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Little autonomous robot

For more informations, please contact:

Sylvain

-> See this page in French/Version francaise <-

Little autonomous robot V2

Overview

This page described my new robotic project. One year ago, I built

a very simple little

robot

with a Comfile PICBASIC 3B microcontroler and a

Cybot

chassis. This new

project is based on a very much more powerfull Microchip PIC 18F4620 (or

PIC18F4520) Microcontroler programmed in C language with the same chassis and

new sensors..

This is still work in progress, but the MCU board, the sensors board and the motor

board are still ready and you will find pictures and schematics on this site.

Specifications:

●

Microchip PIC 18F4620 MCU

●

Motors drive by

SN754410

H-bridge (Texas Instruments)

●

Sharp

GP2D02

distance measuring sensor mounted on servomotor for sweeping

●

1 microswitch for chocs detection, and 2 infrared proximity sensors

●

HP48 with

terminal emulator

for display and commands

●

Cybot

chassis (motors and wheels)

The IR proximity sensor:

Its a very classical device, build with a Vishay TCRT5000 IR led/phototransistor and

NE567 tone decoder.

C1=1uF, C2=470n, C3=C4=C5=100n; R1=R2=R5=10k, R3=100,R4=100k;

IC1=NE567

To avoid interferances between devices, you can change the R4 value.

The Motor control board

The motor board is based on the

SN754410

H-bridge (Texas Instruments). It's drived

by PWM signal from the MCU. To lines come from the MCU board for PWM signal, and

2 lines for direction control.

The MCU board

Based on 18F4620 MCU, Analog devices ADM203 for RS232 communication, ICSD

(Olimex) connector.

(click to enlarge)

The chassis

It's still the

Cybot

chassis. Cybot was a robot sold in kit form in a magazine. It's a very

cheap chassis (~10 euros) because it's just necessary to buy the two firsts issues to

get motors, reductors and whells. It's still possible to buy these magazine (in europe)

on there website

The prototype

Here is a picture of my current prototype (not yet fully working).

Home

·

Linux on Fujitsu stylistic 1200

·

How-to build a web server for

30Euros with ENC28J60

·

Little autonomous robot

·

A new autonomous robot project

For more informations, please contact:

Sylvain

-> See this page in French/Version francaise <-

Little autonomous robot

Overview

My first little robot (a new project based on PIC microcontroler

is here

)

Featuring:

●

Comfile

PICBASIC 3B

microcontroller (it's a PIC 16f876 with a bootloader, a

debuger and an integrated basic language interpreter [unfortunately it's an

hideous language])

●

Motors drive by

SN754410

H-bridge (Texas Instruments)

●

Sharp

GP2D02

distance measuring sensor mounted on servomotor for sweeping

●

3 microswitchs for chocs detection

●

HP48 with

terminal emulator

for display and commands

●

Cybot

chassis (motors and wheels)

Schematic

Click to enlarge

The Motor control board

The motor board is based on the

SN754410

H-bridge (Texas Instruments). It's drived

by PWM signal from the MCU. To lines come from the MCU board for PWM signal, and

2 lines for direction control.

Software

Coming soon... (currently a bit too much dirty)

Picture

PICBASIC Products

PICBASIC Module

Accessaries

Package Products

PROTO Board

TinyPLC Products

PICmicro MDS

Serial Display

Remote Control

Other Products

PICBASIC2000 series

PICBASIC2000 is single board controller, which is programmable in PICBASIC language instead
of C/Assembly language commonly used in programming microprocessors. PICBASIC language
supports not only basic instructions such as IF, THEN, GOTO, FOR and NEXT etc but also
dedicated instructions such as ADIN, PWM, SEROUT, LCDINIT etc.
PICBASIC2000 has several advantages over all previous PICBASIC. It has faster execution
speed, larger program memory and easier debugging method. It also has lots of new features in
hardware such as 34 I/O lines, 64K FLASH, 8¡-32K RAM, 8¡-32 EEPROM, AD/DA converter, PWM
output, Real Time Clock (RTC), full-duplex RS232C, SIN/COS operations etc.
PICBASIC studio is Integrated Development Environment for PICBASIC modules (including
PICBASIC2000). You can edit/download/emulate your source program in environment of
PICBASIC studio through parallel communication with ease. It is compatible with all MS Windows
family and provides interface similar as common word processors.
After downloading your source program into PICBASIC module, it operates in stand-alone
because that the downloaded source program is stored in EEPROM inside of PICBASIC module.
EEPROM can retain its contents without electric power.

Click here to see PICBASIC introduction & Online databook.

40 pins PICBASIC2000 module

- Bidirectional I/O port: 32
- Program memory: 64K byte
- Data memory: SRAM 8K,EEPROM 8K
- Clock: 20 MHz
- Built-in 10bit-A/D converter: 8 channels
- 8 bit-D/A converter: 16 channels (DACOUT)
- Hardware 10bit-PWM output: 2 : hardware
- Full-duplex buffering RS232C port
:Receiving interrupt is available
- 40 pins DIP type plastic package

[Dimension

]

40pins PICBASIC2000 module

- Bidirectional I/O port: 34

- Program memory: 64K byte
- Data memory: SRAM 32K, EEPROM 32K
- Clock: 20MHz
- Built-in 10bit-A/D converter : 8 channels
- Built-in 12 bit-A/D converter : 2 channels
- 8 bit-D/A converter: 16 channels (DACOUT)
- Hardware 10bit-PWM output: 2
- Built-in RTC and Super condenser
- Full duplex buffering RS232C port
: Receiving interrupt is available
- 40 pins DIP type plastic package

[Dimension

]

40pins PICBASIC module

- Single chip controller in PICBASIC
- IDE compatible with MS Windows
: PICBASIC studio
- 3 lines connection to parallel port of PC
- 8 bit-PWM output: 2³
- 29 channels of RS232C are available
- 10bit-A/D converter
- 16 bit-counter input port

[Dimension

]

28 pins PICBASIC module

- Single chip controller in PICBASIC
- IDE compatible with MS Windows
: PICBASIC studio
- 2 lines connection to parallel port of PC
- 8 bit-PWM output: 2
- 18 channels of RS232C are available
- 10bit-A/D converter
- 16 bit-counter input port

[Dimension

]

22 pins PICBASIC module

- Bidirectional I/O port: 16
- Program memory: 2K byte
- Data memory: 96 bytes
- 8 bit-A/D converter: 5 channels
- 8 bit-PWM output: 2
- 16 channels of RS232C is available
- 22 pins SIP package

[Dimension

]

22 pins PICBASIC module

- Bidirectional I/O port: 16
- Program memory: 4K byte
- Data memory: 96 bytes
- 8 bit-A/D converter: 5 channels
- 8 bit-PWM output: 2
- 16 channels of RS232C is available
- 22 pins SIP package
- 4.19MHz of system clock

[Dimension

]

34 pins PICBASIC module

- Bidirectional I/O port: 27
- Program memory: 8K byte
- Data memory: 96 bytes
- 8 bit-A/D converter: 8channels
- 8 bit-PWM output: 2
- 27 channels of RS232C is available
- 34 pins DIP package
- 4.19MHz of system clock

[Dimension

]

34 pins PICBASIC module

- Bidirectional I/O port: 27
- Program memory: 16K byte
- Data memory: 96 bytes
- 8 bit-A/D converter: 8channels
- 8 bit-PWM output: 2
- 27 channels of RS232C is available
- 34 pins DIP package
- Counter input: 16 bit
- 20 MHz of system clock

[Dimension

]

PICBASIC USB Download Cable

- Dedicated cable for PICBASIC module
- Available with both PB and PBM series

Copyright ¨Ï 2000

COMFILE Technology

All rights reserved.

104-5, Guro 5-dong, Guro-ku, Seoul, 152-842, South Korea
Tel.: [phone] Fax: [phone]

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View RoHS
Compliant Devices

SN754410,

Status:

ACTIVE

Quadruple Half-H Drivers

Features

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Quality & Pb-Free Data

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Related Products

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Datasheet

Quadruple Half-H Driver (Rev. B)

(sn754410.pdf, 167 KB)

01 Nov 1995

Download

Product Information

Features

●

1-A Output-Current Capability Per Driver

●

Applications Include Half-H and Full-H Solenoid Drivers and Motor Drivers

●

Designed for Positive-Supply Applications

●

Wide Supply-Voltage Range of 4.5 V to 36 V

●

TTL- and CMOS-Compatible High-Impedance Diode-Clamped Inputs

●

Separate Input-Logic Supply

●

Thermal Shutdown

●

Internal ESD Protection

●

Input Hysteresis Improves Noise Immunity

●

3-State Outputs

●

Minimized Power Dissipation

●

Sink/Source Interlock Circuitry Prevents Simultaneous Conduction

●

No Output Glitch During Power Up or Power Down

●

Improved Functional Replacement for the SGS L293

TI Analog Design Center

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Description

The SN754410 is a quadruple high-current half-H driver designed to provide bidirectional drive currents up to 1 A at voltages from
4.5 V to 36 V. The device is designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as
other high-current/high-voltage loads in positive-supply applications.

All inputs are compatible with TTL-and low-level CMOS logic. Each output (Y) is a complete totem-pole driver with a Darlington
transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs with drivers 1 and 2 enabled by 1,2EN and drivers 3
and 4 enabled by 3,4EN. When an enable input is high, the associated drivers are enabled and their outputs become active and in
phase with their inputs. When the enable input is low, those drivers are disabled and their outputs are off and in a high-impedance
state. With the proper data inputs, each pair of drivers form a full-H (or bridge) reversible drive suitable for solenoid or motor
applications.

A separate supply voltage (V

CC1

) is provided for the logic input circuits to minimize device power dissipation. Supply voltage V

CC2

is

used for the output circuits.

The SN754410 is designed for operation from -40°C to 85°C.

Pricing/Packaging/CAD Design Tools/Samples

Price

Packaging

CAD Design Tools

Samples

Device

Status Temp (

o

C)

Budget Price
($US) | QTY

Industry Standard
(TI Pkg)

|

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Top Side Marking Standard Pack Quantity Symbols Footprints Samples

SN754410NE

ACTIVE -40 to 85

1.35 | 1KU

PDIP (NE)

| 16

View

25

View

View

Contact TI Distributor or

Sales Office

SN754410NEE4 ACTIVE -40 to 85

1.35 | 1KU

PDIP (NE)

| 16

View

25

View

View

Contact TI Distributor or

Sales Office

Inventory

TI Inventory Status

Reported Distributor Inventory

SN754410NE

As of 8:05 AM GMT, 9 Oct 2006

As of 8:05 AM GMT, 9 Oct 2006

In Stock

In Progress QTY

| Date

Lead Time

Region Company

In Stock Purchase

0*

>10k | 27 Nov

7 Weeks

Americas

Arrow

1k

Avnet

>1k

DigiKey

>1k

Mouser
Electronics

758

Europe

Avnet-SILICA

625

EBV
Elektronik

>1k

View all Distributors

Rutronik

>1k

Spoerle

737

SN754410NEE4

As of 8:05 AM GMT, 9 Oct 2006

As of 8:05 AM GMT, 9 Oct 2006

In Stock

In Progress QTY

| Date

Lead Time

Region Company

In Stock Purchase

0*

>10k | 27 Nov

7 Weeks

Americas

Avnet

850

* Our information is updated daily, so please check back with us soon if this does

not meet your needs. You may also contact your

TI Authorized Distributor

,

including those

listed above,

for real time stock information.

** Lead time information is not available at this time. However, our information is

updated daily so please check back with us soon. Please contact your preferred

TI

Authorized Distributor

for additional information.

Quality & Lead (Pb)-Free Data

Product Content

DPPM / MTBF / FIT Rate

Device

Eco Plan*

Lead / Ball Finish

MSL Rating / Peak Reflow

Details

Details

SN754410NE

Pb-Free (RoHS)

CU NIPDAU

N/A for Pkg Type

View

View

SN754410NEE4

Pb-Free (RoHS)

CU NIPDAU

N/A for Pkg Type

View

View

* The planned eco-friendly classification: Pb-Free (RoHS) or Pb-Free (RoHS

Exempt) or Green (RoHS & no Sb/Br) - please click on the Product Content Details

"View" link in the table above for the latest availability information and additional

product content details.

If the information you are requesting is not available online at this time, contact

one of our

Product Information Centers

regarding the availability of this

information.

Technical Documents

Datasheets

Quadruple Half-H Driver (Rev. B)

(sn754410.pdf, 167 KB)

01 Nov 1995

Download

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Embedded Secure Document

The file http://mechatronics.mech.northwestern.edu/downloads/gp2d02.pdf is a secure document that
has been embedded in this document. Double click the pushpin to view.

HP 48 Terminal Emulation

Programs

The first size listed is the downloaded file size and the second size

listed is the size on the calculator.

There are 13 files totaling 74KB in this category.

ANSI

(

details

)

9KB/9KB

ANSI is a VT100 terminal emulator.

By Gasper Fele-Zorz.

1997/08/21

ANSI 1.5B

(

details

)

16KB/5KB

Extended terminal emulator written in assembly language and System
RPL.

By Gasper Fele-Zorz and J. A. Bezemer (

H

).

1999/03/26

DTE48

(

details

)

4KB/1KB

DTE48 is a Dumb Terminal Emulator program for the HP48SX.

By Kevin Jessup.

1997/08/21

DTERM 1.0

(

details

)

4KB/1KB

DTERM is a dumb terminal emulator for the HP48.

By Glenn G. Bruckno.

1997/08/21

HPMinitel

(

details

)

3KB/3KB

Minitel driver and Minitel Line Editor library.

By Amaury Jacquot.

1997/08/21

IR Samp

(

details

)

6KB/3KB

Fast & dumb MLDISP/TERM2 terminal emulator.

By Bjorn Rhoads (Gahm) (

H

).

1997/08/21

TERM 1.0

(

details

)

3KB/2KB

TERM 1.0 is a terminal emulator for the HP48.

By Bill Gribble.

1997/08/21

TermHP

(

details

)

5KB/1KB

Fast assembly language terminal emulator. Requires the MetaKernel.

By Jean-Yves Avenard (

H

).

1998/05/20

Terminal

(

details

)

6KB/10KB

Terminal is a fast SysRPL terminal emulator.

By Andrew Cass (

H

).

1997/08/21

VT100

(

details

)

3KB/6KB

VT100 terminal emulator (preview). Includes source code.

By Alexandre Raclot (

H

).

1998/11/17

VT23

(

details

)

6KB/6KB

VT23 is a DEC VT52 terminal emulator for the HP48.

By Mark Power.

1997/08/21

VT52

(

details

)

5KB/6KB

This is a DEC VT52 terminal emulator for the HP48. (same as above, but with slower RPL
code).

By David D. Jansen.

1997/08/21

VT52 2.0

(

details

)

4KB/6KB

This is a DEC VT52 terminal emulator for the HP48. (same as above, but with adjustable font
size).

By David D. Jansen.

1997/08/21

Part of the

HP Calculator Archive

,

Copyright

1997-2006

Eric Rechlin

.

Cybernetic Intelligence Research Group (CIRG)

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Real Robots

The Origins of Cybot

Cybot is the result of a
year-long partnership
between The University of
Reading and

Eaglemoss

Publications

. Designed by

a team of robotics
researchers in CIRG (the

Cybernetics Intelligence Research Group

) at the

University, Cybot uses many of the techniques used in the research robots at
the University as well as incorporating a range of new features designed
especially for the magazine and kit collection.

The Seven Dwarves

The design of Cybot is based on that of the University's Seven Dwarf Robots.
The Dwarves were originally developed to introduce school and college
students to robotics and used a simple sonar system (similar to that found on
Cybot) which allowed them to avoid and follow solid objects. Later versions of
the Dwarves were given the capacity to learn for themselves, how to move
around in their environment and the ability to share this information with each
other either directly or over the Internet.

Related Pages

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