+JHWHJP[VYZHYLJLYHTPJHUK
LSLJ[YVS`[PJZ*HUK*T\Z[OH]LHSV^
,:99PZHTæ:4+YLZPZ[VYYH[LK
H[>
(070280-I)
FDS6680
T1
1
5
4
2
3
6
7
8
SYNC/SHDN
MAX668
IC1
PGND
FREQ
CS+
EXT
LDO
REF
10
FB
8
3
9
7
1
6
5
2
4
R1
100k
R4
0
7
05
R5
3k0
R2
5k6
R3
1k
C3
220n
C2
1
M
C4
100n
C5
560p
C1
47
M
16V
C8
47
M
16V
C9
47
M
16V
C6
10
M
50V
D1
MBRA130LT3
1
2
4
3
CTX50-4
TR1
STI
1
3
2
Uin = 13V ...25V
Uout = 12V
750mA
070280 - 11
FB = 1V25
P
S
Mini Power Inverter
Alexander
Wiedekind-Klein
,]LUYVIV[Z`Z[LTZVJJH-
ZPVUHSS`ULLKHULNH[P]L
Z\WWS` ]VS[HNL MVY ZVTL
W\YWVZLVYV[OLYHUKPU
[OPZRPUKVMHWWSPJH[PVUPU
WHY[PJ\SHY[OLYLPZHULLK
MVYHULMMLJ[P]LJPYJ\P[[OH[
KVLZ UV[ THRL NYLH[LY
KLTHUKZ [OLU ULJLZ-
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VYZWHJL0MHSV^J\YYLU[
=Z\WWS`PZULLKLKHUK
VUS`=PZH]HPSHISLH
UH[\YHS THU\MHJ[\YLY [V
[\YU [V PZ 4H_PT HUK
PUKLLK PU [OPZ JHZL [OL`
KVUV[SL[\ZKV^U
;OLILZ[RUV^U
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THKLI`[OPZJVTWHU`PZ
[OL 4(? H SL]LS ZOPM[LY MVY ZLYPHS
WVY[Z^P[OHUPU[LNYH[LKJOHYNLW\TW
[OH[KVLZUV[ULLKHUL_[LYUHSPUK\J[VY
(SVUN[OLZHTLSPULZHS[OV\NO^P[OH
TVYLZ[HISLV\[W\[]VS[HNLHUKOPNOLY
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JHUºTPYYVY»HU`PUW\[]VS[HNLIL[^LLU
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T(,MÄJPLUJ`H[T(PZHYV\UK
STI
1
3
2
C2
100
M
16V
MAX660
IC1
OSC
OUT
C+
C–
LV
FC
8
5
3
2
4
6
7
1
C4
100n
C1
100n
L1
10
MH
C3
4
M7
25V
C5
100
M
16V
+5V
–5V
070279 - 11
R1
0
7
88
elektor elector - 7-8/2007
HUKH[T(PZHYV\UK>P[O
HUVWLUJPYJ\P[V\[W\[[OL0*KYH^ZHX\P-
LZJLU[J\YYLU[VMQ\Z[(
;OLYLPZSP[[SL[VZH`HIV\[[OLJPYJ\P[P[ZLSM
;OL7YLZPZ[VYVUWPUZLSLJ[Z[OLVWLY-
H[PUNMYLX\LUJ`>P[O9Ä[[LK[OLJPYJ\P[
VWLYH[LZH[R/a"^P[OV\[P[H[R/a
H]HPSHISLMVYKV^USVHKMYVT[OL,SLR[VY
^LIZP[LYLM aPW9*HUK*
HYL:4+ZHUK*PZHU:4+[HU[H-
S\TLSLJ[YVS`[PJJHWHJP[VY,P[OLY[OL4(?-
*:(VY[OL4(?4JHUIL\ZLK"
IV[OJVTLPU:6WHJRHNLZ3PZH/
:4+PUK\J[VYYH[LKH[T(
(070279-I)
;OL JVTIPUH[PVU VM 3 HUK * ZSPNO[S`
YLK\JLZYPWWSLVU[OLV\[W\[]VS[HNL"[OL
JOVPJLVMPUK\J[VYPZUV[HZJYP[PJHSHZP[
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PUNJPYJ\P[
.LYILYÄSLZMVY[OLWYPU[LKJPYJ\P[IVHYK
^OPJO\ZLZZVTL:4+JVTWVULU[ZHYL
Lithium Charger
Paul Goossens
)H[[LYPLZIHZLKVU3P[OP\TZ\JOHZ3P7V
3P[OP\TWVS`TLYHUK3P[OP\T0VUVULZ
HYLPKLHSJHUKPKH[LZ[VZ\WWS`HYVIV[^P[O
WV^LY*VTWHYLK[VV[OLY[`WLZVMIH[[LY`
[OL`HYLSPNO[LY^OPJOYLZ\S[ZPUHSV^LY
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MHJ[\YLKPUTHU`ZOHWLZHUKZPaLZ
Charging
;OLJOHYNPUNVM3P[OP\TIH[[LYPLZPZH]LY`
L_HJ[ZJPLUJL0M[OL^YVUNTL[OVKPZ\ZLK
[OLYLPZHYLHSJOHUJL[OH[[OL`»SSI\YZ[PU[V
ÅHTLZ-VY[OPZYLHZVUP[PZVUS`ZLUZPISL
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[OL\ZLVMH4(?Z\JOHJOHYNLYJHU
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^P[OV\[[OL\ZLVMHOLH[ZPUR;OLJVT-
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\ZLKHYLZPZ[VYVM
T7 ;OL JOHYN-
PUN J\YYLU[ PZ [OLYLMVYL!
T=T7$(0M
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PUN J\YYLU[ `V\ JHU JHSJ\SH[L [OL
]HS\LMVY9\ZPUN[OLMVYT\SH!
9$T=I
*/(9.,
( WHPY VM Q\TWLYZ PZ \ZLK [V ZLSLJ[ [OL
U\TILYVMJLSSZPU[OLIH[[LY`;OLMV\Y
WVZZPISL ZL[[PUNZ HYL ZOV^U PU ;HISL
;OLZLQ\TWLYZ[LSS[OLJPYJ\P[OV^THU`
JLSSZHYLJVUULJ[LKPUZLYPLZPUZPKL[OLIH[-
[LY`;OPZPZ]LY`PTWVY[HU[ZPUJLP[KL[LY-
TPULZ^OH[[OLTH_PT\T]VS[HNLTH`IL
HJYVZZ[OLIH[[LY`
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]PH=
HKQ
HUKJHUILZL[IL[^LLU =HUK
=9LZPZ[VYZ9HUK9ZL[[OL[LYTP-
UHS]VS[HNL[V=PU[OPZJHZL)LJH\ZL
=
HKQ
OHZHUHYYV^VWLYH[PUNYHUNL^LOH]L
[V\ZLJSVZL[VSLYHUJLYLZPZ[VYZ[VZL[
[OL]VS[HNL]LY`HJJ\YH[LS`
*VUZ[Y\J[PVU
;OHURZ[V[OL\ZLVMHKV\ISLZPKLK7*)
[OLJVUZ[Y\J[PVUVM[OPZJPYJ\P[PZ]LY`ZPT-
WSL(SSJVTWVULU[ZHYLTV\U[LKVU[OL
[VWZPKLVM[OLIVHYK>OLUZVSKLYPUN[OL
DC
IN
2
VL
3
BST
20
DHI
18
LX
19
DLO
17
CS
15
BATT
14
PGND
16
IBAT
1
GN
D
10
CC
I
5
CC
V
4
STATUS
13
VADJ
8
SETI
9
REF
7
THM/SHDN
6
CELL0
12
CELL1
11
IC1
MAX745
C6
47n
C5
100n
R6
10k
GND
D1
BAT54
C3
100n
7
2
1
8
T1A
6
4
3
5
T1B
C2
10u
GND
L1
22u
D2
D3
1%
R3
100k
1%
R4
100k
C4
100n
1%
250mW
R5
180m
K1
K2
C1
10u
GND
JP2
JP1
R1
10k
R2
10k
CEL0
CEL1
POWER IN
0V
Accu
070273 - 11
T1 = FDS6911
D2, D3 = MBRS540T3G
Table 1.
JP1
JP2
Number of
cells
Closed
Closed
1
Open
Closed
2
Closed
Open
3
Open
Open
4
89
7-8/2007 - elektor elector
JVPSP[TH`ILULJLZZHY`[VSL[[OLZVSKLY-
PUNPYVUOLH[\WHIP[TVYLÄYZ[;OLJVU-
ULJ[PUNSLHKZHYLX\P[LJO\UR`HUK[OL`
YLX\PYLHMHPYHTV\U[VMOLH[[VYHPZL[OLT
[V[OLJVYYLJ[[LTWLYH[\YL
>OLUHSSWHY[ZOH]LILLUZVSKLYLKHUK[OL
JPYJ\P[OHZILLUJOLJRLK`V\JHUWV^LY
[OLJPYJ\P[]PH2^P[OH+*]VS[HNLVMUV
TVYL[OHU=@V\ZOV\SKHS^H`ZKV\ISL
JOLJR[OH[`V\OH]LZL[[OLQ\TWLYZMVY[OL
JVYYLJ[U\TILYVMJLSSZILMVYLJVUULJ[PUN
[OL3P7VVY3P0VUIH[[LY`>P[OHJOHYNPUN
J\YYLU[VMCHULTW[`JLSSZOV\SKILM\SS`
JOHYNLKPUHIV\[HUOV\YHUKHX\HY[LY
(070273-I)
COMPONENTS LIST
Resistors
R1,R2,R6 = 10k
7 (SMD 0805)
R3,R4 = 100k
7 1% (SMD 0805)
R5 = 0.18
7 0.25W (SMD 1210), e.g. Digikey
P.18SCT-ND
Capacitors
C1,C2 = 10
MF 25V (SMD 12010)
C3,C4.C5 = 100nF (SMD 0805)
C6 = 47nF (SMD 0805)
Semiconductors
D1 = BAT54 (SOT-23)
D2,D3 = MBRS540T3G (SMC), e.g. Digikey
MBRS540T3GOSCT-ND
IC1 = MAX745
T1 = FDS6911 (SOIC12), e.g. Digikey
FDS6911CT-ND
Miscellaneous
L1 = 22μH (JW-MILLER PM2110-220K-RC),
e.g. Digikey M8760-ND
JP1,JP2 = jumper with 2-way SIL pinheader
PCB, order code 070273-1 from Elektor
SHOP)
PWM Voltage Dropper
Von Stefan Brandstetter
;OPZJPYJ\P[^HZKL]LSVWLK[VHSSV^HJHY
[YHPSLY KLZPNULK MVY = VWLYH[PVU [V
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[OH[P[KPZZPWH[LZ]LY`SP[[SLWV^LYILJH\ZL
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[PVUP[ZX\PLZJLU[J\YYLU[JVUZ\TW[PVUPZ
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:O\U[YLZPZ[VY9TLHZ\YLZ[OLV\[W\[J\Y-
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L_JLLKLK;[\YUZVUHUKZOVY[JPYJ\P[Z
*" 0*) UV SVUNLY WHZZLZ [OL ZX\HYL
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V\[W\[J\YYLU[MHSSZ[VaLYV;[\YUZVMM
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PUW\[[OYLZOVSKVM0*)OHSM[OLZ\WWS`
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[OLYL^PSSILVJJHZPVUHSW\SZLZVMV\[W\[
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]VS[HNLVM=[VH]HS\LVM=TVYL
Z\P[HISL MVY WV^LYPUN [OL *46:
:JOTP[[[YPNNLY0*+HUK+WYV[LJ[;
MYVT]VS[HNLZWPRLZ^OPJOHYLWYHJ[PJHSS`
\UH]VPKHISLPU[OPZJPYJ\P[ILJH\ZLVM[OL
PUK\J[HUJLVM[OL^PYPUN(U`Z[HUKHYK5
JOHUULS-,;HISL[V^P[OZ[HUK=JHU
IL\ZLKMVY;
>P[O[OLJVTWVULU[]HS\LZZOV^U[OLJPY-
J\P[PZZ\P[HISLMVY\ZL^P[O=SHTWZH[
\W[V>;OLJ\YYLU[SPTP[ZL[I`9
T7PZHYV\UK(;OLJ\YYLU[SPTP[
PZLZZLU[PHSILJH\ZLJVSKSHTWZWYLZLU[H
]LY`SV^YLZPZ[HUJL^OLU]VS[HNLPZÄYZ[
HWWSPLK;OLTHYRZWHJLYH[PVPZZL[[V
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7;OLJPYJ\P[JHUILTVKPÄLKMVY\ZLH[
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[OLIHZPZVMHZPTWSLHUKLMÄJPLU[ZWLLK
JVU[YVSSLYVYSPNO[KPTTLY
(070127-I)
1
2
3
IC1.A
&
5
6
4
IC1.B
&
8
9
10
IC1.C
&
12
13
11
IC1.D
&
R4
20k
R3
0
7
047
4W
R6
47
7
R7
4k7
R1
1k
R2
1k
P1
50k
D2
1N4148
D3
2x
R5
1k5
C2
10n
50V
C1
10
M
25V
C3
3
M3
25V
C4
220
M
63V
T1
BC547B
D1
16V
D5
75V
D4
16V
T2
STP20NE06FP
IC1
14
7
24V
DC
IC1 = 4093
070127 - 11
typ. 12V
90
elektor elector - 7-8/2007
Dual Battery
For enhanced
operational
reliability
Paul Goossens
<ZPUN YLJOHYNLHISL IH[[LYPLZ [V WV^LY
JPYJ\P[ZPZHWYV]LUTL[OVKMVYWYV]PKPUN
LULYN`[VTHPUZPUKLWLUKLU[LX\PWTLU[
(THQVYKPZHK]HU[HNLVM[OPZPZ[OH[[OL
IH[[LY`\Z\HSS`[\YUZV\[[VILLTW[`H[
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HU`TVYL:VTL[PTLZ[OPZPZVUS`HTPUVY
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:VS\[PVU
;OLZVS\[PVU[V[OPZWYVISLTPZHJ[\HSS`
X\P[LZPTWSL!\ZL[^VIH[[LYPLZ>OLUVUL
VM[OLIH[[LYPLZILJVTLZKPZJOHYNLK[OL
ZLJVUKVULJHU[HRLV]LYHUKJVU[PU\L
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6MJV\YZLHSS[OPZT\Z[OHWWLUH\[VTH[P-
JHSS`ZV^LULLKHOHUK`JPYJ\P[[OH[[HRLZ
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IL\ZLK^P[OJPYJ\P[ZZ\JOHZYLJLP]LYZ
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JVTWVZLKVMMV\YJLSSZ;OLJPYJ\P[PZX\P[L
JVTWHJ[HUK[OHURZ[V[OLHJJVTWHU`PUN
7*)WVW\SH[LK^P[O:4+ZP[PZLHZ`[VÄ[
PU[VL_PZ[PUNLX\PWTLU[
:PTWSL
;OL VWLYH[PUN WYPUJPWSL PZ ZPTWSL! 0*
TLHZ\YLZ[OL[LYTPUHS]VS[HNLVMIH[[LY`(
0MP[KYVWZILSV^=[OL9,:,;V\[W\[
NVLZSV^HUKV[OLY^PZLP[YLTHPUZOPNO
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)
)V[OZPNUHSZNV[VHÅPWÅVWJVUZPZ[PUNVM
0*HHUK0*K^OPJOKL[LYTPULZ^OPJOVM
[OLIH[[LYPLZPZ[VIL\ZLK
0M[OL]VS[HNLHJYVZZIH[[LY`(PZ[VVSV^
[OLV\[W\[VM0*H^PSSHS^H`ZILOPNO(Z
HJVUZLX\LUJLIH[[LY`)^PSSILHJ[P]L
;OLZHTL[OPUNHWWSPLZPUYL]LYZL[V[OL
V\[W\[VM0*K
>OLUIV[OIH[[LYPLZHYLKPZJOHYNLK[OL`
^PSSIV[OWV^LY[OLJPYJ\P[PURLLWPUN^P[O
[OLTV[[VºIL[[LYHSP[[SLIP[VMQ\PJL[OHUUV
Q\PJLH[HSS»
*VTWVULU[Z + 9 HUK * WYV]PKL
K2
7
2
1
8
T1A
4
3
5
6
T2B
C1
100n
IN BAT A
R1
100k
GND
R2
100k
R3
1M
ENABLE_A
T3
FDV301N
T4
FDV301N
K3
4
3
5
6
T1B
7
2
1
8
T2A
C2
100n
IN BAT B
R5
100k
GND
R6
100k
R7
1M
ENABLE_B
T5
FDV301N
T6
FDV301N
K1
GND
POWER OUT
D1
BAT54
D2
BAT54
Vbat
Vbat
Vbat
C5
100n
3
1
RST
2
Vcc
GND
IC2
LM809M3-4.38
3
1
RST
2
Vcc
GND
IC4
LM809M3-4.38
GND
GND
1
2
3
&
IC1A
5
6
4
&
IC1B
8
9
10
&
IC1C
13
12
11
&
IC3D
14
7
IC1E
Aok
ON
Bok
1
2
3
&
IC3A
5
6
4
&
IC3B
8
9
10
&
IC3C
13
12
11
&
IC1D
14
7
IC3E
R9
10k
R8
10k
C3
100n
C4
100n
GND
GND
D4
BAT54
D3
BAT54
C7
100n
S1
Vbat
GND
R4
10k
R10
1k
D5
*
R11
1k
D6
*
GND
GND
GND
IC1, IC3 = 4093
T1, T2 = IRF7329
070343 - 11
91
7-8/2007 - elektor elector
H Z^P[JOVU KLSH` [OH[ JH\ZLZ IH[[LY`
Z^P[JOVU[VILKLSH`LKZVTL^OH[;OPZ
PZILJH\ZLP[PZ\UKLZPYHISL[VOH]LIV[O
IH[[LYPLZWV^LY[OLJPYJ\P[H[[OLZHTL[PTL
K\YPUNZ^P[JOV]LYMYVTVULIH[[LY`[V[OL
V[OLY;OH[^V\SKJH\ZLSHYNLLX\HSPaH-
[PVUJ\YYLU[Z[VÅV^K\L[V[OLKPMMLYLUJL
IL[^LLU[OL[LYTPUHS]VS[HNLZVM[OL[^V
IH[[LYPLZ
:^P[JO
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PZH-,;PUZ[LHKVMHIPWVSHY[YHUZPZ[VY;OPZ
ZH]LZLULYN`ZPUJLUVIHZLJ\YYLU[PZULJ-
LZZHY`(KPZHK]HU[HNLVMH46:-,;PZ[OH[
P[HS^H`ZOHZHUPU[YPUZPJKPVKL;OPZKPVKL
PZX\P[LHUUV`PUNPU[OPZJPYJ\P[ZPUJL[OL
VULIH[[LY`JHUJOHYNL[OLV[OLYIH[[LY`
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(070343-I)
Components list
(all R and C: SMD 0805 case)
Resistors
R1,R2,R5,R6 = 100k
£
R3,R7 = 1M
£
R4,R8,R9 = 10k
£
R10,R11 = 1k
£
Capacitors
C1-C6 = 100nF
Semiconductors
D1-D4 = BAT54 (SOT-23)
D5,D6 = LED rood (SMD 1206)
IC1,IC3 = 4093 (SOIC-14)
IC2,IC4 = LM809M3-4.38 (SOT-23)
T1,T2 = IRF7329 (SOIC-8)
T3-T6 = FDV301N (SOT-23)
Miscellaneous
Connecting wires
PCB no. 070343-1 (see www.elektor-
electronics.co.uk)
Multi-purpose NiCd & NiMH Charger
C. Tavernier
www.tavernier-c.com
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TIP32A
+BATT
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R3
150
7
C1
10n
LED1
R2
680
7
K1
K2
K3
K4
R4
68k
R5
22k
R1
C2
1
M
25V
D1
1N4002
C3
10n
R6
C4
10
M
25V
+VA
C5
10
M
25V
BATT
MAX713
IC1
BAT–
PGM2
TEMP
VLIM
BAT+
PGM0
PGM1
PGM3
FCHG
GND
TLO
DRV
THI
REF
14
12
13
10
11
CC
15
V+
16
9
7
6
1
2
3
4
5
8
V+
REF
BATT-
070301 - 11
*
*
see text
*
Table 1. Programming charge time via PGM2 & PGM3.
Maximum charge
time (min)
PGM3
PGM2
22 V+
REF
33
V+
BATT–
45
O/C
REF
66
O/C
BATT–
90
REF
REF
132
REF
BATT–
180
BATT–
REF
264
BATT–
BATT–
Table 2. Programming number of cells via PGM0 & PGM1.
Number
of cells
PGM1
PGM0
1
V+
V+
2
O/C
V+
3
REF
V+
4
BATT–
V+
5
V+
O/C
6
O/C
O/C
7
REF
O/C
8
BATT–
O/C
9
V+
REF
10
O/C
REF
11
REF
REF
12
BATT–
REF
13
V+
BATT–
14
O/C
BATT–
15
REF
BATT–
16
BATT–
BATT–
93
7-8/2007 - elektor elector
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(070301-I)
Web Links
MAX713 spec. sheet:
www.maxim-ic.com/quick_view2.
cfm/qv_pk/1666
Fast Charger for NiMH Batteries
Antoine Authier
& Karel Walraven
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94
elektor elector - 7-8/2007
VUOLH[ZPURPMULJLZZHY`;OLJOHYHJ[LYPZ-
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(070213-I)
C2
100n
63V
C3
10u
R2
68k
R3
22k
D1
K1
K2
K3
K4
2
3
1
K6
63V
C7
10u
63V
C6
10u
T1
BF245C
T2
BC547B
T3
BC547B
T4
BC557B
D3
PBYR745
D2
PBYR745
T5
IRF9520
15
13
THI
5
TLO
6
CC
11
PGM0
PGM0
REF
REF
BAT-
PGM0
V+
V+
PGM1
REF
BAT-
PGM1
V+
PGM2
REF
BAT-
PGM2
V+
PGM3
REF
BAT-
PGM3
V+
3
PGM1
4
PGM2
9
PGM3
PGM0
PGM1
PGM2
PGM3
10
REF
16
VLIM
1
TEMP
7
FCHG
8
DRV
14
BAT+
2
BAT-
BAT-
12
IC1
MAX712
25V
C5
1u
R4
1k
R5
4k7
C1
220p
R1
0R22
63V
C4
10u
GND
GND
K5
L1
220uH
+BATT.
-BATT.
+8V...+15V
1A3
070213 - 11
Components list
Resistors
R1 = 0.22
7 5W
R2 = 68k
7
R3 = 22k
7
R4 = 1k
7
R5 = 4k
77
Capacitors
C1 = 220pF
C2 = 100nF
C3,C4,C6,C7 = 10
MF 63V radial
C5 = 1μF 25V radial
Inductor
L1 = 220
MH suppressor choke
Semiconductors
D1 = LED
D2,D3 = PBYR745
T1 = BF245B or -C
T2,T3 = BC547B
T4 = BC557B
T5 = IRF9520
IC1 = MAX712CPE
Miscellaneous
K1-K4 = 5-way SIL pinheader
K5 = 2-way PCB terminal block, lead pitch
5mm
K6 = DC supply jack, PCB mount
PCB no. 070213-1, see Elektor SHOP
V+
PGM
x
PGM
x
REF
BA
T
-
Deep Discharge Protection for Rechargeable Cells
Tilman Küpper
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95
7-8/2007 - elektor elector
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WYV]PKLK`V\KVUV[JOVVZL[V\ZL
]LY`ZTHSSYLZPZ[VYWHJRHNLZ6UJL
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7*)JHUILWYV[LJ[LKI`LUJHWZ\-
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ZOYPURZSLL]PUN
(070087-I)
Links
Data sheet IRL7665: www.intersil.com/
data/fn/fn3182.pdf
Data sheet IRLML6402: www.irf.
com/product-info/datasheets/data/
irlml6402.pdf
ICL7665
HYST1
HYST2
IC1
OUT1
SET1
SET2
OUT2
1
2
4
8
5
3
6
7
BT1
R2
820k
R3
130k
R1
100k
R4
100k
RL1
T1
IRLML6402
070087 - 11
LDO Regulator
with Soft Start or Tracking
Dirk Gehrke
(Texas Instruments Germany)
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C4
C3
4
M7
C1
1
M
C2
1
M
TPS74201
TPS74401
IC1
BIAS
OUT
GND
FB
IN
EN
SS
5
3
4
7
6
1
2
R1
2k49
R2
4k99
U
U
IN
OUT
U
BIAS
*
C3
4
M7
C1
1
M
C2
1
M
R1
2k49
R2
4k99
U
U
IN
OUT
U
BIAS
*
R4
R3
4k99
TPS74301
TRACK
IC1
BIAS
OUT
GND
FB
IN
EN
5
3
4
7
6
1
2
TRACK
IN
070231 - 11
see text
*
Figure 1.
Schematic of TPS74201, TPS74301 and TPS74401
(see text for values of R4 and C4).
96
elektor elector - 7-8/2007
to the TRACK IN pin. When the value of
R4 selected to be 10 k in this particular
example, the output of the TPS74301 will
follow the external ramp signal within a
few millivolts until the TPS74301 reaches its
regulated voltage. This is called Simultane-
ous Sequencing (Figure 2). The TPS74301
output voltage will have the same rate of
rise (dv/dt) as the external ramp signal but
TPS74201 1.5A LDO with Programmable Soft-
Start, Texas Instruments Literature # SBVS064C
TPS74x01EVM-118 User’s Guide, Texas Instru-
ments Literature # SLVU143.
Sequencing Power Supplies in Multiple Volt-
age Rail Environments by David Daniels, Dirk
Gehrke and Mike Segal, Texas Instruments
Literature # SLUP228 or http://focus.ti.com/lit/
ml/slup228/slup228.pdf
a different soft-start time.
Changing resistor R4 to a value of 1.78 k
results in the TPS74301 output voltage
reaching its regulated voltage at the same
time the externally applied tracking signal
reaches its maximum voltage (e.g., 3.3 V).
This is called Ratiometric Sequencing
(Figure 3). Although the external ramp
signal and the TPS74301 will have differ-
ent rates of rise, they will have the same
soft-start time.
For the TPS74201 and TPS74401 the
capacitor value can be used to program
the soft-start ramp. In this example, values
of 1 nF and 10 nF for C4 were used to real-
ize ramps with 1 ms and 10 ms rise time
respectively (Figures 4 and 5 respectively).
With no capacitor attached to this pin the
default soft-start time will be 500 μs. This
500-μs start up time is also valid for the
TPS74301 when applying a voltage greater
than 800 mV to the TRACK pin.
(070231-I)
Literature
TPS74401 3.0A Ultra-Low Dropout Linear
Regulator, Texas Instruments Literature #
SBVS066C.
TPS74301 1.5A Ultra-Low Dropout Linear
Regulator with Programmable Sequencing,
Texas Instruments Literature # SBVS065C.
Figure 2.
Tracking LDO TPS74301 with
simultaneous startup (R4 = 10k
).
Timebase: 2 mV/div.
Figure 3.
Tracking LDO TPS74301with
ratiometric startup (R4 = 1.78k
).
Timebase: 2 mV/div.
Figure 4.
Soft-Start LDO TPS74201 and TPS74401
with 1ms soft startup (C4 = 1nF).
Timebase: 2 mV/div.
Figure 5.
Soft-Start LDO TPS74201 and TPS74401
with 10ms soft startup (C4 = 10nF).
Timebase: 2 mV/div.
!
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97
7-8/2007 - elektor electronics
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Tel: 0870 246 1826
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Infrared RC Relay Board
Individually control 12 on-
board relays with included
infrared remote control unit.
Toggle or momentary. 15m+
range. 112x122mm. Supply: 12Vdc/0.5A
Kit Order Code: 3142KT - £47.95
Assembled Order Code: AS3142 - £59.95
NEW! USB & Serial Port PIC Programmer
USB/Serial connection. Header
cable for ICSP. Free Windows
XP software. Wide range of
supported PICs - see website for
complete listing. ZIF Socket/USB
lead not included. Supply: 16-18Vdc.
Kit Order Code: 3149EKT - £37.95
Assembled Order Code: AS3149E - £49.95
NEW! USB 'All-Flash' PIC Programmer
USB PIC programmer for all
µ)ODVK¶GHYLFHV1RH[WHUQDO
power supply making it truly
portable. Supplied with box and
Windows Software. ZIF Socket
and USB lead not included.
Assembled Order Code: AS3128 - £44.95
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ally all 8 to 40 pin VHULDO
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(PIC16C5x family) pro-
grammed PIC micro control-
lers. Free fully functional software. Blank chip
auto detect for super fast bulk programming.
Parallel port connection. Supply: 16-18Vdc.
Assembled Order Code: AS3117 - £24.95
ATMEL 89xxxx Programmer
Uses serial port and any
standard terminal comms
program. Program/ Read/
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sockets not included. Supply: 16-18Vdc.
Kit Order Code: 3123KT - £24.95
Assembled Order Code: AS3123 - £34.95
PIC & ATMEL Programmers
We have a wide range of low cost PIC and
$70(/3URJUDPPHUV&RPSOHWHUDQJHDQG
documentation available from our web site.
Programmer Accessories:
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18Vdc Power supply (PSU010) £19.95
Leads: Parallel (LDC136) £4.95 / Serial
(LDC441) £4.95 / USB (LDC644) £2.95
Serial Isolated I/O Relay Module
Computer controlled 8-
channel relay board.
5A mains rated relay
outputs. 4 isolated
digital inputs. Useful in
a variety of control and
sensing applications. Controlled via serial
port for programming (using our new Win-
dows interface, terminal emulator or batch
files). Includes plastic case 130x100x30mm.
Power Supply: 12Vdc/500mA.
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Computer Temperature Data Logger
4-channel temperature log-
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Continuously logs up to 4
separate sensors located
200m+ from board. Wide
range of free software appli-
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Kit Order Code: 3145KT - £18.95
Assembled Order Code: AS3145 - £25.95
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Rolling Code 4-Channel UHF Remote
State-of-the-Art. High security.
4 channels. Momentary or
latching relay output. Range
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be learnt by one Rx (kit in-
cludes one Tx but more avail-
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77x85mm, 12Vdc/6mA (standby). 7ZRDQG
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Kit Order Code: 3180KT - £44.95
Assembled Order Code: AS3180 - £51.95
NEW! DTMF Telephone Relay Switcher
Call your phone number
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anywhere in the world and
remotely turn on/off any of
the 4 relays as desired.
User settable Security Password, Anti-
Tamper, Rings to Answer, Auto Hang-up and
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proved. 130x110x30mm. Power: 12Vdc.
Kit Order Code: 3140KT - £54.95
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Controllers & Loggers
Here are just a few of the controller and
data acquisition and control units we have.
See website for full details. Suitable PSU
for all units: Order Code PSU445 £8.95
NEW! PC / Standalone Unipolar
Stepper Motor Driver
'ULYHVDQ\RUOHDG
unipolar stepper motor
rated up to 6 Amps max.
Provides speed and direc-
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controlled mode. Up to six 3179 driver boards
can be connected to a single parallel port.
Supply: 9Vdc. PCB: 80x50mm.
Kit Order Code: 3179KT - £11.95
Assembled Order Code: AS3179 - £18.95
NEW! Bi-Polar Stepper Motor Driver
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motor using externally sup-
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and direction control. These
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Supply: 8-30Vdc. PCB: 75x85mm.
Kit Order Code: 3158KT - £17.95
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NEW! Bidirectional DC Motor Controller
Controls the speed of
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motors (rated up to
16Vdc/5A) in both the
forward and reverse
direction. The range
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directions. The direction and speed are con-
trolled using a single potentiometer. Screw
terminal block for connections.
Kit Order Code: 3166KT - £16.95
Assembled Order Code: AS3166 - £25.95
DC Motor Speed Controller (100V/7.5A)
Control the speed of
almost any common
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100V/7.5A. Pulse width
modulation output for
maximum motor torque
at all speeds. Supply: 5-15Vdc. Box supplied.
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Kit Order Code: 3067KT - £13.95
Assembled Order Code: AS3067 - £21.95
Most items are available in kit form (KT suffix)
or assembled and ready for use (AS prefix).
Motor Drivers/Controllers
Here are just a few of our controller and
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stepper motors and servo motors. See
website for full details.
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98
elektor electronics - 7-8/2007
Bolo
Abraham Vreugdenhil
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Motors
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DS
10
11
12
13
14
15
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I1
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470
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470
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R1
1k
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1k
47k
P1
AT89C2051
P3.2
P3.3
P1.0
P1.1
P3.0
P3.1
P3.4
P3.5
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P1.2
P1.3
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Web links
[1] www.geocities.com/dinceraydin/8051/
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Het programma voor Bolo is gratis te
downloaden van de Elektuur-website (EPS
070295-11).
AT89C2051
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2
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Video clip of the walking mini robot:
http://www.xj3.nl/_dreijer/backsite/willem/
babybot.avi
101
7-8/2007 - elektor electronics
Torque is Cheap
Bernhard Spitzer
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driver
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(070284-I)
MOSI
MISO
K1
GND
GND
GND
GND
SCK
Kanda Dongle
10
V+
1
2
3
4
5
6
7
8
9
+4V8
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XTAL1
XTAL2
IC1
PB6
PB5
PB1
PB0
PD2
PD3
PB7
PB3
PD0
PD1
PD6
PD4
PD5
RST
PB4
PB2
20
10
19
18
17
16
15
14
13
12
11
5
4
1
2
3
6
7
8
9
M1
M
X1
8MHz
R5
21k
R6
21k
R4
560
7
R3
560
7
D1
D2
R1
560
7
R2
560
7
CNY70
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3
4
1
2
CNY70
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3
4
1
2
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070284 - 11
MOSI
MISO
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103
7-8/2007 - elektor electronics
TriBot
Abraham Vreugdenhil
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Connections to the 89C2051
Pin
Function
Connects to
1
RST
2
RxD
3
TxD
4
Xtal2
5
Xtal1
6
P3.2
(RC5 expansion)
7
P3.3
Motor 2
8
P3.4
Motor 3
9
P3.5
Motor 1
10
GND
11
P3.7
LED 1
12
P1.0
Antenna 1
13
P1.1
Antenna 2
14
P1.2
Antenna 3
15
P1.3
LDR 1
16
P1.4
LDR 2
17
P1.5
LDR 3
18
P1.6
LED 2
19
P1.7
LED 3
20
VCC
X1
12MHz
C5
22p
C6
22p
ULN2003
IC2
GND
DS
10
11
12
13
14
15
16
I1
I2
I3
I4
I5
I6
I7
O1
O2
O3
O4
O5
O6
O7
9
1
2
3
6
7
4
5
8
M1
M
M2
M
M3
M
R5
D1
R6
D2
R7
D3
C4
10
M
16V
R4
10k
LDR3
C3
10
M
35V
LDR2
C2
10
M
35V
LDR1
C1
10
M
35V
AT89C2051
P3.2
P3.3
P1.0
P1.1
P3.0
P3.1
P3.4
P3.5
IC1
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7
P3.7
RST
X1
X2
20
10
12
13
14
15
16
17
18
19
11
5
4
2
3
1
6
7
8
9
R3
1k
R2
1k
R1
1k
BT1
4V8
4x 1V2
S4
070289 - 11
S1
S2
S3
S1 ... S3 = antenna
motor 1
LDR 1
LDR 2
LDR 3
motor 2
070289 - 12
antenna 3
antenna 1
antenna
2
motor 3
104
elektor electronics - 7-8/2007
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(070289-I)
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Abraham Vreugdenhil
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(070288-I)
Hunter
Abraham Vreugdenhil
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105
7-8/2007 - elektor electronics
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;^VZPTWSLTPJYVZ^P[JOLZHYL\ZLKMVY[OL
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HYLJSVZLK^OLU[OL`HYLUV[HJ[P]H[LK
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470
7
D4
D5
R5
470
7
D6
D7
X1
8MHz
Servo4
Servo5
Servo2
Servo3
Servo1
Servo7
Servo8
Servo6
S3
R3
470
7
D3
R2
470
7
D2
R1
470
7
D1
AT90S2313
ISP connector
XTAL1
XTAL2
IC1
PB6
PB5
PB1
PB0
PD2
PD3
PB7
PB3
PD0
PD1
PD6
PD4
PD5
RST
PB4
PB2
20
10
19
18
17
16
15
14
13
12
11
5
4
2
1
2
3
6
7
8
9
PIR sensor
s
7805
IC2
BT1
7V2
S4
+5V
+7V2
070283 - 11
S1
S2
MOSI MISO
SCK
GND
RST
V
CC
L
M
R
L
R
1
4
3
6
5
8
V
CC
GND
7
10
9
MOSI
RST
SCK
MISO
AT90S2313 pin assignments
Pin
Function
Connection
2
PD0
Left front leg hip
3
PD1
Left front leg knee
6
PD2
Left rear leg hip
7
PD3
Left rear leg knee
8
PD4
Left feeler
9
PD5
Right feeler
11
PD6
Right eye
12
PB0
Right front leg hip
13
PB1
Right front leg knee
14
PB2
Right rear leg hip
15
PB3
Right rear leg knee
16
PB4 Left
eye
17
PB5 - MOSI
Left PIR sensor / ISP via jumper
18
PB6 – MISO
Middle PIR sensor / ISP via jumper
19
PB7 – SCK
Right PIR sensor / ISP via jumper
106
elektor electronics - 7-8/2007
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(070283-I)
Web Links
[1] http://avrhelp.mcselec.com/Sample_
Electronics_cable_programmer.html
[2] www.mcselec.com
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107
7-8/2007 - elektor electronics
Robot MOPS
Markus Bindhammer
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T1
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T2
BC547
T4
BC547
T5
BC547
D3
D4
T3
R3
100k
R4
560k
R1
1k8
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180
7
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180
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070143 - 11
070143 - 12
T3
D3
plastic tube
protects against
ambient light
1
2
108
elektor electronics - 7-8/2007
increases its resistance will make T4 more
sensitive and vice versa. T4 conducts in
synchronism with the flashing LED so
capacitor C2 acts as a reservoir capacitor
to ensure that once T4 begins to conduct,
suffi cient energy is stored in C2 to ensure
that T5 remains conducting continuously
until the obstacle is out of range and T4
switches off. It takes a few seconds for C2
to discharge and during this time MOPs is
performing its avoidance manoeuvre.
T5 switches a double pole relay which has
the effect of performing this manoeuvre. In
normal forward motion the relay switches
the positive and negative supplies to both
motors and diode D2 is conducting. When
an obstacle is detected the relay switches
and reverses the polarity of the motor con-
nections. D2 now becomes reverse biased
and no current can fl ow through motor
M2 while M1 goes into reverse. This gives
MOPS the reverse and turn response to
obstacles. A few seconds after the obsta-
cle is no longer detected the relay switches
back and MOPS carries on as before but in
a different direction.
Figure 2 shows a close up of MOPS’s
eye mounted in a tube which helps to
make obstacle detection more directional
and reduces the effects of external light
lisions with matt black objects. Figure 3
shows the layout of the two motor and
gearbox assemblies.
(070143-I)
Web link
www.elexs.de/robo1.htm
sources. With this set-up it was possible
to detect obstacles at a distance of 10 cm.
The range depends largely on the refl ective
properties of the obstacle so darker objects
will only be seen at shorter ranges. The cir-
cuit can be modifi ed to read microswitches
connected to contact feelers mounted on
the front of MOPS this will help avoid col-
U
M2
070143 - 13
U
M1
3
NEW
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,//.2.1-/0
Complete your 30x
circuits series now!
ISBN 978-0-905705-69-9
Approx. 432 pages
£19.95 / US$ 39.95
109
7-8/2007 - elektor electronics
110
elektor electronics - 7-8/2007
2.4 GHz Antenna
for Robotics Vehicles
Ragnar Jensen
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The raw material: a short piece of 50-
7 coax cable.
Cut off about 40 mm of the outer insulation. This will expose the braid
that forms the cable shield.
Push down the braid to expose the inner insulation.
Using the pointed tool, carefully unweave the braid strands.
Until your hairdressing looks something like this…
Distribute the strands into four equally sized and likewise spaced
bundles (wow, tresses!)
1
2
3
4
5
6
111
7-8/2007 - elektor electronics
Now bend them into a 45-degree angle with respect to the cable. This
angle will result in an antenna impedance of about 50
7.
Cover the bundles with solder. Although this step is optional, it does
enable the ground plane elements to hold their shape better, and
prevents untwisting of the strands.
Done soldering!
Apply a few drops of hot glue…
… will help keep the proper shape.
Cut the radials and the radiator to a length of 30 mm
(yes that’s 0.25 lambda).
And we are done!
(070142-I)
(reproduced with modifications and extensions from CQ-TV issue 217)
7
8
9
10
11
12
13
112
elektor electronics - 7-8/2007
Receiver for RC5 Remote Controls
Thomas Möll
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&
12
13
11
IC9.D
&
12
13
11
IC8.D
&
8
9
10
IC9.C
&
5
6
4
IC9.B
&
1
2
3
IC9.A
&
R29
100k
D19
D22
D23
D21
D20
R25
100k
R24
100k
D18
D24
D25
D26
D28
D27
D29
R30
100k
C8
47
M
R21
100k
+5V
IC1
16
8
IC2
16
8
IC6
14
7
IC8
14
7
IC9
14
7
+5V
1
2
3
1
2
3
4
5
6
7
8
9
10
11
12
13
14
DATA
DATA
CLK
RESET
18kHz
070089 - 11
IC1, IC2 = CD4015
IC6 = CD4013
IC8, IC9 = CD4093
BC557B
Reset 01
Reset 02
D17...D29 =
1N4148
113
7-8/2007 - elektor electronics
LHJOIP[;OPZPZ[OLRL`[V[OLJPYJ\P[![OL
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KLWLUKZVU[OPZZPNUHS
(070089-I)
IR Remote Control with the R8C
G. van Zeijts
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HWWLHYLK PU ,SLR[VY ,SLJ[YVUPJZ HIV\[
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R8C/13
RESET
RXD1
MODE
P0.0
VSS
VCC
P1.7
P1.6
P1.5
P1.4
P1.3
P1.2
P1.1
P1.0
P4.5
P3.3
P3.2
P3.1
P3.0
P0.7
P0.6
P0.5
P0.4
P0.3
P0.2
P0.1
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
1
2
3
4
5
6
7
8
9
+5V
K1
8x 1k
K2
8x 1k
TSOP1736
TSOP1736
2
3
1
2k2
10k
T1
BC638
+5V
1k
1k
JP1
070191 - 11
1
2
3
4
5
8
7
6
max. 15mA
green
red
114
elektor electronics - 7-8/2007
MHJLJPYJ\P[[OH[`V\OH]L[VI\PSK`V\Y
ZLSM2JHUILSVHKLK^P[OHTH_PT\T
VMT(
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;OL ZVM[^HYL MVY [OPZ WYVQLJ[ PZ H MYLL
KV^USVHKMYVT[OL,SLR[VY^LIZP[L·ZLL
HYJOP]LÄSL070191-11.zip
(070191-I)
;OLNYLLU3,+VUWPUM\UJ[PVUZHZVU
VMMPUKPJH[VYMVY[OLJPYJ\P[
0[PZVMJV\YZLHSZVWVZZPISL[V\ZLHWPLaV
I\aaLYMVY[OLHJV\Z[PJHSHYTVU77
TH`ILSVHKLKI`\W[VT(
zBot:Wireless Link
Jens Altenburg
;OLYLL_PZ[HSV[VM^PYLSLZZJVTT\UP
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a)V[
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;OLTVK\SLJVTLZHZHZTHSSM\SS`HZZLT
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SV^YLJLP]LYZLUZP[P]P[`
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YHKPVPZHÄSLJHSSLKrf433.c
(070173-I)
[1] The complete document called
Zbot — the Robot Experimental Platform
is available for free downloading from the
Elektor Electronics website. The file number is
070172-11.zip (July/August 2007).
Removed Pulse Detector
Hesam Moshiri
(KL[LJ[VY[VÅHNTPZZ
PUNW\SZLZPZHTVUN[OL
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T$9*
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LM555CN
IC1
DIS
THR
OUT
TR
CV
2
7
6
4
R
3
5
8
1
V
CC
T1
BC558
R1
10k
R
C
070099 - 11
INPUT
OUTPUT
070099 - 12
INPUT
N
M
Deleted Pulse
OUTPUT
070099 - 13
1
2
3
115
7-8/2007 - elektor electronics
R£#R#4£HUKM#T#N
>OLUHJVYYLJ[ZPNUHSPZILPUNHWWSPLK[V
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WSLHTPJYVJVU[YVSSLYVYHUV[OLYZLUZPUN
[OH[HJ[ZVU[OLPU[LYY\W[PVUPU[OLW\SZL
Z[YLHT0M[OL^VYZ[JVTLZ[V[OL^VYZ[[OL
H\[VWPSV[ZOV\SKILZ^P[JOLKVU
(070099-I)
IR Communications using a UART
Dominik Tewiele
0M`V\^PZO[VZL[\WHTLKP\TYHUNLT
[V T JVTT\UPJH[PVU SPUR IL[^LLU
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JHS HS[LYUH[P]L [V \ZPUN YHKPV TVK\SLZ
;YPLKHUK[LZ[LKZ[HUKHYKWYV[VJVSZHUK
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[OLTVK\SH[PVUULJLZZHY`[VZ\WWYLZZ[OL
LMMLJ[VMHTIPLU[PUMYHYLKSPNO[7YHJ[PJHSS`
L]LY`TVKLYUTPJYVJVU[YVSSLYZWVY[ZVUL
VY TVYL HZ`UJOYVUV\Z ZLYPHS PU[LYMHJLZ
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;:67__^OLYL[OLº__»Z[HUKZMVY[OL
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P[PZWVZZPISL[VJVUULJ[ZL]LYHSYLJLP]LY
TVK\SLZPUWHYHSSLS[VPUJYLHZL[OLHYLH
JV]LYLK;OL[YHUZTP[[LYJVUZPZ[ZZPTWS`VM
HU09KPVKLHUKHJV\WSLVMKPZJYL[LJVT
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[VY[OLUHWWSPLZ[OLYLX\PYLKTVK\SH[PVU
/LYLHNHPU^LJHU^PYLZL]LYHS093,+ZPU
WHYHSSLS[VPUJYLHZL[OL[YHUZTP[YHUNLHUK
JV]LYHNLHUNSL;OLZLYPLZJ\YYLU[SPTP[PUN
YLZPZ[VYMVY[OL093,+ZZOV\SKILJOVZLU
^P[OJVUZPKLYH[PVUMVY[OLKLZPYLKYHUNL
HUK[OLTH_PT\TW\SZLJ\YYLU[[OH[[OL
3,+ZJHUOHUKSL;OPZSHZ[ÄN\YLJHUIL
MV\UKVU[OL3,+»ZKH[HZOLL[^OPJO^PSS
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[VZL[PU[OLZVM[^HYL
;OL TH_PT\T IH\K YH[L [OH[ JHU IL
HJOPL]LK^PSSKLWLUKVU[OLYLJLP]LYJOV
ZLU<ZPUNH;:67__HYV\UKIH\K
PZWVZZPISL^OPJOZOV\SKILHKLX\H[LMVY
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[PVUHSJVTT\UPJH[PVUP[^PSSILULJLZZHY`
[VI\PSKIV[OHYLJLP]LYJPYJ\P[HUKH[YHUZ
TP[[LYJPYJ\P[H[LHJOLUKVM[OLSPUR0[PZ
^VY[OILHYPUNPUTPUK[OH[ILJH\ZLVM[OL
LMMLJ[VMYLÅLJ[PVUZZJVWLMVYM\SSK\WSL_
VWLYH[PVUPZYH[OLYSPTP[LK
(070170-I
PB3(MOSI/OC2)
PC5(ADC5/SCL)
PB2(SS/OC1B)
PD4(XCK/TO)
ATmega8
PD2(INT0)
PD3(INT1)
PD6(AIN0)
PD7(AIN1)
PB1(OC1A)
PB4(MISO)
PC3(ADC3)
PC2(ADC2)
PD0(RXD)
PD1(TXD)
PB0(ICP)
PB5(SCK)
PD5(T1)
IC
11
12
13
14
15
16
17
18
19
28
26
25
2
3
4
5
6
R3
10k
R4
10k
T1
BC447
T2
10
M 16V
BC448
R1
D1
V
CC
C5
070170 - 11
100
7
Radio Remote Control
for PDAs and Smartphones
Peter Zirngibl
6UOPZ^LIZP[L\UKLY[OL[P[SLº(=9)S\L
9LTV[L»[OLH\[OVYKLZJYPILZPU.LYTHU
H )S\L[VV[OIHZLK YLTV[L JVU[YVS \UP[
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SPNO[PUNJVU[YVSSLY;OLZVM[^HYLPZMYLLMVY
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WVZ[HNLZ[HTWZPaLK)S\L5PJL*VT000)S\L
[VV[OTVK\SL^P[OPU[LNYH[LKJOPWHU[LUUH
MYVT(TILY>PYLSLZZ;OLTVK\SLPZIHZLK
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9?ZPNUHSZIL[^LLUP[HUKHU([TLS(=9
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HNLYLN\SH[VY[`WL37 =HUKHU0:7
116
elektor electronics - 7-8/2007
PUZ`Z[LTWYVNYHTTPUNJVUULJ
[VY-V\Y3,+ZPUKPJH[L[OLZ[H[\ZVM
[OLJVUULJ[PVU!3,+ZOV^Z^OLU
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)S\L[VV[OTVK\SL»Z3,+ZPUKPJH[L
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TVKL3,+
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MVY[OLJPYJ\P[OHZ[VTLL[ZL]
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[OLPU[LYMHJL^PSSILJSVZLK
(070126-I)
Web links
Author’s website (in German): http://www.clipswitch.de/avrbluer-
emote.html
Bluetooth module information: http://www.amber-wireless.de/en/
produkte/bluetooth/default.php?fnum=109221360256
Bluetooth module manual: http://www.amber-wireless.
de/pdf/OPC1601_MA.pdf
LMX9820A datasheet: http://www.national.com/pf/LM/LMX9820A.html
AVR programmer: http://www.atmel.com/dyn/products/tools_card.
asp?tool_id=2726
AVR Studio: http://www.atmel.com/dyn/products/tools_card.
asp?tool_id=2725
PB3(MOSI/OC2)
PC5(ADC5/SCL)
PC4(ADC4/SDA)
PB2(SS/OC1B)
PD4(XCK/TO)
PC6(RESET)
PD2(INT0)
PD3(INT1)
PD6(AIN0)
PD7(AIN1)
PB1(OC1A)
PB4(MISO)
PC3(ADC3)
PC2(ADC2)
PC0(ADC0)
PC1(ADC1)
ATmega8L
PD0(RXD)
PD1(TXD)
PB0(ICP)
PB5(SCK)
PD5(T1)
XTAL1
XTAL2
AREF
IC1
AGND
AVCC
GND
VCC
21
10
22
20
11
12
13
14
15
16
17
18
19
28
26
25
23
24
27
1
9
8
7
2
3
4
5
6
ULN2803
IC2
VEE
+VS
11
12
13
14
15
16
17
18
I1
I2
I3
I4
I5
I6
I7
I8
O1
O2
O3
O4
O5
O6
O7
O8
10
1
2
3
6
7
8
4
5
9
X1
7,3728MHz
C4
22p
C5
22p
S1
JP2
JP1
D3
R1
1k
D6
1N4148
RE1
D1
R2
220
7
D2
R3
1k
IC4
LP2950
3V
K1
1
2
3
4
5
6
ISP
R4
4k7
+3V
+5V
+3V
C1
10
M
C2
10
M
C3
100n
SCK
MISO
MOSI
FB1
FB2
FB3
FB4
FB5
FB6
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
070126 - 11
Blue Nice Com III
VDD_DIGI
LSTAT_0
LSTAT_1
Host_wu
TX_LED
RESET
ISEL1
ISEL2
IC3
ENV1
ENV0
GND
VCC
RTS
CTS
RX
TX
10
11
12
13
14
15
16
8
9
1
2
3
4
5
6
7
R7
1k
R5
220
7
D4
R6
220
7
D5
+3V
+3V
Reset Bluetooth
VCC
RX
TX
117
7-8/2007 - elektor electronics
Robot Voice
Pascal Choquet
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aPW
(070313-I)
Web link
www.winbond-usa.
com/mambo/content/view/153/283/
7805
IC2
C9
100n
C8
100n
C10
10
M
25V
C11
10
M
16V
D1
R6
220
7
+5V
S4
+U
C1
100n
C2
100n
C3
100n
MIC1
R5
470k
R3
10k
R2
10k
R1
1k
C6
4
M7
16V
C7
22
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4k7
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R4
220
7
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4k7
R7
4k7
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16
7
LS1
070313 - 11
ISD2560
MICREF
ANAOUT
AUX IN
ANAIN
IC1
VCCA
VCCD
VSSA
VSSD
XCLK
SP+
SP–
AGC
MIC
P/R
OVF
EOM
CE
PD
17
23
24
27
19
15
14
16
28
18
20
21
13
12
A0
A1
A2
A3
A4
A5
A8
10
A9
A6
A7
11
22
25
26
1
2
3
4
5
6
9
7
8
S1
S3
PD
Play/Rec
C5
100n
C4
100n
118
elektor electronics - 7-8/2007
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Balancing Robot
David den Boer
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X\LU[S`\ZLKPZ[OL(+?3MYVT(UHSVN
+L]PJLZ^OPJOJHUTLHZ\YLHJJLSLYH[PVU
PU[^VT\[\HSS`WLYWLUKPJ\SHYKPYLJ[PVUZ
)LJH\ZL[OLZLUZVYPZHSZVZLUZP[P]L[V[OL
Z[H[PJHJJLSLYH[PVUK\L[VNYH]P[`N[OL
Gyroscope
Angle
Angular
velocity
PWM outputs
Spindle
070294 - 11
Speed
H-bridge
Motor L
Encoder
Motor R
Microcontroller
Pots
Accelero-
meter
Filter
Control
119
7-8/2007 - elektor electronics
T
l
g
2
Q
T
period [s]
g
gravitational acceleration [m/s
2
]
l
length from pivot to centre of mass [m]]
PWM
k
k
k
v
1
2
3
R
R
R
Angle of the robot [°]
R
Velocity at which the angle changes [°/s]
PWM
Drive for the motors 0-100%
v
Speed of the robot [m/s]
k
k
1
3
...
Feedback factors, constant
R
R
R
R
B
B
G
v
n
k
n
k
n
k
n
[ ]
[
]
[ ]
[ ]
4
5
6
1
R
G
n
[ ]
Angular velocity measured by the gyroscope [°/s]
R
B
n
[ ]
Angle of the robot, calculated in measurement n [°]
R
v
n
[ ]
Angle of the robot, determined by accelerometer in measurement n [°]
R
B
n
[
]
1
Angle of the robot, calculated in measurement n-1 [°]
k
k
4
6
...
constants
070294 - 12
a
a
m
2
g
a
m
1
g
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KL[LYTPULKK`UHTPJHSS`^OPSLIHS-
HUJPUN)LJH\ZL[OL^LPNOPUN]HS-
\LZ[LUK[VX\PJRS`JVU]LYNL[VH
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ZVM[^HYLPU[OLTPJYVJVU[YVSSLYHU\TILY
VM[OPUNZOH]L[VILJHYYPLKV\[ZPT\S[HUL-
V\ZS`;OLZLUZVYZOH]L[VILYLHKJHS-
J\SH[PVUZOH]L[VILJHYYPLKV\[HUK[OL
HJ[\H[VYZMVY[OLYVIV[OH]L[VILKYP]LU
([[OLZHTL[PTLP[PZVM[LUHSZVKLZPYHISL
[VJVTT\UPJH[L^P[OH7*MVY[OLW\YWVZL
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LYM\SWYVJLZZVYI\[[V\ZLHU\TILYVM
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120
elektor electronics - 7-8/2007
ILKP]PKLK^OPJOTHRL[OLWYVNYHTTPUN
[HZRHNYLH[KLHSLHZPLY
:\TVMWHY[Z
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WVYHY`HKKP[PVUVMHZTHSSHYT[V[OLYVIV[
;OPZHYTPZH[[HJOLK[V[OLYVIV[ZV[OH[P[
JHUOPUNL^P[O[OLHPKVMHWV[LU[PVTL[LY
^OPJOM\UJ[PVUZHZ[OLOPUNL;OLV[OLY
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YLZ[ZVU[OLÅVVY>OLU[OLYVIV[SVZLZP[Z
IHSHUJL[OLWVZP[PVUVM[OLWV[LU[PVTL[LY
JOHUNLZHUK[OLYLMVYLHSZVP[ZV\[W\[;OL
V\[W\[VM[OLWV[LU[PVTL[LYOHZHKPYLJ[
YLSH[PVUZOPW^P[O[OLHUNSLVM[OLYVIV[HUK
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[OH[P[PZPTWVY[HU[[VJOVVZLHWV[LU[PVT-
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;OLUL_[Z[LWPZ[OLJVU[YVSSLY)LJH\ZLVM
[OLHYTHYLHKV\[VM[OLHUNSLPZH]HPSHISL
HUK[OPZJHUIL\ZLK[V[LZ[HUKJHSPIYH[L
[OL JVU[YVSSLY MVY [OL YVIV[ (Z HSYLHK`
TLU[PVULKMLLKIHJRMYVT[OLHUNSLVM
[OLYVIV[HUN\SHY]LSVJP[`HUKZWLLKVM
[OLYVIV[HYLLZZLU[PHSMVY[OLZ\JJLZZM\S
JVU[YVSVM[OLYVIV[0[PZWVZZPISL[VJHSJ\-
SH[L[OLULJLZZHY`MLLKIHJRMHJ[VYZTH[O-
LTH[PJHSS`/V^L]LY[OPZTHRLZHJVT-
WSL[LHUKKL[HPSLKWO`ZPJHSKLZJYPW[PVUVM
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[PVUK\L[VNYH]P[`PZVIZLY]LK
([OPYKZ[LWPZ[OLJHSJ\SH[PVUVM[OLHUNSL
HUKHUN\SHY]LSVJP[`![OLYLZ\S[ZMYVT[OL
ZLUZVYZOH]L[VILJVTIPULKPUZ\JOH^H`
[OH[[OLHUNSLVM[OLYVIV[HUK[OLZWLLK
H[^OPJO[OPZHUNSLJOHUNLZPZVI[HPULK
;OLJHSJ\SH[PVU[OH[THRLZ[OPZWVZZPISL
OHZILLUKLZJYPILKHIV]L;OL^LPNOPUN
MHJ[VYZJHUILKL[LYTPULKI`TV]PUN[OL
YVIV[MVYZVTL[PTLTPU\[LMVYL_HT-
WSLHUKYLHKPUN[OL]HS\LZMYVT[OLZLU-
ZVYZHJJLSLYVTL[LYN`YVZJVWLHUKWV[LU-
[PVTL[LYVU[OLHYT(ZWYLHKZOLL[VU[OL
7*JHUZ\IZLX\LU[S`IL\ZLK[VHUHS`ZL
[OL]HS\LZHUKKL[LYTPUL[OLJVYYLJ[]HS-
\LZMVY[OL^LPNOPUNMHJ[VYZ
(070294-I)
Web links
[1] http://robotics.ee.uwa.edu.au/the-
ses/2003-Balance-Ooi.pdf This docu-
ment describes a final year project during
which a balancing robot was built. The
research is quite detailed with respect to
the physical and mathematical model-
ling of the problem.
[2] http://leiwww.epfl.ch/joe/ Polytechnic
school of Lausanne. The website is in
French but there are a number of nice
movies.
[3] http://www.geology.smu.edu/~dpa-
www/robo/nbot/
This is the web-
site of D. Anderson who built the NBOT.
[4] www.dena.demon.nl
Dutch website on the construction of a
balancing robot.
[5] www.segway.com
Importer of
the Segway.
[6] www.sparkfun.com
MVYL_HTWSLI`JVUULJ[PUNHU\TILYVM
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ZSV^S`"PM[OPZPZ[VVSHYNL[OLU[OLYVIV[
^PSSX\PJRS`VZJPSSH[LHYV\UK[OLIHSHUJL
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MLLKIHJRMVYZWLLK;OPZ^PSSYLZ\S[PUIL[-
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MHJ[VY[OH[PZ[VVSHYNLOV^L]LY^PSSTHRL
[OLYVIV[]LY`\UZ[HISL
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ZVYZ;OLTLHZ\YLTLU[]HS\LZMYVT[OL
ZLUZVYZN`YVZJVWLHJJLSLYVTL[LYJHU
ILYLHKPU[VH7*]PH[OLTPJYVJVU[YVS-
SLY:LUZVYZ[OH[WYV]PKLHYLHKV\[PU[OL
MVYTVMHW\SZL^PK[OTVK\SH[LKZPNUHSHYL
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[OLHUNSLHUKHUN\SHY]LSVJP[`JHUILLHZPS`
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MVY[OLYVIV[JHUILZ^P[JOLKVMM)`TV]-
PUN[OLYVIV[IHJRHUKMVY[OI`OHUK[OL
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ZSV^S`ZV[OH[[OLK`UHTPJHJJLSLYH[PVUPZ
HZZTHSSHZWVZZPISLHUKVUS`[OLHJJLSLYH-
DIY Wheels
Marcus Bindhammer
@V\KVU»[OH]L[VYLPU]LU[[OL^OLLSMVY
`V\Y YVIV[ I\[ `V\ TH` OH]L [V THRL
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I\[UV[HSLM[OHUK¯PZLUV\NO
<ZL H JVTWHZZ [V KYH^ JPYJSLZ ^P[O H
KPHTL[LYVMTTVUHWPLJLVMTT
WS`^VVKHUK[OLUJ\[VYZH^[OLKPZJZ
V\[+YPSSHTTOVSLPU[OLJLU[YLVM
LHJOKPZJ
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ZJYL^^P[OHSLUN[OVMH[SLHZ[TTT\Z[
ILÄ[[LKPU[OLOVSL5V^ZLJ\YL[OLZJYL^
\ZPUNH^HZOLYHUKU\[HUK[OLUJSHTWP[
PU[OLJO\JRVMHKYPSSWYLZZ<ZPUNHZTHSS
ISVJRVM^VVK^YHWWLKPUZHUKWHWLY`V\
JHUX\PJRS`ZHUK[OLKPZJPU[VHUPJLJPY-
J\SHYZOHWL
-PUHSS`Ä[HSLUN[OVM[VV[OLKY\IILYILS[
HYV\UK[OLJPYJ\TMLYLUJLVMLHJOKPZJVSK
]PKLVYLJVYKLYZHYLHNVVKZV\YJLVYNS\L
ÅH[LSHZ[PJIHUKZ[V[OLY\UUPUNZ\YMHJLZ
(M[LY`V\YLTV]L[OLZJYL^ZHSS`V\OH]L
[VKVPZÄ[[OL^OLLSZVU[OLH_SLZHUK
ZLJ\YL[OLT^P[OHIP[VMZ\WLYNS\L
(070145-1)
box-column drill
washer
070145 - 11
long M3 screw
or threading
wooden block covered
with sandpaper
121
7-8/2007 - elektor electronics
R8C Measures Negative Voltages
Sven van Vaerenbergh
UH Brussels, Radio Therapy Dept.
;OLH\[OVYOHK[VKLZPNUHTVUP[VYJPYJ\P[
MVY[OLZVJHSSLK/LYJ\SLZ;HISLHULSLJ-
[YPJHSS`TV]HISLWSH[MVYTH[[OL<UP]LYZP[`
/VZWP[HSPU)Y\ZZLSZ[OH[^V\SK^H[JOZL]-
LYHSVWLYH[PUN]VS[HNLZHUKJV\SKZ[VW[OL
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9*[VPTTLKPH[LS`Z[VW[OL[HISLTV]L-
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^LOH]LULNH[P]L]VS[HNLZ;OLYLZVS\[PVU
VM[OLIP[(+JVU]LY[LYPU[OL9*
HTV\U[Z[V=$=WLYIP[
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^OLU[OLPUW\[]VS[HNLPZaLYV]VS[Z
>LJHUKPZWSH`HTPU\ZZPNUVU[OL3*+
^OLU[OL]HS\LPZZTHSSLY[OHU
0U*JVKLP[SVVRZSPRL[OPZ!
if ( u < 512 )
// less than
0, then minus sign
{
lcddata (45);
}
>LHSZVOH]L[VHKQ\Z[[OL]VS[HNLSL]-
LSZPUZVM[^HYLILJH\ZL[OLZLOH]LILLU
SV^LYLKI`[OL]VS[HNLKP]PKLYZ>LHSZV
OH]L[VKYP]L[OLT\S[PWSL_LY0U*JVKLP[
SVVRZSPRL[OPZ!
pd3 _ 3 = 1; //port 3.3 as output
p3 _ 3 = 0; //p or t
3.3
=>
for
channel selection via analogue MUX
pd3 _ 2 = 1;
p3 _ 2 = 0; //p or t
3.2
=>
for
channel selection via analogue MUX
;OYLLJOHUULSZHYLKPYLJ[S`JVUULJ[LK[V
[OL(+JVU]LY[LY6ULJOHUULSPZT\S[P-
WSL_LKMVY[OL]VS[HNLZVM=¶=HUK
¶=
(070010-I)
R8C Module
VSS
VCC
P17
P16
P13
P12
P11
P10
P33
P32
AN0
AN1
AN2
AN3
AN4
AN5
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
1
2
3
4
5
6
7
8
9
J1
J2
+2V5
LC DISPLA
Y
J3
VSS
VDD
R/W
LCD
VO
RS
D0
D1
D2
10
D3
11
D4
12
D5
13
D6
14
D7
15
16
1
2
3
4
5
6
E
7
8
9
+2V5
+2V5
+12V
K1
SUB D37
R19
56k
R20
10k
R15
47k
R16
10k
+12V
–2V5
–12V
–2V5
R11
39k
R12
10k
R9
47k
R10
10k
–12V
R13
39k
R14
10k
R7
39k
R8
10k
R5
39k
R6
10k
ADG408
IC3
VSS
VDD
GND
MUX
S1
13
14
S2
S3
S4
S5
12
S6
11
S7
10
S8
EN
A0
A2
15
A1
16
D
4
3
8
5
6
7
9
2
1
070010 - 11
+12V
–12V
V LIFT
+8V
–8V
V WHEEL
LIFT EN
LM317
IC1
R1
100
7
R3
100
7
LM337
IC2
R2
100
7
R4
100
7
+2V5
+12V
T1
BC547A
R18
100
7
RE1
D1
1N4001
+2V5
–2V5
–12V
–2V5
122
elektor electronics - 7-8/2007
Formula Flowcode Buggy
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A low-cost robot not just for schools & education
Bart Huyskens,
St Joseph’s institute (Schoten, Belgium)
Out of Belgian schools has arrived an £ 85 (125
`)
robot buggy that the designer hopes can reverse
the decline in the study of electronics and
technology across Europe and, potentially, wider.
1.
The brains of Formula Flowcode
— a PIC18F4455 microcontroller
2.
USB socket
3.
Master reset switch
4.
Programming LED
5.
External 5V supply input
6.
Power switch
7.
Plastic chassis with battery
compartment, motors with
gearboxes, and 2 wheels.
8.
Motor driver chip - a L293D
9.
Microphone with sound level
amplifier circuit
10.
User definable press switches
11.
Distance sensor - right
12.
Distance sensor - centre
13.
Distance sensor - left
14.
Light sensor
15.
Line following circuit board
16.
8 user definable LEDs
17.
Microphone volume control
18.
Loudspeaker
19.
E-blocks expansion socket
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
Figure 1.
Formula Flowcode functional parts.
123
7-8/2007 - elektor electronics
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Figure 2.
This diagram of the PIC18F4455 is purposely simplified, showing
only the actually used functions of the pins of the PIC. D stands for
‘Digital I/O’ and A for ‘Analogue input’.
Figure 3.
The L293D Double H-bridge motor driver circuit.
Figure 4.
Two switches, eight LEDs and the E-Blocks D-type connector.
Figure 5.
The microphone, loudspeaker and light sensor circuitry.
124
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Figure 7.
Line follower circuit.
Figure 8.
The simple but all-important power supply.
125
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(070323-I)
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Figure 10.
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Pit stop! How can you get involved?
The Formula Flowcode robot buggy was purposely developed to motivate people to want to learn more about robotics and electronics
– from 12 year old pupils who have a curiosity about the subject, right up to those enjoying retirement and still wanting to learn and keep
mentally active. In the USA the First Robotics programme (www.usfirst.org) has been quite successful at stimulating engineers in industry to
collaborate with young people to compete in robotic events. We hope to achieve something similar here; by providing a low cost hardware
software robot, providing online support and quality curriculum. By running workshops and competitions we hope people will be captured
by electronics. If you feel that our aims are worthwhile and achievable, if you want to take part in this programme, or if you are interested
in the competitions and workshops then please let us know. If the level of interest is high then we can write more articles and issue special
‘courses’ for Elektor readers. The author and his colleagues can be contacted by email on barthuyskens@scarlet.be, or through Elektor.
You can purchase a Formula Flowcode buggy from the Elektor SHOP at a cost of £ 85 or
` 125 including VAT.
126
elektor electronics - 7-8/2007
Colour Tamer
RGB LED adjustment
Nivard van de Boogaard
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070025 - 11
Chaotic LED Fireflies
Jonathan Hare
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C2
100n
C3
10
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220
7
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100k
P1
C1
10
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+9V
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555
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2
7
6
4
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3
5
8
1
070141 - 11
OSC(n)
1
127
7-8/2007 - elektor electronics
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3
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10
11
13
15
14
12
11
10
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16
4
2
3
5
6
7
9
1
+
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8
7
6
5
4
3
2
1
0
8
S1
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T1
BC547
P1
10k
R5
100k
R6
10k
MIC1
R1
1k
R2
1k
R3
1k
R4
1k
IC2.A
13
1
2
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5
3
4
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12
11
10
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6
9
8
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10
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14
7
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070034 - 11
128
elektor electronics - 7-8/2007
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23
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10
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11
20
19
18
17
16
15
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14
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12
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13
22
24
5
4
6
7
8
9
1
2
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1
2
3
4
5
6
7
8
9
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4V8
dry cells
6V
dry cells (6V)
rechargeables (4V8)
C1
100n
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*
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see text
129
7-8/2007 - elektor electronics
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FOR Pulses = 1 TO 100 STEP 5
PULSOUT TiltServo, 750
PULSOUT StrideServo, 750
PAUSE 25
NEXT
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FOR Position = 3150 TO 2850 STEP
-1
PWM 0, Position, 32768
DELAY 1
NEXT
(UKMVY[OL)HZPJ:[HTW!
FOR Pulses = 750 TO 620 STEP -5
PULSOUT TiltServo, Pulses
PULSOUT StrideServo, 750
NEXT
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(070353-I)
130
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Philips ME Construction Kits
Luc Lemmens
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131
7-8/2007 - elektor electronics
Z[YVUNS`YLZLTISLK3LNV;LJOUPJHUKJV\SK
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[OLTHUK[OLYLHYL]HYPV\Z^LIZP[LZ^OLYL
`V\JHUÄUKTVYLPUMVYTH[PVU
(070277-1)
Web Links
http://ee.old.no/mechanics
http://sharon.esrac.ele.tue.nl/~pa0ib/bouw-
dozn/index.html
www.hansotten.com/philipsme1200.html
www.girdersandgears.com/norelco.html
A Robot with an Elephant’s Memory
B. Broussas
(S[OV\NOºQ\Z[MVYM\U»YVIV[PJHWWSPJH[PVUZ
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11
15
40
39
38
37
35
36
34
33
31
12
10
32
16
17
18
19
20
21
22
13
26
25
24
23
30
27
28
29
14
1
3
2
4
6
5
7
8
9
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DOUT
DIN
GND
SCK
GND
CS
1
2
3
4
5
6
7
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2k2
R5
3k3
R4
2k2
R2
3k3
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3k3
3V3
C3
10
M
C2
10
M
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220n
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SD cart
in SPI mode
viewed on contacts
070318 - 11
8
9
132
elektor electronics - 7-8/2007
THUKZ>LHSZVOH]LHJJLZZ[V]HYPV\Z
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status = M m c _ Read _ Sector
(number, buffer)
^OLYL!
•
status PZ H ]HYPHISL JVU[HPUPUN H
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(070318-I)
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status = M mc _ Write _ Sector
(number, buffer)
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•
status PZ H ]HYPHISL JVU[HPUPUN H
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2
7
6
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3
5
8
1
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R0(2)
R9(1)
R9(2)
IC2
14
11
12
QA
QB
QC
QD
10
1
6
7
8
9
2
3
B
A
5
C3
10n
C1
100n
C2
100n
C4
10n
R8
10k
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3k3
R6
100k
R5
10k
R1
1k
T5
BC547
T1
BC547
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D1
1N4148
+5V
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R2
1k
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BC547
RE2
D2
1N4148
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R3
1k
T3
BC547
RE3
D3
1N4148
+5V
R4
1k
T4
BC547
RE4
D4
1N4148
+5V
MIC1
070092 - 11
133
7-8/2007 - elektor electronics
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(070092-I)
New Lego MINDSTORMS
®
NXT Motor Block
Antoine Authier
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®
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(070371-I)
Web links
[1] Philo’s NXT® motor internals:
http://www.philohome.com/nxtmotor/nxt-
motor.htm
[2] Lego® 9 V Technic Motors characteristics
compared:
http://www.philohome.com/motors/motor-
comp.htm
134
elektor electronics - 7-8/2007
KiCad: a high-level tool
Electronic CAD available to all
Rémy Halvick
For the month of November, 2005, we had
electronic CAD as the theme of Elektor magazine.
The issue came with a free DVD packed with
software, most of it operating as a Windows demo
version. One of the programs stood out due to
several unique features. Actually, KiCad is a
software package distributed for free under a GPL
license, operating in Linux, Windows and Mac OS
X environments. As an added treat, this marvel is
available in a remarkable number of languages!
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135
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Figure 3.
If you haven’t found the component you need on the Internet,
there is nothing to stop you from designing it with Libedit!
Figure 2.
EeSchema: easy schematic capture.
Figure 1.
KiCad is project-based, just like similar products on the market.
136
elektor electronics - 7-8/2007
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Figure 6.
3D display of the capacitance meter as described in Elektor.
Figure 5.
Design PCBNew printed circuits.
Figure 4.
CVPCB: choice of component case.
137
7-8/2007 - elektor electronics
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(060373-I)
Internet links
[1] Kicad 1 homepage
www.lis.inpg.fr/realise_au_lis/kicad/index.htmlx
[2] Kicad 2 hmepage
iut-tice.ujf-grenoble.fr/kicad/index.html
[3] An active group!
http://groups.yahoo.com/group/kicad-users/
[4] Libraries, user guides
http://www.kicadlib.org/
[5] KiCADWiki
http://kicad.bokeoa.com/wiki/index.php/Main_Page
[6] Utilities
http://www.rohrbacher.net/kicad/quicklib.php
[7] Goodies from Brazil: footprints, utilities, etc.
http://www.reniemarquet.cjb.net/kicad.htm
[8] KiCAD, from the professional point of view
http://xtronics.com/reference/kicad.html
[9] Developers
http://developer.berlios.de/projects.kicad
[10] Kicad hosted in a free world
http://kicad.sourceforge.net/en/index.shtml
[11] Kicad, from the Russian point of view.
http://ru.wikipedia.org/wiki/Kicad
Figure 8.
The main icons on a large scale and in low resolution (the
originals are a standard size, 16 x 16 pixels).
Figure 7.
The rats’ nest in white lines.
138
elektor electronics - 7-8/2007
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(070359-1)
139
7-8/2007 - elektor electronics
140
elektor electronics - 7-8/2007
In this bumper double issue of Elektor,
staunch supporters of our monthly
Hexadoku puzzle (their numbers growing
steadily) find themselves confronted with
a horrific attack on patience, intuition and
intelligence, by a monster puzzle baptised
‘Alphanumski’ by its creator.
The method of solving the 36x36 cell Alphanumski puz-
zle shown here is basically the same as for a 9x9 cell Su-
doku, a 16x16 cell Hexadoku or even last year’s 25x25
cell Alphadoku.
This month we’re using all letters of the alphabet (A through
Z) and all numerals (0 through 9) to be entered in the cells
that make up lines (1x36 horizontally), columns (1x36 ver-
tically) and boxes (6x6).
In Alphanumski, all letters of the alphabet (A through Z) and
all numerals 0 through 9 should occur only once in every
line (1x36), every column (1x36) and every box (6x6; iden-
tified by red outlines and a background colour).
A number of clues are given in the puzzle and these repre-
sent the start situation.
All correct entries received for the puzzle go into a draw
for a main prize and three lesser prizes. All you need to do
is send us the combination of seven letters and nu-
merals in the grey boxes. The puzzle is also available
as a free download from our website..
(070151-I)
A
R
3 D
1 Z W
D 6 L
3 T 1 Q
5
G J A
2
O
H
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7
0
K U Y
7
0
S L P 6 H Y 2
N
9 I Q
G Q N B J
I E
8
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3 L
C
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E
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1
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S
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5 I
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0
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1
J
3
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L
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P
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F J G 0
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I 2
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7 8
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9
N
6 D U B
5
M E Y
K
U M C X
R 4
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P 2
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S
Q K
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6 Y
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2
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V
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8
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9 F L 2 0
Q
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4 2 5 X
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8
2
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B
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B
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7 I W P A R F
X
S 6 9 U
0
D
0 C 3 6 P
I
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F L J
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A
I
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8 H Y
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3
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6
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I
5
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2 A
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1 7 2
H V 8 9 O A I B X
Puzzle creator: Géry Szcepanski
141
7-8/2007 - elektor electronics
Y M
7
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J W G E R Y
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brain wrecker for the holidays
142
elektor electronics - 7-8/2007
E L E K T O R
S H O W C A S E
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Tel. 0044 (0) 1932 564999
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FTDI designs and sells
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143
7-8/2007 - elektor electronics
PCB WORLD
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144
elektor electronics - 7-8/2007
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NEW
Order o
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No. 367 JULY/AUGUST 2007
Dual Battery
070343-1
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5.20 9.75
Fast Charger for NiMH Batteries
070213-1
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070273-1
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8.90 12.95
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060342-81
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060342-41
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15.15 28.50
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070084-1
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070129-1
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PIC16F628-04/P, programmed
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11.00 20.75
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No. 366 JUNE 2007
2.4 GHz WiFi Spectrum Analyser
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070040-11
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9.75
Linux Oscilloscope
060241-11
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Program listing
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Stand-Alone OBD2 Analyser
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51.70 97.50
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Online simulator examples
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070038-W1
Manual
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Whistles from on high
060044-1
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ATtiny15PC, programmed
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No. 365 MAY 2007
Software Defined Radio
070039-91
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72.45 126.50
070039-11
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Thank your for Flying USB FliteSim
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Universal JTAG Adaptor
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ATTiny45,programmed
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ATtiny as RDS Signal Generator
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Attiny2313-20, programmed
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No. 364 APRIL 2007
Battery Charge-n-Check
050073-1
PCB, bare, main board
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050073-2
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050073-41
ST7FMC2S4, programmed
16.90 31.85
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The circuit voted winner of
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board (excl. R8C module)
070021-91
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Software Defined Radio
(May 2007)
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070039-91
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060297-71
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10.00 18.85
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Programmer for Freescale 68HC(9)08
060263-1
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A Simple Mains Inverter
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Very Simple Clock
060350-1
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E-blocks Light Chaser Squared
075032-1
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www.thepcbshop.com
No. 363 MARCH 2007
AVR drives USB
060276-1
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ATmega32-16PC, programmed
8.95
16.85
Wireless USB in Miniature
050402-1
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8.30 15.60
050402-91
iDwarf -168 Transmitter module (built & tested)
24.10 45.45
050402-92
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17.20 32.45
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iDwarf Hub Board (built & tested)
17.20 32.45
Mobile Phone LCD for PC
060184-1
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060184-41
ATmega16-16PC, programmed
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Scale Deposit Fighter
070001-1
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No. 362 FEBRUARY 2007
… 3, 2, 1 Takeoff!
050238-1
Transmitter PCB, bare
www.thepcbshop.com
050238-2
Receiver PCB, bare
www.thepcbshop.com
MP3 Preamp
060237-1
PCB, bare
www.thepcbshop.com
A Telling Way of Telling the Time
050311-1
PCB, bare
www.thepcbshop.com
050311-31
CPLD, programmed
35.50 66.95
FPGA Course (9)
060025-9-11
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5.20 9.75
Explorer-16 Value Pack
060280-91
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No. 361 JANUARY 2007
Sputnik Time Machine
050018-1
PCB
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050018-11
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050018-41
AT89C2051, programmed
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Very Simple Clock
060350-1
PCB
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060350-11
CD-ROM, project software (incl. source code)
5.20 9.75
060350-41
PIC16F628-20, programmed
5.50 10.35
FPGA Course (8)
060025-8-1
Software (incl. source code)
5.20 9.75
No. 360 DECEMBER 2006
Shortwave Capture
030417-1
PCB, bare (receiver board)
www.thepcbshop.com
030417-2
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www.thepcbshop.com
030417-41
AT90S8515-8PC, programmed
11.40 21.45
No. 359 NOVEMBER 2006
USB Stick with ARM and RS232
060006-1
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11.00 20.75
060006-41
AT91SAM7S64, programmed
27.60 51.95
060006-91
Assembled & tested board
79.90 149.95
060006-81
CD-ROM, all project software
5.20 9.75
No. 358 OCTOBER 2006
PIC In-Circuit Debugger/Programmer
050348-1
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5.20 9.75
050348-41
PIC16F877, programmed
17.90 33.75
050348-71
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Wireless USB in miniature
(March 2007)
iDwarf -168 Transmitter
module (built & tested)
050402-91
£ 24.10 / US$ 45.45
iDwarf Node Board
(built & tested)
050402-91
£ 17.20 / US$ 32.45
iDwarf Hub Board
(built & tested)
050402-93
£ 17.20 / US$ 32.45
g-Force on LEDs
(April 2007)
PCB set, bare,
incl. 2 MMA7260
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060297-71
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signature: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Please cut out or photocopy this form, complete details and
hand to your newsagent.
Elektor Electronics is published on the third Thursday of each
month, except in July.
Distribution S.O.R. by Seymour (NS).
FREE LED DRIVER
with every issue!
With preassembled components!
Experiment with white LEDs!
Equipment Test: audio amplifier modules
Home construction of power amplifiers remains a popular activity among audiophile electronics enthusiasts. Besides the
high-end audio construction projects Elektor has become famous for, you may also consider using one of the power ampli-
fier modules available commercially either ready-built or as a kit. These modules require only a power supply and an enclosure to make an audio amp. We have collected a number
of interesting AF power modules and put them through their paces in our audio lab. The test results are presented in the September issue.
GPS Tracker
Ten years ago a technical novelty, now dead common: positioning systems using GPS (Global Positioning System). GPS-
based navigators are extremely popular, especially among motorists. However, a GPS receiver is not just suitable for
determining one’s own location on the globe, but also that of an object, for example, your car! Elektor’s GPS Tracker
was developed specifically for that purpose. It’s a small circuit comprising a GSM modem, a GPS receiver and a mini-
ature antenna. When the GSM modem is texted (by SMS), the receiver will return its current coordinates. This allows
you to track the object the circuit is attached to.
INFO
&
MARKET
SNEAK PREVIEW
148
elektor electronics - 7-8/2007
Order Form
Order Form
07/08-2007
07/08-2007
Subscr
iption
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description; for books, state the full title; for photocopies of articles, state full name of article and month and year of publication.
PLEASE USE BLOCK CAPITALS.
309 Circuits
£
19.95
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£
85.00
CD-ROM Ethernet Toolbox
£
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CD-ROM Elektor 2006
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Visual Basic for Electronics
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Brentford TW8 9HH
United Kingdom
Tel.: +44 208 261 4509
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www.elektor-electronics.co.uk.
subscriptions@elektor-electronics.co.uk
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using the Order Form overleaf. On-line ordering: http://www.elektor-electronics.co.uk
Readers in the USA and Canada may (but are not obliged to) send orders, except for subscriptions (for which see below),
to the USA address given on the order form. Please apply to Old Colony Sound for applicable P&P charges. Please allow 4-6 weeks for delivery.
Orders placed on our Brentford office must include P&P charges (Priority or Standard) as follows:
UK: £4.00 Europe: £5.00 (Standard) or £7.00 (Priority) Outside Europe: £8.00 (Standard) or £12.00 (Priority)
HOW TO PAY
All orders must be accompanied by the full payment, including postage and packing charges as stated above or advised by Customer Services staff.
Bank transfer into account no. 40209520 held by Elektor Electronics (Publishing) / Segment b.v. with ABN-AMRO Bank, London. IBAN: GB35
ABNA 4050 3040 2095 20. BIC: ABNAGB2L. Currency: sterling (UKP). Please ensure your full name and address gets communicated to us.
Cheque sent by post, made payable to Elektor Electronics (Publishing) / Segment b.v.. We can only accept sterling cheques and bank drafts
from UK-resident customers or subscribers. We regret that no cheques can be accepted from customers or subscribers in any other country.
Giro transfer into account no. 34-152-3801, held by Elektor Electronics (Publishing) / Segment b.v. Please do not send giro transfer/deposit
forms directly to us, but instead use the National Giro postage paid envelope and send it to your National Giro Centre.
Credit card VISA, Access, MasterCard, JCBCard and Switch cards can be processed by mail, email, web, fax and telephone. Online ordering
through our website is SSL-protected for your security.
COMPONENTS
Components for projects appearing in Elektor Elec tronics are usually available from certain advertisers in this magazine. If difficulties in the supply
of components are envisaged, a source will normally be advised in the article. Note, however, that the source(s) given is (are) not exclusive.
TERMS OF BUSINESS
Delivery Although every effort will be made to dispatch your order within 2-3 weeks from receipt of your instructions, we can not guarantee this
time scale for all orders. Returns Faulty goods or goods sent in error may be returned for replacement or refund, but not before obtaining our
consent. All goods returned should be packed securely in a padded bag or box, enclosing a covering letter stating the dispatch note number. If the
goods are returned because of a mistake on our part, we will refund the return postage. Damaged goods Claims for damaged goods must be
received at our Brentford office within 10-days (UK); 14-days (Europe) or 21-days (all other countries). Cancelled orders All cancelled orders
will be subject to a 10% handling charge with a minimum charge of £5·00. Patents Patent protection may exist in respect of circuits, devices,
components, and so on, described in our books and magazines. Elektor Electronics (Publishing) does not accept responsibility or liability for failing
to identify such patent or other protection. Copyright All drawings, photographs, articles, printed circuit boards, programmed integrated circuits,
diskettes and software carriers published in our books and magazines (other than in third-party advertisements) are copyright and may not be
reproduced or transmitted in any form or by any means, including photocopying and recording, in whole or in part, without the prior permission
of Elektor Electro nics (Publishing) in writing. Such written permission must also be obtained before any part of these publications is stored in
a retrieval system of any nature. Notwithstanding the above, printed-circuit boards may be produced for private and personal use without prior
permission. Limitation of liability Elektor Electronics (Publishing) shall not be liable in contract, tort, or otherwise, for any loss or damage suffered
by the purchaser whatsoever or howsoever arising out of, or in connexion with, the supply of goods or services by Elektor Electronics (Publishing) other
than to supply goods as described or, at the option of Elektor Electronics (Publishing), to refund the purchaser any money paid in respect of the goods.
Law Any question relating to the supply of goods and services by Elektor Electronics (Publishing) shall be determined in all respects by the laws
of England.
January 2007
HOW TO PAY
Bank transfer into account no. 40209520 held by Elektor Electronics
(Publishing) / Segment b.v. with ABN-AMRO Bank, London. IBAN: GB35
ABNA 4050 3040 2095 20. BIC: ABNAGB2L. Currency: sterling (UKP).
Please ensure your full name and address gets communicated to us.
Cheque sent by post, made payable to Elektor Electronics (Publishing)
/ Segment b.v.. We can only accept sterling cheques and bank drafts
from UK-resident customers or subscribers. We regret that no cheques
can be accepted from customers or subscribers in any other country.
Giro transfer into account no. 34-152-3801, held by Elektor
Electronics (Publishing) / Segment b.v. Please do not send giro transfer/
deposit forms directly to us, but instead use the National Giro postage
paid envelope and send it to your National Giro Centre.
Credit card VISA, Access, MasterCard, JCBCard and Switch cards can
be processed by mail, email, web, fax and telephone. Online ordering
through our website is SSL-protected for your security.
SUBSCRIPTION CONDITIONS
The standard subscription order period is twelve months. If a perma-
nent change of address during the subscription period means that
copies have to be despatched by a more expensive service, no extra
charge will be made. Conversely, no refund will be made, nor expiry
date extended, if a change of address allows the use of a cheaper
service.
Student applications, which qualify for a 20% (twenty per cent) reduc-
tion in current rates, must be supported by evidence of studentship
signed by the head of the college, school or university faculty. A
standard Student Subscription costs £33.50, a Student Subscription-
Plus costs £40.40 (UK only).
Please note that new subscriptions take about four weeks from receipt
of order to become effective.
Cancelled subscriptions will be subject to a charge of 25% (twenty-
five per cent) of the full subscription price or £7.50, whichever is the
higher, plus the cost of any issues already dispatched. Subsciptions
cannot be cancelled after they have run for six months or more.
January 2007
SUBSCRIPTION RATES FOR ANNUAL
SUBSCRIPTION
Standard
Plus
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£41.90
£48.80
Surface Mail
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£54.50 £61.40
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151
7-8/2007 - elektor electronics
I
NDEX OF
A
DVERTISERS
ATC Semitec Ltd, Showcase. . . . . . . . . . . www.atcsemitec.co.uk . . . . . . . . . . . . . . . . . . 142
Avit Research, Showcase. . . . . . . . . . . . . www.avitresearch.co.uk . . . . . . . . . . . . . . . . . 142
BAEC, Showcase . . . . . . . . . . . . . . . . . . . http://baec.tripod.com . . . . . . . . . . . . . . . . . . 142
Beijing Draco . . . . . . . . . . . . . . . . . . . . . . www.ezpcb.com . . . . . . . . . . . . . . . . . . . . . . . 109
Beta Layout, Showcase . . . . . . . . . . . . . . www.pcb-pool.com. . . . . . . . . . . . . . . . . 139, 142
Bitscope Designs . . . . . . . . . . . . . . . . . . www.bitscope.com . . . . . . . . . . . . . . . . . . . . . . . 3
Compact Control Design . . . . . . . . . . . . . www.compactcontrol.co.uk. . . . . . . . . . . . . . . . 39
Decibit Co. Ltd, Showcase . . . . . . . . . . . . www.decibit.com . . . . . . . . . . . . . . . . . . . . . . 142
EasyDAC, Showcase . . . . . . . . . . . . . . . . www.easydaq.biz . . . . . . . . . . . . . . . . . . . . . . 142
Easysync, Showcase . . . . . . . . . . . . . . . . www.easysync.co.uk. . . . . . . . . . . . . . . . . . . . 142
Elnec, Showcase . . . . . . . . . . . . . . . . . . . www.elnec.com . . . . . . . . . . . . . . . . . . . . . . . 142
Eurocircuits . . . . . . . . . . . . . . . . . . . . . . . www.eurocircuits.com . . . . . . . . . . . . . . . . . . 139
First Technology Transfer Ltd, Showcase . www.ftt.co.uk . . . . . . . . . . . . . . . . . . . . . . . . . 142
Future Technology Devices, Showcase . . . www.ftdichip.com . . . . . . . . . . . . . . . . . . . . . . 142
Futurlec, Showcase . . . . . . . . . . . . . . . . . www.futurlec.com . . . . . . . . . . . . . . . . . . . . . . 142
Jaycar Electronics . . . . . . . . . . . . . . . . . . www.jaycarelectronics.co.uk . . . . . . . . . . . . . . . . 2
JB Systems, Showcase . . . . . . . . . . . . . . www.modetron.com . . . . . . . . . . . . . . . . . . . . 142
Labcenter. . . . . . . . . . . . . . . . . . . . . . . . . www.labcenter.com. . . . . . . . . . . . . . . . . . . . . 152
London Electronics College, Showcase . . www.lec.org.uk . . . . . . . . . . . . . . . . . . . . . . . . 142
Microchip . . . . . . . . . . . . . . . . . . . . . . . . www.microchip.com . . . . . . . . . . . . . . . . . . . . . 61
Mikro Elektronika . . . . . . . . . . . . . . . . . . . www.mikroe.com . . . . . . . . . . . . . . . . . . . . . . 8, 9
MQP Electronics, Showcase. . . . . . . . . . . www.mqp.com . . . . . . . . . . . . . . . . . . . . . . . . 142
New Wave Concepts, Showcase . . . . . . . www.new-wave-concepts.com . . . . . . . . . . . . 142
Newbury Electronics . . . . . . . . . . . . . . . . www.newburyelectronics.co.uk . . . . . . . . . . . . 139
Number One Systems . . . . . . . . . . . . . . . www.numberone.com . . . . . . . . . . . . . . . . . . . . 60
Nurve Networks . . . . . . . . . . . . . . . . . . . . www.xgamestation.com . . . . . . . . . . . . . . . . . 139
Paltronix. . . . . . . . . . . . . . . . . . . . . . . . . . www.paltronix.com . . . . . . . . . . . . . . . . . . . . . . . 7
PCB World, Showcase . . . . . . . . . . . . . . . www.pcbworld.org.uk . . . . . . . . . . . . . . . . . . . 143
Peak Electronic Design. . . . . . . . . . . . . . . www.peakelec.co.uk . . . . . . . . . . . . . . . . . . . . . . 6
Pico. . . . . . . . . . . . . . . . . . . . . . . . . . . . . www.picotech.com . . . . . . . . . . . . . . . . . . . . . 109
Quasar Electronics . . . . . . . . . . . . . . . . . . www.quasarelectronics.com . . . . . . . . . . . . . . . 97
Robot Electronics, Showcase . . . . . . . . . . www.robot-electronics.co.uk. . . . . . . . . . . . . . 143
Scantool . . . . . . . . . . . . . . . . . . . . . . . . . www.ElmScan5.com/elektor . . . . . . . . . . . . . . 139
Schaeffer AG . . . . . . . . . . . . . . . . . . . . . . www.schaeffer-ag.de . . . . . . . . . . . . . . . . . . . 109
Showcase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142, 143
SourceBoost Technologies, Showcase . . . www.sourceboost.com . . . . . . . . . . . . . . . . . . 143
Sytronic Technology Ltd, Showcase . . . . . www.m2mtelemetry.com . . . . . . . . . . . . . . . . 143
Tsien (UK) Ltd, Showcase . . . . . . . . . . . . www.componentbin.com . . . . . . . . . . . . . . 6, 143
Ultraleds, Showcase . . . . . . . . . . . . . . . . www.ultraleds.co.uk . . . . . . . . . . . . . . . . . . . . 143
USB Instruments, Showcase . . . . . . . . . . www.usb-instruments.com . . . . . . . . . . . . . . . 143
Virtins Technology, Showcase . . . . . . . . . www.virtins.com . . . . . . . . . . . . . . . . . . . . . . . 143
Advertising space for the issue of 24 September 2007
may be reserved not later than 28 August 2007
with Huson International Media – Cambridge House – Gogmore Lane –
Chertsey, Surrey KT16 9AP – England – Telephone 01932 564 999 –
Fax 01932 564998 – e-mail: gerryb@husonmedia.com to whom all
correspondence, copy instructions and artwork should be addressed.
NEW
Software Tools en Hardware Tips
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DESIGN
SUITE
NEW:
Redesigned User Interface includes modeless
selection, modeless wiring and intuitive operation to
maximise speed and ease of use.
NEW:
Design Explorer provides easy navigation,
design inspection tools and cross-probing support to
improve quality assurance and assist with fault
¿QGLQJ
NEW:
3D Visualisation Engine provides the means to
preview boards in the context of a mechanical design
prior to physical prototyping.
NEW IN DESIGN SUITE 7:
NEW:
Simulation Advisor includes reporting on
simulation problems with links to detailed
troubleshooting information where appropriate.
NEW:
Trace capability within both MCU and
peripheral models provides detailed information on
system operation which allows for faster debugging
of both hardware and software problems.
NEW:
Hundreds of new device models including
PIC24, LPC2000, network controllers and general
purpose electronic components.
Electronic Design From Concept To Completion
E-mail: info@labcenter.com
Labcenter Electronics Limited
Registered in England 4692454
Registered Address: 53-55 Main Street, Grassington, North Yorks, UK, BD23 5AA
Tel: +44 (0) 1756 753440
Fax: +44 (0) 1756 752857
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