Robo-PICA Thai Manual by Innovative Experiment Co.,Ltd.

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Robot experiment with PIC microcontroller

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RBX-877 á¼§Ç§¨ÃàÃÕÂ¹ÃÙ áÅÐ·´ÅÍ§

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Ç§¨Ãâ»Ãá¡ÃÁ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ

Ê Ç¹àª×Íè Áµ ÍâÁ´ÙÅ LCD

Ç§¨ÃÊ×Íè ÊÒÃ¢ ÍÁÙÅ¼ Ò¹ ¾ÍÃ µÍ¹Ø¡ÃÁ RS-232

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àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

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K1 DOWNLOAD (RJ11-6)

+5V

IC4/5 14 1

D0 D1

R8/1 10k

3 IC4/3

D2 D3 ACK GND

4 7

R10 4k7

+5V

IC4/4 10

+Vpp

R9 10k

IC4/1 5 6

R8/3 10k

C8 0.1/50V

R8/2 10k

Q2 BC557

R11 10k

R12 510

LED2 RUN

32 12

RB7

+Vm LED1 LOW-BAT.

C2 C1 220/16V 0.1/50V

R13 220

S2 RESET

S1 MODE

+5V

RB4

C10

C12

6 7 8

1 2 3 4 5

RB3 16

1 3

C11

38 37 36

L1 6 50µH (radial) 3

D1 1N4001

R2 47k

IC5 ICL232

IC2 TL499A ZD1 5V6

R5 30k

R4 150

C3 0.01/50V

C4 220/16V

ZD2 5V1

IC1 KIA7042

R6 10k

R18 510

LED6

LED5

R17 510

LED4

R16 510

Q1 Q0

+5V JP1

4 5

+5V

Q1 IRFZ414

C13

R1 1k

R3 4.7R

MCLR

RB5

C10-C14 10/50V

1 +V RESET 3 GND 2

D2 1N5819

S1 POWER

+5V R14 4k7

31 RB6

IRF414

+-o

+4.8~6Vdc

IC3/1-IC3/5 74LS07 LED3 PGM

KIA 7042 5

K1 DC input

C9 0.1/50V

C6 0.22/50V

IC3 MAX662

C7 4.7/50V

IC4 PIC16F877-20

+5V

1 C5 0.22/50V

RC0

RC6/TxD RC7/RxD

RC5

BLA

DSP1 LCD 16x2 (back light option)

RS E

+V Vo

C14

D7 D6 D5 D4 D3 D2 D1 D0 R/W 14 13 12 11 10 9 8 7 5

K2 SERIAL PORT

R15 27

BACK LIGHT ON

1 VR1 10k

BRIGHTNESS

BLK GND 16 2

RD7 RD6

+5V J8 PORT7

J7 PORT6

J6 PORT5

J5 PORT4

J4 PORT3

J3 PORT2

J2 PORT1

J1 PORT0

RD5 RE2/AN7

RD4

RE1/AN6

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RA4

RE0/AN5

RA3/AN3 RA2/AN2

J14 I2C bus

SDA SCL

RD0 RD1

RA1/AN1

RD2 RD3

RA0/AN0

R24 4k7

23 RC4/SDA

+5V +Vm

RB1

7 2A 1

15 4A

35 +Vm

J13 SERVO #3

+Vm

J12 SERVO #2

+Vm

J11 SERVO #1

Vcc1

12EN

C15 0.1/63V

1Y 3 2Y

IC6 L293D

4Y 3Y

+ +

R21 1k

DIRECT LED6 DIR. #A

6 14

LED7 DIR. #B

11 R22 1k

3A 34EN

13 12 5

INVERT

C16 0.1/63V J10A-J10B MOTOR-B

INVERT

+ + DIRECT

RC3/SCL

GND

RB0

CR1 Ceramic Resonator 20MHz

R19 4k7

RC2/CCP1 17

RC1/CCP2

J9A-J9B MOTOR-A

Q3 BC557

SP1 PIEZO

RB2 R23 4k7

R20 10k

RA5/AN4

+5V

ÃÙ»·Õè 2-2 áÊ´§Ç§¨ÃÊÁºÙÃ³ ¢Í§ºÍÃ ´ RBX-877

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2.2.1 Ê Ç¹äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ

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2.2.2 ÀÒ¤¨ ÒÂä¿ º¹ºÍÃ ´ RBX-877 ãª Ç§¨ÃÀÒ¤¨ ÒÂä¿ÊÇÔµª ª§Ôè áºº»ÃÑº¢Ö¹é (step up) à¾×Íè ãË ÊÒÁÒÃ¶·íÒ§Ò¹ ä´ ¡ÑºáºµàµÍÃÕèÍÑÅ¤ÒäÅ¹ áÅÐáºº»ÃÐ¨Øä¿ãËÁ ä´ â´Â¨Ø´ÁØ §ËÁÒÂà¾×èÍÃÑ¡ÉÒÃÐ´ÑºáÃ§´Ñ¹ä¿àÅÕéÂ§ ¤§·Õ·è Õè +5V à¾×Íè ¨ ÒÂãË ¡ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ áÅÐäÍ«Õ··Õè Òí §Ò¹´ ÇÂáÃ§´Ñ¹ä¿àÅÕÂé § +5V µ ÇÑ Í×¹è æ ·Ñé§¹Õéà¹×èÍ§¨Ò¡àÁ×èÍàÃÔèÁµ ¹¨ ÒÂä¿ãË á¡ Ç§¨Ã ÃÐ´Ñº¢Í§áÃ§´Ñ¹·ÕèáºµàµÍÃÕè¨Ð¤ ÍÂæ Å´Å§ ´ ÇÂ¡ÒÃãª Ç§¨Ã¨ ÒÂä¿ÊÇÔµª ªÔè§áºº»ÃÑº¢Öé¹ ¨Ö§·íÒãË áÃ§´Ñ¹ä¿àÅÕéÂ§Ç§¨ÃÃÇÁÂÑ§¤§ÃÑ¡ÉÒÃÐ´ÑºÍÂÙ ·Õè +5V ÍÂÙ ä´ ¨¹¡Ç ÒÃÐ´ÑºáÃ§´Ñ¹¢Í§áºµàµÍÃÕè¨ÐÅ´Å§µèíÒÁÒ¡¨ÃÔ§æ (»ÃÐÁÒ³ 1.5V) ¨Ö§äÁ ÊÒÁÒÃ¶ÃÑ¡ÉÒ ÃÐ´ÑºáÃ§´Ñ¹äÇ ä´ ÊÇÔµª S1 ·íÒË¹ Ò·Õèà» ¹ÊÇÔµª à» ´» ´à¾×èÍ¨ ÒÂä¿ãË ¡ÑºÇ§¨Ã·Ñé§ËÁ´ IC1 àºÍÃ KIA7042 ·í Ò Ë¹ Ò ·Õè µ ÃÇ¨¨Ñ º áÃ§´Ñ ¹ ä¿àÅÕé Â § ¶ Ò áÃ§´Ñ ¹ ä¿àÅÕé Â §ÁÕ Ã Ð´Ñ º µèí Ò ¡Ç Ò 4.2V ¢ÒàÍÒµ ¾Ø µ ¢Í§ IC1 ¨ÐÁÕÅÍ¨Ô¡à» ¹ 0 ·íÒãË LED1 µÔ´ÊÇ Ò§ á¨ §àµ×Í¹ÊÀÒÇÐáºµàµÍÃÕ¾è ÅÑ§§Ò¹µèÒí (LOW-BAT) ¶Ñ´¨Ò¡ Ç§¨ÃµÃÇ¨ÊÍºáºµàµÍÃÕè¨ÐÁÕµÑÇµ Ò¹·Ò¹ R3, ä´âÍ´ D1 áÅÐ«Õà¹ÍÃ ä´âÍ´ ZD1 ·íÒË¹ Ò·Õè¨íÒ¡Ñ´ áÃ§´Ñ¹·Õ»è Í ¹ãË ¡ºÑ IC2 äÁ ãË ÁáÕ Ã§´Ñ¹à¡Ô¹ 5.6V ÊíÒËÃÑº IC2 à» ¹äÍ«ÕÊÇÔµª ª§Ôè à¾ÒàÇÍÃ «¾Ñ ¾ÅÒÂ¡ÃÐáÊµèÒí àºÍÃ TL499A ÊÒÁÒÃ¶ÃÑºáÃ§´Ñ¹ ÍÔ¹¾Øµä´ µ§Ñé áµ ªÇ § 4.2-5.6V à¾×Íè ÊÃ Ò§ä¿àÅÕÂé §¤§·Õè +5V áµ à¾×Íè » Í§¡Ñ¹¤ÇÒÁàÊÕÂËÒÂ·ÕÍè Ò¨à¡Ô´¢Ö¹é ¨Ò¡ ¨Ò¡¡ÒÃ·íÒ§Ò¹·Õ¼è ´Ô ¾ÅÒ´¢Í§ IC2 ¨ÐÁÕ«àÕ ¹ÍÃ ä´âÍ´ ZD2 ·íÒË¹ Ò·Õ»è Í §¡Ñ¹áÃ§´Ñ¹äÁ ãË à¡Ô¹ +5.1V àÍÒäÇ ´ ÇÂ

2.2.3 Ê Ç¹â»Ãá¡ÃÁ¢ ÍÁÙÅ áÃ§´Ñ¹ä¿àÅÕéÂ§ +5V Ê Ç¹Ë¹Öè§¨ÐÊ §ãË ¡ÑºäÍ«Õ MAX662 à¾×èÍÊÃ Ò§áÃ§´Ñ¹ä¿ÊÙ§ +12.5V ÊíÒËÃÑºãª ã¹¡ÒÃâ»Ãá¡ÃÁ¢ ÍÁÙÅã¹äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC16F877 Ê Ç¹¡ÒÃ´ÒÇ¹ âËÅ´¢ ÍÁÙÅ¨Ò¡¤ÍÁ¾ÔÇàµÍÃ ¨ÐÁÕÊÇÔµª S2 ãª àÅ×Í¡Ç Òµ Í§¡ÒÃãË PIC16F877 ÍÂÙ ã¹âËÁ´â»Ãá¡ÃÁËÃ×ÍÃÑ¹ Ê Ç¹Ë¹Öè§¢Í§ÊÇÔµª ¨Ðà» ¹¡ÒÃàÅ×Í¡¡ÒÃ¨ ÒÂä¿ãË ¡Ñº LED áÊ´§ ÊÀÒÇÐ¡ÒÃ·íÒ§Ò¹¢Í§ PIC16F877 â´Â¶ ÒÍÂÙã ¹âËÁ´â»Ãá¡ÃÁ LED ÊÕá´§¨ÐµÔ´ÊÇ Ò§ áµ ¶Ò ÍÂÙã ¹ âËÁ´ÃÑ¹ LED ÊÕà¢ÕÂÇ¨ÐµÔ´ÊÇ Ò§ ÍÕ¡Ê Ç¹Ë¹Öè§¢Í§ÊÇÔµª ¨ÐàÅ×Í¡¡ÒÃ·íÒ§Ò¹¢Í§¢Ò MCLR â´Âã¹ âËÁ´ÃÑ¹¢Ò MCLR ¨Ðµ Íà¢ Ò¡ÑºÊÇÔµª RESET à¾×Íè ãª ã¹ÃÕà«µ¡ÒÃ·íÒ§Ò¹¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ ¶ ÒÍÂÙ ã¹âËÁ´â»Ãá¡ÃÁ ¢Ò MCLR ¨Ðµ Íà¢ Ò¡ÑºÇ§¨ÃÊÃ Ò§áÃ§´Ñ¹ä¿ÊÙ§ÊíÒËÃÑºâ»Ãá¡ÃÁ àÁ×èÍ¢Ò MCLR ä´ ÃºÑ áÃ§´Ñ¹ +12.5V äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC16F877 ¨Ðà¢ ÒÊÙâ ËÁ´â»Ãá¡ÃÁ â´ÂÁÕ¡ÒÃ Ê §¼ Ò¹¢ ÍÁÙÅ¢Í§¡ÒÃâ»Ãá¡ÃÁ¨Ð¡ÃÐ·íÒ¼ Ò¹¢Ò RB6 áÅÐ RB7 ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ

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2.2.4 Ê Ç¹áÊ´§¼Å ÊíÒËÃÑº¡ÒÃáÊ´§¼Å¢ Í¤ÇÒÁ ºÍÃ ´ RBX-877 ÁÕ¨´Ø µ ÍâÁ´ÙÅ LCD ¢¹Ò´ 16 µÑÇÍÑ¡ÉÃ 2 ºÃÃ·Ñ´ â´Âãª ¢Ò RD4-RD7 à» ¹¢ÒÊ §¢ ÍÁÙÅ ãª ¢Ò RC5 à» ¹¢Ò E ÊíÒËÃÑº» Í¹ÊÑÒ³¾ÑÅÊ àÍç¹àÍàºÔÅ¡ÒÃ ·íÒ§Ò¹¢Í§âÁ´ÙÅ LCD áÅÐ¢Ò RC0 à» ¹¢Ò RS ÊíÒËÃÑº¡íÒË¹´ÃÙ»áºº¢Í§¢ ÍÁÙÅ·ÕèÊ §ä»ÂÑ§âÁ´ÙÅ LCD â´ÂÁÕµÑÇµ Ò¹·Ò¹»ÃÑº¤ Òä´ VR1 ·íÒË¹ Ò·Õè»ÃÑº¤ÇÒÁà¢ Á¢Í§¨ÍáÊ´§¼Å ÊíÒËÃÑº¡Ã³Õ·Õèãª âÁ´ÙÅ LCD ·ÕÁè äÕ ¿Ê Í§ËÅÑ§ (back light) ÊÒÁÒÃ¶ãª ¨ÁÑê à»ÍÃ àÅ×Í¡ãª ä¿Ê §ËÅÑ§ËÃ×ÍäÁ ¡äç ´ ¡ÒÃáÊ´§¼Å¼ Ò¹ LED ¢Ò RB3, RB4 áÅÐ RB5 ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC16F877 µ ÍµÃ§à¢ Ò¡Ñº LED4, LED5 áÅÐ LED6 à¾×Íè áÊ´§Ê¶Ò¹Ð¡ÒÃ·íÒ§Ò¹ ¡ÒÃáÊ´§¼Å´ ÇÂÊÑÒ³àÊÕÂ§ ¡ÒÃ¢ÑºÊÑÒ³àÊÕÂ§¢Í§ºÍÃ ´ RBX-877 ãª ¢Ò¾ÍÃ µ RA4 ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC16F877 µ ÍÃ ÇÁ¡ÑºÇ§¨Ã¢ÂÒÂÊÑÒ³«Öè§ãª ·ÃÒ¹«ÔÊàµÍÃ Q3 à¾×èÍ ¢ÑºÅíÒâ¾§à» Ââ«

2.2.5 Ê Ç¹¾ÍÃ µÍÔ¹¾ØµàÍÒµ ¾µØ ¡ÒÃÃÑºÊÑÒ³ÍÔ¹¾ØµËÃ×Í¢ÑºÍØ»¡Ã³ àÍÒµ ¾ØµÀÒÂ¹Í¡ÊÒÁÒÃ¶¡ÃÐ·íÒä´ â´ÂµÃ§¼ Ò¹¢Ò RA0-RA3 , ¢Ò RA5 áÅÐ ¢Ò RE0-RE2 â´Â¢Ò¾ÍÃ µàËÅ Ò¹ÕÊé ÒÁÒÃ¶¡íÒË¹´¡ÒÃ·íÒ§Ò¹ä´ 3 áºº¤×Í 1. à» ¹¢ÒÍÔ¹¾ØµÍÐ¹ÒÅÍ¡ à¾×Íè ÃÑºÊÑÒ³ÍÔ¹¾ØµáººÍÐ¹ÒÅÍ¡Ê §à¢ Òä»»ÃÐÁÇÅ¼ÅÂÑ§Ç§¨Ã á»Å§ÊÑÒ³ÍÐ¹ÒÅÍ¡à» ¹´Ô¨ÔµÍÅ¢¹Ò´ 10 ºÔµÀÒÂã¹äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC16F877 2. à» ¹¢ÒÍÔ¹¾Øµ´Ô¨µÔ ÍÅ 3. à» ¹¢ÒàÍÒµ ¾µØ ´Ô¨µÔ ÍÅ à¾×Íè Ê §ÅÍ¨Ô¡ 0 áÅÐ 1 ä»ÂÑ§ÍØ»¡Ã³ ÀÒÂ¹Í¡µ Ò§ æ ã¹ÀÒÇÐ»¡µÔ àÁ×èÍàÃÔèÁ¨ ÒÂä¿¤ÃÑé§áÃ¡ ¢Ò¾ÍÃ µ·Ñé§ËÁ´¨Ðà» ¹¢ÒÍÔ¹¾ØµÍÐ¹ÒÅÍ¡ ¨Ø´µ Í 3 ¢Ò·Õãè ª àª×Íè Áµ ÍÍØ»¡Ã³ ÀÒÂ¹Í¡ ¨ÐÁÕä¿àÅÕÂé § +5V áÅÐ¡ÃÒÇ´ ÃÇÁä»´ ÇÂ

ÃÙ»·Õè 2-3 âÁ´ÙÅ LCD ·Õãè ª ¡ºÑ ºÍÃ ´ RBX-877

ÃÙ»·Õè 2-4 µÑÇÍÂ Ò§á¼§Ç§¨ÃµÃÇ¨¨ÑºÊÑÒ³·Õãè ª ¡ºÑ ºÍÃ ´RBX-877

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

2.2.5 Ê Ç¹Ê×Íè ÊÒÃ¢ ÍÁÙÅ¼ Ò¹¾ÍÃ µÍ¹Ø¡ÃÁ RS-232 ¡ÒÃÊ×èÍÊÒÃ¢ ÍÁÙÅÃÐËÇ Ò§¤ÍÁ¾ÔÇàµÍÃ ¡ÑºäÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC16F877 ÊÒÁÒÃ¶·íÒä´ ¼ Ò¹·Ò§¢Ò RC6 áÅÐ RC7 «Ö§è à» ¹¢Ò¾ÍÃ µÊ×Íè ÊÒÃ¢ ÍÁÙÅ¢Í§âÁ´ÙÅ USART ÍÂÙá Å Ç IC5 àºÍÃ ICL232 ·íÒË¹ Ò·Õèà»ÅÕèÂ¹ÃÐ´ÑºáÃ§´Ñ¹¨Ò¡¢Ò¾ÍÃ µ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ ãË µÃ§µÒÁÁÒµÃ°Ò¹ RS-232 ¡ Í¹¨Ð¶Ù¡Ê §ÍÍ¡ä»ÂÑ§¨Ø´µ Í K2 «Ö§è à» ¹¤Í¹à¹ç¡àµÍÃ áºº DB-9

2.2.6 Ç§¨Ã¢ÑºÁÍàµÍÃ ¡ÒÃ¢ÑºÁÍàµÍÃ ä¿µÃ§¢Í§ºÍÃ ´ RBX-877 ãª IC6 àºÍÃ L293D â´ÂÁÍàµÍÃ A ¨Ð¤Çº¤ØÁ ¡ÒÃ¢Ñºà¤Å×èÍ¹¨Ò¡¢Ò¾ÍÃ µ RD0 ¡Ñº RD1 áÅÐàÍç¹àÍàºÔÅ¡ÒÃ·íÒ§Ò¹´ ÇÂ¢Ò RC2 Ê Ç¹ÁÍàµÍÃ B ¨Ð¤Çº¤ØÁ¡ÒÃ¢Ñºà¤Å×Íè ¹´ ÇÂ¢Ò¾ÍÃ µ RD2 ¡Ñº RD3 áÅÐàÍç¹àÍàºÔÅ¡ÒÃ·íÒ§Ò¹´ ÇÂ¢Ò¾ÍÃ µ RC1 â´Â ÁÕ LED6 áÅÐ LED7 «Ö§è à» ¹ LED 2 ÊÕ áÊ´§¼Å¡ÒÃ·íÒ§Ò¹¢Í§ÁÍàµÍÃ áÃ§´Ñ¹·Õè¨ ÒÂãË ¡Ñºä»äÍ«Õ L293D »ÃÐ¡Íº´ ÇÂáÃ§´Ñ¹ä¿àÅÕéÂ§ +5V áÅÐáÃ§´Ñ¹ÀÒ¤¢Ñº ÁÍàµÍÃ (+Vm) «Ö§è µ Íâ´ÂµÃ§¨Ò¡áºµàµÍÃÕè ·íÒãË ÊÒÁÒÃ¶¢Ñº¡ÃÐáÊä´ ÍÂ Ò§àµçÁ·Õè ¢Ò¾ÍÃ µ RB0, RB1 áÅÐ RB2 ãª ¢ºÑ à«ÍÃ âÇÁÍàµÍÃ â´Âä¿àÅÕÂé §¢Í§à«ÍÃ âÇÁÍàµÍÃ ä´ ÁÒ ¨Ò¡áºµàµÍÃÕè à¾×Íè ãË Á¡Õ ÃÐáÊÁÒ¡¾Í·Õãè ª ¢ºÑ ÁÍàµÍÃ

2.2.7 Ê Ç¹àª×Íè Áµ ÍÃÐºººÑÊ I2C à¾×Íè ãË ºÍÃ ´ RBX-877 ÊÒÁÒÃ¶¢ÂÒÂÃÐººáÅÐÊÒÁÒÃ¶»ÃÐÂØ¡µ ãª §Ò¹µ Ò§æ ä´ ËÅÒ¡ËÅÒÂ ÁÒ¡ÂÔ§è ¢Ö¹é ¢Ò RC3/SCL áÅÐ¢Ò RC4/SDA ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC16F877 ¨Ð¶Ù¡ãª à» ¹¢Ò ¾ÍÃ µÊíÒËÃÑºàª×Íè Áµ Í¡ÑºÃÐºººÑÊ I2C â´ÂÁÕµÇÑ µ Ò¹·Ò¹ R23 áÅÐ R24 à» ¹µÑÇµ Ò¹·Ò¹¾ÙÅÍÑ»ãË ¡ÑºÃÐºººÑÊ I2C

ã¹â»Ãá¡ÃÁµÑÇÍÂ Ò§·Ñé§ËÁ´¡íÒË¹´ãË ãª äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC16F877 ÊÑ§à¡µ¨Ò¡â»Ãá¡ÃÁã¹ ºÃÃ·Ñ´ @ DEVICE

PIC16F877,HS_OSC ' Use PIC16F877 and HS Oscilator

¶ ÒËÒ¡ÁÕ¡ÒÃà»ÅÕÂè ¹á»Å§àºÍÃ ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ à» ¹ PIC16F877A ËÃ×ÍàºÍÃ Í¹×è æ µ Í§ ·íÒ¡ÒÃá¡ ä¢â»Ãá¡ÃÁ·ÕèºÃÃ·Ñ´´Ñ§¡Å ÒÇ¹Õé´ ÇÂ à¾ÃÒÐÍÒ¨·íÒãË â»Ãá¡ÃÁ¢ ÍÁÙÅÅ§ã¹äÁâ¤Ã ¤Í¹â·ÃÅàÅÍÃ äÁ ä´ áÅÐÍÒ¨ÁÕ¤ÇÒÁ¼Ô´¾ÅÒ´ã¹¡ÒÃ·íÒ§Ò¹¢Í§â»Ãá¡ÃÁ¤Çº¤ØÁä´

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¡Ô¨¡ÃÃÁ·Õè 1 à¢ÕÂ¹â»Ãá¡ÃÁ·´ÊÍººÍÃ ¤Çº¤ØÁ RBX-877 ¨Ø´»ÃÐÊ§¤ à¾×Íè ½ ¡ËÑ´¡ÒÃà¢ÕÂ¹â»Ãá¡ÃÁÀÒÉÒàºÊÔ¡â´Âãª à¤Ã×Íè §Á×Í·Ò§«Í¿µ áÇÃ ÃÇ Á¡Ñ¹¤×Í PICBASIC PRO ¤ÍÁ ä¾àÅÍÃ , Microcode Studio áÅÐ Miracle PIC ã¹¡ÒÃÊÃ Ò§â»Ãá¡ÃÁ¤Çº¤ØÁäÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC ¡ Í¹·Õ¨Ð ¹íÒä»ãª ã¹¡ÒÃÊÃ Ò§ËØ¹ Â¹µ Robo-PICA µ Íä»

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1. à» ´â»Ãá¡ÃÁ Microcode Studio ·Õäè ´ ¼¹Ç¡¡ÒÃàª×Íè Áµ Í¡Ñº PICBASIC PRO ¤ÍÁä¾àÅÍÃ (¨Ðà» ¹ÃØ¹ ·´ÅÍ§ ãª ËÃ×ÍÃØ¹ ÊÁºÙÃ³ ¡äç ´ â´Â·Ø¡â»Ãá¡ÃÁã¹¡Ô¨¡ÃÃÁ¹Õãé ª Ã¹Ø ·´ÅÍ§ä´ ·§Ñé ËÁ´) áÅÐ Miracle PIC äÇ àÃÕÂºÃ ÍÂáÅ Ç 2. à¢ÕÂ¹â»Ãá¡ÃÁ·´ÅÍ§µÒÁµÑÇÍÂ Ò§ã¹áµ ÅÐ¡Ô¨¡ÃÃÁÂ ÍÂ£ 3. àª×Íè Áµ ÍÊÒÂ CX-6 ¢Í§ºÍÃ ´ RBX-877 à¢ Ò¡Ñº¾ÍÃ µ¢¹Ò¹¢Í§¤ÍÁ¾ÔÇàµÍÃ 4. àª×Íè Áµ ÍÍØ»¡Ã³ ·ãÕè ª à¾ÔÁè àµÔÁã¹áµ ÅÐ¡ÒÃ·´ÅÍ§à¢ Ò¡Ñº¨Ø´µ Í¾ÍÃ µ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ º¹ºÍÃ ´ RBX-877 ¨Ò¡¹Ñ¹é à» ´ÊÇÔµª ¨Ò Âä¿ãË á¡ ºÍÃ ´ RBX-877 5. àÅ×Í¡âËÁ´¡ÒÃ·íÒ§Ò¹¢Í§ºÍÃ ´ RBX-877 ÁÒ·Õè PROGRAM ËÃ×Í PGM. 6. ·íÒ¡ÒÃ¤ÍÁä¾Å áÅÐ´ÒÇ¹ âËÅ´â»Ãá¡ÃÁÅ§º¹ºÍÃ ´ RBX-877 7. ¡´ÊÇÔµª à¾×Íè à»ÅÕÂè ¹âËÁ´¡ÒÃ·íÒ§Ò¹¢Í§ºÍÃ ´ RBX-877 à» ¹âËÁ´ÃÑ¹ (RUN) à¾×Íè ·´ÊÍº¡ÒÃ·íÒ§Ò¹

¡Ô¨¡ÃÃÁÂ ÍÂ·Õè 1-1 áÊ´§¼Å´ ÇÂ LED ¨Ò¡ÃÙ»·Õè A1-1 ¢Ò RB3,RB4 áÅÐ RB5 ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC ãª µÍ à¢ Ò¡Ñº LED â´ÂÁÕµÇÑ µ Ò¹·Ò¹ 510Ω ·íÒË¹ Ò·Õ¨è Òí ¡Ñ´¡ÃÐáÊãË á¡ LED ¨Ò¡Ç§¨Ã¡ÒÃ¢ÑºËÃ×Í¤Çº¤ØÁãË LED µÔ´ÊÇ Ò§¨Ðµ Í§Ê §ÅÍ¨Ô¡ 1 ãË ¡ºÑ ¢Ò¾ÍÃ µàËÅ Ò¹Õé Ê Ç¹¡ÒÃ·íÒãË ´ºÑ µ Í§Ê §ÅÍ¨Ô¡ 0 ÍÍ¡ä»á·¹ PIC16F877-20 LED6

RB5 RB4 RB3

38 4*#

R18 510

LED5

R17 510

LED4

R16 510

37 4*" 36 4*!

ÃÙ»·Õè A1-1 áÊ´§Ç§¨ÃáÅÐµíÒáË¹ §¡ÒÃµ Í LED º¹ºÍÃ ´ RBX-877

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

' File : a0101.bas ' Description : Drive LED at RBb by HIGH command @ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS Oscilator DEFINE OSC 20 ' Use Oscillator 20 MHz HIGH PORTB.3 LOOP: GOTO LOOP

' Set LED at RB3 --> ON ' Still Here

¡ÒÃ·íÒ§Ò¹¢Í§â»Ãá¡ÃÁ â»Ãá¡ÃÁ¹Õãé ª ¤Òí ÊÑ§è HIGH à¾×Íè ¢Ñº LED ·Õµè Í ¡Ñº¢Ò RB3 â´Â¤íÒÊÑ§è HIGH ÁÕ¡ÒÃ·íÒ§Ò¹ 2 ¢Ñ¹é µÍ¹¤×Í ¡íÒË¹´ãË ¢Ò¾ÍÃ µ RB3 à» ¹àÍÒµ ¾µØ áÅ ÇÊ §ÅÍ¨Ô¡ 1 ÍÍ¡ä»·Õ¢è Ò¹Õé ¨Ò¡¹Ñ¹é ¤íÒÊÑ§è ¶Ñ´ÁÒ¨ÐãË â»Ãá¡ÃÁÇ¹ÅÙ» ·íÒ§Ò¹«éÒí ÍÂÙ· µÕè Òí áË¹ §à´ÔÁ ËÃ×Íà» ¹¡ÒÃËÂØ´¡ÒÃ·íÒ§Ò¹¢Í§â»Ãá¡ÃÁ¹Ñ¹è àÍ§ ·íÒãË LED ·Õ¢è Ò RB3 µÔ´¤ Ò§

â»Ãá¡ÃÁ·Õè A1-1 â»Ãá¡ÃÁà¾×Íè ÊÑ§è ãË LED «Ö§è µ ÍÍÂÙ¡ ºÑ ¢Ò RB3 µÔ´ÊÇ Ò§ A1.1.1 à¢ÕÂ¹â»Ãá¡ÃÁ·Õè A1-1 ·íÒ¡ÒÃ¤ÍÁä¾Å áÅ Ç´ÒÇ¹ âËÅ´ä»ÂÑ§ºÍÃ ´ RBX-877 ÊÑ§à¡µ¼Å¡ÒÃ·íÒ§Ò¹ LED ·Õµè Òí áË¹ § RB3 µÔ´¤ Ò§ A1.1.2 ¨Ò¡â»Ãá¡ÃÁ·Õè A1-1 à¾×Íè ãË àËç¹ÀÒ¾¡ÒÃ·íÒ§Ò¹¢Í§¤íÒÊÑ§è ·Õªè ´Ñ à¨¹ ´Ñ§¹Ñ¹é ã¹¡ÒÃ·´ÅÍ§µ Íä»¨ÐáÊ´§ãË àËç¹¶Ö§¤íÒÊÑ§è ·Õãè ª ¢ºÑ LED ·ÕÅè ÐàÍÕÂ´¢Ö¹é «Ö§è µ Í§ãª 2 ¤íÒÊÑ§è ¤×Í OUTPUT PORTB.4 à» ¹¡ÒÃ¡íÒË¹´ãË ¢Ò RB4 à» ¹àÍÒµ ¾µØ áÅ Ç¨Ö§ãª ¤Òí ÊÑ§è ¡íÒË¹´ãË RB4 ÁÕÅÍ¨Ô¡ 1 ã¹ºÃÃ·Ñ´µ Íä» ´Ñ§áÊ´§ã¹â»Ãá¡ÃÁ·Õè A1-2 ' File : a0102.bas ' Description : Drive LED at RB4 by basic method @ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS Oscilator DEFINE OSC 20 ' Use Oscillator 20 MHz OUTPUT PORTB.4 PORTB.4 = 1 LOOP: GOTO LOOP

' RB4 --> OUTPUT ' Set LED at RB4 --> ON ' Still Here

â»Ãá¡ÃÁ·Õè A1-2 áÊ´§â»Ãá¡ÃÁà¾×Íè ¡íÒË¹´ãË LED ·Õ¢è Ò RB4 µÔ´ÊÇ Ò§ â´Âãª Ç¸Ô ¡Õ ÒÃ¾×¹é °Ò¹¤×Í ¡íÒË¹´ãË ¢Ò¾ÍÃ µà» ¹àÍÒµ ¾µØ ¡ Í¹ ¨Ò¡¹Ñ¹é Ê §¢ ÍÁÙÅ ]1^ ä»ÂÑ§¢Ò¾ÍÃ µ·Õµè Í §¡ÒÃ ' File : a0103.bas ' Description : Basic 3-dots running light @ DEVICE PIC16F877,HS_OSC DEFINE OSC 20 TRISB = %11000111 LOOP: PORTB = %00001000 PAUSE 500 PORTB = %00010000 PAUSE 500 PORTB = %00100000 PAUSE 500 GOTO LOOP

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Use PIC16F877 and HS Oscilator Use Oscillator 20 MHz RB3,RB4,RB5 --> OUTPUT LED at RB3 --> ON Delay Time 0.5 Sec LED at RB4 --> ON Delay Time 0.5 Sec LED at RB5 --> ON Delay Time 0.5 Sec

â»Ãá¡ÃÁ·Õè A1-3 â»Ãá¡ÃÁ·ÕÊè §Ñè §Ò¹ãË LED µÔ´áººä¿ÇÔ§è â´Âãª ¡ÒÃµÔ´µ Íáººäºµ

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

ËÅÑ¡¡ÒÃàº×Íé §µ ¹ã¹¡ÒÃ¢ÑºÍØ»¡Ã³ àÍÒµ ¾µØ ¤×Í ¡íÒË¹´ãË ¢Ò¾ÍÃ µ·íÒË¹ Ò·Õàè » ¹àÍÒµ ¾µØ ¡ Í¹ ¨Ò¡¹Ñ¹é ¨Ö§Ê §¤ ÒÍÍ¡ä»ÂÑ§µíÒáË¹ §¢Ò¾ÍÃ µ¹Ñ¹é ÊíÒËÃÑºâ»Ãá¡ÃÁ·Õè A1-3 ¡çÁÇÕ ¸Ô ¡Õ ÒÃàª ¹à´ÕÂÇ¡Ñ¹ â´Â¡íÒË¹´¤ Òä»ÂÑ§¾ÍÃ µâ´ÂµÃ§á·¹´ ÇÂ¢ ÍÁÙÅã¹ÃÐ´Ñº äºµ (8 ºÔµ) ´ ÇÂ¤íÒÊÑ§è TRISB ¶ Òµ Í§¡ÒÃãË ¢Òã´·íÒË¹ Ò·Õàè » ¹àÍÒµ ¾µØ µ Í§¡íÒË¹´ºÔµ¹Ñ¹é ãË ÁÅÕ Í¨Ô¡à» ¹ 0 ¶ Òµ Í§¡ÒÃãË ¢Òã´·íÒË¹ Ò·Õàè » ¹ÍÔ¹¾Øµ µ Í§¡íÒË¹´ºÔµ¹Ñ¹é ãË ÁÅÕ Í¨Ô¡à» ¹ 1 ÊíÒËÃÑº¡ÒÃÊ §¤ Ò¢ ÍÁÙÅÍÍ¡ä»áÊ´§·Õ¾è ÍÃ µ¹Ñ¹é ÊÒÁÒÃ¶Ê §¢ ÍÁÙÅ 8 ºÔµµÃ§ÍÍ¡ä»ÂÑ§¾ÍÃ µ·Õµè Í §¡ÒÃä´ àÅÂ ´Ñ§áÊ´§ã¹µÑÇÍÂ Ò§â»Ãá¡ÃÁ A1.1.3 à¢ÕÂ¹â»Ãá¡ÃÁ·Õè A1-3 ·íÒ¡ÒÃ¤ÍÁä¾Å áÅ Ç´ÒÇ¹ âËÅ´ä»ÂÑ§ºÍÃ ´ RBX-877 ÊÑ§à¡µ¼Å¡ÒÃ·íÒ§Ò¹ LED ·Ñ§é 3 ´Ç§·Õµè Òí áË¹ § RB3, RB4 áÅÐ RB5 ¨ÐµÔ´-´ÑºÊÅÑº¡Ñ¹ä»ã¹ÅÑ¡É³Ð¢Í§ä¿ÇÔ§è

¡Ô¨¡ÃÃÁÂ ÍÂ·Õè 1-2 Í Ò¹¤ ÒÍÔ¹¾Øµ´Ô¨ÔµÍÅ´ ÇÂÊÇÔµª º¹ºÍÃ ´ RBX-877 äÁ ÁÊÕ ÇÔµª ÊÒí ËÃÑº¡ÒÃãª §Ò¹»¡µÔµ´Ô µÑ§é ÍÂÙ ¨ÐÁÕ¡àç ¾ÕÂ§ÊÇÔµª ·ãÕè ª àÅ×Í¡âËÁ´¡ÒÃ·íÒ§Ò¹ (MODE) áÅÐÊÇÔµª ÃàÕ «µ (RESET) à· Ò¹Ñ¹é ´Ñ§¹Ñ¹é à¾×Íè ãË à¢ Òã¨¶Ö§¡ÒÃÃÑº¤ ÒÍÔ¹¾Øµ´Ô¨µÔ ÍÅ´ ÇÂÊÇÔµª à¾×Íè ¹íÒä»µÑ´ÊÔ¹ ã¨ÊÑ§è ¡ÒÃµ Ò§ æ ¨Ö§¨íÒà» ¹µ Í§µ Íá¼§Ç§¨ÃÊÇÔµª ¨Ò¡ÀÒÂ¹Í¡à¢ Ò¡ÑººÍÃ ´ RBX-877

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LED R1 510

R2 10k DATA

S1 GND

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¡ÒÃ·´ÅÍ§ A1.2.1 µ Íá¼§Ç§¨ÃÊÇÔµª à¢ Ò¡ÑººÍÃ ´ RBX-877 ·Õªè Í § RA0 ´Ñ§ÃÙ»·Õè A1-3 A1.2.2 à¢ÕÂ¹â»Ãá¡ÃÁ·Õè A1-4 ·íÒ¡ÒÃ¤ÍÁä¾Å áÅ Ç´ÒÇ¹ âËÅ´ä»ÂÑ§ºÍÃ ´ RBX-877 A1.2.3 ·´ÅÍ§¡´ÊÇÔµª áÅ ÇÊÑ§à¡µ¼Å¡ÒÃ·íÒ§Ò¹¢Í§ºÍÃ ´ RBX-877 ·Õàè ¡Ô´¢Ö¹é ¨Ðä´ Â¹Ô àÊÕÂ§ÍÍ¡·Ò§ÅíÒâ¾§ µÒÁ¨Ñ§ËÇÐ¡ÒÃ¡´ÊÇÔµª ã¹¡ÒÃ·´ÅÍ§¹Õãé ª ¾ÍÃ µ A «Ö§è »¡µÔ¨Ðà» ¹¾ÍÃ µÍÔ¹¾ØµÍÐ¹ÒÅÍ¡ ´Ñ§¹Ñ¹é ¨Ö§µ Í§µÔ´µ Í¡ÑºÃÕ¨ÊÔ àµÍÃ ADCON1 à¾×èÍ¡íÒË¹´ÅÑ¡É³Ð¡ÒÃ·íÒ§Ò¹ãËÁ à¾×èÍ¡íÒË¹´ãË à» ¹ÍÔ¹¾Øµ´Ô¨ÔµÍÅá·¹ ¤ Ò·Õèà¢ÕÂ¹ä»ÂÑ§ ÃÕ¨ÊÔ àµÍÃ ADCON1 ¨Ö§à· Ò¡Ñº $07

µíÒáË¹ §µ Íá¼§Ç§¨ÃÊÇÔµª

ÃÙ»·Õè A1-3 áÊ´§µíÒáË¹ §¢Í§¨Ø´µ Í RA0 º¹ºÍÃ ´ RBX-877 ·Õãè ª àª×Íè Áµ Í¡Ñºá¼§Ç§¨ÃÊÇÔµª ÊÒí ËÃÑº·´ÅÍ§ ¡ÒÃÍ Ò¹¤ ÒÍÔ¹¾Øµ´Ô¨µÔ ÍÅ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC ' File : a0104.bas ' Description : Reading digital input via switch board @ DEVICE PIC16F877,HS_OSC ' Use DEFINE OSC 20 ' Use ÄDCON1 = $07 ' Set LOOP: IF PORTA.0 = 0 THEN FREQOUT PORTA.4,300,1000 ENDIF GOTO LOOP

PIC16F877 and HS Oscilator Oscillator 20 MHz PORTA & PORTE --> Digital I/O ' Test Switch at RA0 Press ? ' Show Sound on Piezo 0.3 Sec ' Test Again

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Set LCD Data port Set starting Data bit (0 or 4) if 4-bit bus Set LCD Register Select port Set LCD Register Select bit Set LCD Enable port Set LCD Enable bit Set LCD bus size (4 or 8 bits) Set number of lines on LCD ' Set command delay time in microsecond ' Set data delay time in microsecond +5V JP1

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¡íÒË¹´ãË PORTC à» ¹¾ÍÃ µÊíÒËÃÑº¢Ò RS ÃÐºØµÒí áË¹ §ºÔµ¢Í§¢Ò RS à» ¹ºÔµ 0 (RC0) ¡íÒË¹´ãË PORTC à» ¹¾ÍÃ µÊíÒËÃÑº¢Ò E ÃÐºØºµÔ ·Õè 5 ¢Í§ PORTC à» ¹¢Ò E (RC5) ¡íÒË¹´¨íÒ¹Ç¹ºÔµã¹¡ÒÃÊ×Íè ÊÒÃ¢ ÍÁÙÅà» ¹áºº 4 ºÔµ ¡íÒË¹´¨íÒ¹Ç¹ºÃÃ·Ñ´¢Í§âÁ´ÙÅ LCD à» ¹ 2 ºÃÃ·Ñ´ ¡íÒË¹´ª Ç§Ë¹ Ç§àÇÅÒÊíÒËÃÑºÊ §¤íÒÊÑ§è 2000 äÁâ¤ÃÇÔ¹Ò·Õ ¡íÒË¹´ª Ç§Ë¹ Ç§àÇÅÒÊíÒËÃÑºÊ §¢ ÍÁÙÅ 50 äÁâ¤ÃÇÔ¹Ò·Õ

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' Use PIC16F877 and HS Oscilator ' Use Oscillator 20 MHz

DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE

LCD_DREG PORTD LCD_DBIT 4 LCD_RSREG PORTC LCD_RSBIT 0 LCD_EREG PORTC LCD_EBIT 5 LCD_BITS 4 LCD_LINES 2 LCD_COMMANDUS 2000 LCD_DATAUS 50

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$FE,$01 "Innovative" $FE,$C0 "Experiment"

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END

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' File : a0106.bas ' Description : Send serial data to computer by SEROUT command @ DEVICE PIC16F877,HS_OSC DEFINE OSC 20 A VAR BYTE A = 0 MAIN: SEROUT PORTC.6,2,[A] PAUSE 10 A = A+1 GOTO MAIN

' Use PIC16F877 and HS Oscilator ' Use Oscillator 20 MHz ' ' ' ' '

Start A with 0 Send A Delay 10 Millisecond Increment A Again

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àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

¡ÒÃãª §Ò¹¤íÒÊÑ§è SEROUT2 ÃÙ»áºº¡ÒÃãª §Ò¹¤íÒÊÑ§è SEROUT2 DataPin{\FlowPin},Mode,{Pace,} {Timeout,Label,}[Item...] DATAPIN MODE

Item

ËÁÒÂ¶Ö§ ¢Ò¾ÍÃ µ·Õãè ª Ê§ ¢ ÍÁÙÅ

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¢ Íáµ¡µ Ò§·Õàè Ëç¹ä´ ÍÂ Ò§ªÑ´à¨¹¢Í§¤íÒÊÑ§è SEROUT áÅÐ SEROUT2 ¡ç¤Í× SEROUT2 ÊÒÁÒÃ¶¡íÒË¹´ ¤ Ò¾ÒÃÒÁÔàµÍÃ µÒ §æ ä´ ÁÒ¡¡Ç Ò àª ¹ ÊÒÁÒÃ¶¡íÒË¹´ÃÙ»áºº¢Í§¢ ÍÁÙÅ·Õ·è Òí ¡ÒÃÊ §, ÃÙ»áºº¢Í§¡ÒÃÊ § áÅÐÍÑµÃÒ àÃçÇã¹¡ÒÃÊ §ä´ ã¹â»Ãá¡ÃÁ·´ÅÍ§·Õè A1-7 áÊ´§ãË àËç¹¶Ö§¡ÒÃ¡íÒË¹´ÃÙ»áºº¢ ÍÁÙÅ·Õáè Ê´§à» ¹àÅ¢°Ò¹ÊÔº (ÃÐºØ ¤íÒÊÑ§è DEC äÇ ·´Õè Ò ¹Ë¹ Ò¢Í§¢ ÍÁÙÅ·Õµè Í §¡ÒÃÊ § )áÅÐµÑÇàÅ¢°Ò¹ÊÍ§ (ÃÐºØ¤Òí ÊÑ§è BIN äÇ ·´Õè Ò ¹Ë¹ Ò¢Í§¢ ÍÁÙÅ·Õè µ Í§¡ÒÃÊ §) ¹Í¡¨Ò¡¹ÕÊé ÒÁÒÃ¶ÊÑ§è ãË àÅ×Íè ¹à¤ÍÃ à«ÍÃ ä»ÂÑ§µíÒáË¹ §Ë¹ ÒÊØ´¢Í§ºÃÃ·Ñ´áÅÐ¢Ö¹é ºÃÃ·Ñ´ãËÁ ä´ â´Â¡ÒÃ Ê §ÃËÑÊáÍÊ¡Õé $0D áÅÐ $0A µÒÁÅíÒ´Ñº A1.4.5 à¢ÕÂ¹â»Ãá¡ÃÁ·Õè A1-7 ·íÒ¡ÒÃ¤ÍÁä¾Å áÅ Ç´ÒÇ¹ âËÅ´ä»ÂÑ§ºÍÃ ´ RBX-877 A1.4.6 àª×Íè Áµ ÍÊÒÂÃÐËÇ Ò§ºÍÃ ´ RBX-877 ¡Ñº¾ÍÃ µÍ¹Ø¡ÃÁ A1.4.7 à» ´â»Ãá¡ÃÁ Hyper Terminal ËÃ×ÍË¹ Òµ Ò§ Serial Communication ã¹ Microcode Studio áÅ ÇàÅ×Í¡ ÍÑµÃÒºÍ´à» ¹ 2,400 ºÔµµ ÍÇÔ¹Ò·Õ ÃÙ»áºº¢ ÍÁÙÅà» ¹ 8N1 ' File : a0107.bas ' Description : Send serial data to computer by SEROUT2 command @ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS Oscilator DEFINE OSC 20 ' Use Oscillator 20 MHz A VAR BYTE A = 0 ' Start A with 0 MAIN: SEROUT2 PORTC.6,396,[DEC A," ",BIN A,$0D,$0A] ' Show A in Decimal Mode PAUSE 10 ' Delay A = A+1 ' Increment A GOTO MAIN

¤íÒÍ¸ÔºÒÂà¾ÔÁè àµÔÁ ã¹â»Ãá¡ÃÁ¹Õ¡é Òí Ë¹´¤ Ò Mode ¢Í§¤íÒÊÑ§è SEROUT2 äÇ à· Ò¡Ñº 396 «Ö§è ËÁÒÂ¶Ö§ àÅ×Í¡ÍÑµÃÒºÍ´ã¹¡ÒÃ Ê×Íè ÊÒÃ¢ ÍÁÙÅà· Ò¡Ñº 2,400 ºÔµµ ÍÇÔ¹Ò·Õ ÃÙ»áºº¢ ÍÁÙÅà» ¹áºº 8N1 ´Ñ§¹Ñ¹é ·Õâè »Ãá¡ÃÁ Hyper Terminal ¨Ðµ Í§ ¡íÒË¹´¤ ÒÁÒµÃ°Ò¹¢Í§¡ÒÃÊ×Íè ÊÒÃãË µÃ§¡Ñ¹´ ÇÂ

â»Ãá¡ÃÁ·Õè A1-7 â»Ãá¡ÃÁ·´ÅÍ§ãª ¤Òí ÊÑ§è SEROUT2 à¾×Íè Ê §¢ ÍÁÙÅä»ÂÑ§¤ÍÁ¾ÔÇàµÍÃ

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

A1.4.8 ÃÑ¹â»Ãá¡ÃÁ áÅ ÇÊÑ§à¡µ¡ÒÃáÊ´§¼Å¢Í§â»Ãá¡ÃÁ Hyper Terminal ËÃ×ÍË¹ Òµ Ò§ Serial Communication ã¹ Microcode Studio ·ÕËè ¹ Òµ Ò§ËÅÑ¡¢Í§ Hyper Terminal áÊ´§¼Å¡ÒÃ·íÒ§Ò¹´Ñ§¹Õé

¡ÒÃãª §Ò¹¤íÒÊÑ§è HSEROUT ÃÙ»áºº¡ÒÃãª §Ò¹¤íÒÊÑ§è HSEROUT [Item {,Item...}] Item

¤×Í ¢ ÍÁÙÅ·Õµè Í §¡ÒÃÊ §ÍÍ¡ä»

à» ¹¤íÒÊÑ§è Ê §¢ ÍÁÙÅÍ¹Ø¡ÃÁ·Õãè ª ¡ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC «Ö§è ÁÕâÁ´ÙÅÊ×Íè ÊÒÃÍ¹Ø¡ÃÁ UART ËÃ×Í USART ÍÂÙ ÀÒÂã¹ ´Ñ§¹Ñé¹¡ Í¹ãª §Ò¹¤íÒÊÑè§¨Ðµ Í§¡íÒË¹´¤ ÒàÃÔèÁµ ¹ãË ¡ÑºâÁ´ÙÅ USART ÀÒÂã¹µÑÇäÁâ¤Ã ¤Í¹â·ÃÅàÅÍÃ ¡Í ¹¼ Ò¹·Ò§¤íÒÊÑ§è DEFINE â´ÂÁÕÃÒÂÅÐàÍÕÂ´´Ñ§¹Õé HSEROUT

DEFINE HSER_RCSTA 90h

àÍç¹àÍàºÔÅ¡ÒÃÃÑº¢ ÍÁÙÅ

DEFINE HSER_TXSTA 20h

àÍç¹àÍàºÔÅ¡ÒÃÊ §¢ ÍÁÙÅ

DEFINE HSER_BAUD 2400

¡íÒË¹´¤ ÒÍÑµÃÒºÍ´ ´ ÇÂÇÔ¸¡Õ ÒÃãÊ ¤Ò ÍÑµÃÒºÍ´Å§ä»â´ÂµÃ§

¡íÒË¹´¤ ÒÍÑµÃÒºÍ´¼ Ò¹ÃÕ¨ÊÔ àµÍÃ SPBRG «Ö§è à» ¹ÃÕ¨ÊÔ àµÍÃ ÊíÒËÃÑº¡íÒË¹´¤ ÒÍÑµÃÒºÍ´¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC ·ÕÁè âÕ Á´ÙÅÊ×Íè ÊÒÃÍ¹Ø¡ÃÁÍÂÙÀ ÒÂã¹ DEFINE HSER_SPBRG 25

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

¨Ð¾ºÇ Ò¤íÒÊÑ§è HSEROUT ¡Ñº SEROUT2 ÁÕ¤ÇÒÁ¤Å ÒÂ¤ÅÖ§¡Ñ¹ ¨Ø´áµ¡µ Ò§¤×Í ¤íÒÊÑ§è HSEROUT ¨Ðãª §Ò¹ä´ ¡ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC ·ÕÁè âÕ Á´ÙÅÊ×Íè ÊÒÃ¢ ÍÁÙÅÍ¹Ø¡ÃÁÍÂÙÀ ÒÂã¹à· Ò¹Ñ¹é áÅÐ¡ÒÃÃÑºÊ §¢ ÍÁÙÅ¨Ð¼ Ò¹·Ò§ ¢Ò¾ÍÃ µ·Õàè ª×ÍÁµ Í¡ÑºâÁ´ÙÅÊ×Íè ÊÒÃ¢ ÍÁÙÅÍ¹Ø¡ÃÁ¹Õé äÁ ÊÒÁÒÃ¶à»ÅÕÂè ¹á»Å§¢Ò¾ÍÃ µä´ ã¹¢³Ð·Õ¤è Òí ÊÑ§è SEROUT2 ÊÒÁÒÃ¶ãª ä´ ¡ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC ã¹Í¹Ø¡ÃÁ 14 ºÔµ¢Ö¹é ä»ä´ ·¡Ø àºÍÃ äÁ ÇÒ ÀÒÂã¹µÑÇÁÑ¹¨ÐÁÕâÁ´ÙÅÊ×Íè ÊÒÃ ¢ ÍÁÙÅÍ¹Ø¡ÃÁÍÂÙÀ ÒÂã¹ËÃ×ÍäÁ áµ ÍÂ Ò§äÃ¡çµÒÁ¤íÒÊÑ§è HSEROUT ¨Ðãª ¾¹×é ·ÕËè ¹ ÇÂ¤ÇÒÁ¨íÒâ»Ãá¡ÃÁ¹ ÍÂ¡Ç Ò ´Ñ§¹Ñ¹é ËÒ¡ãª äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC ·ÕÁè âÕ Á´ÙÅÊ×Íè ÊÒÃ¢ ÍÁÙÅÍ¹Ø¡ÃÁÍÂÙÀ ÒÂã¹¤ÇÃàÅ×Í¡ãª ¤íÒÊÑ§è HSEROUT ¨Ðª ÇÂÅ´¢¹Ò´¢Í§â»Ãá¡ÃÁä´ ÁÒ¡¡Ç Ò A1.4.9 à¢ÕÂ¹â»Ãá¡ÃÁ·Õè A1-8 ·íÒ¡ÒÃ¤ÍÁä¾Å áÅ Ç´ÒÇ¹ âËÅ´ä»ÂÑ§ºÍÃ ´ RBX-877 ' File : a0108.bas ' Description : Send serial data to computer by HSEROUT command @ DEVICE PIC16F877,HS_OSC DEFINE OSC 20 DEFINE HSER_RCSTA 90h DEFINE HSER_TXSTA 20h DEFINE HSER_BAUD 2400 A VAR BYTE A = 0 Main: HSEROUT ["Innovative HSEROUT ["Experiment A = A+1 GOTO MAIN

' ' ' ' '

Use Use Set Set Set

PIC16F877 and HS Oscilator Oscillator 20 MHz receive register to receiver enabled transmit register to transmitter enabled baud rate

' Start A with 0 "] ' Show Text in String ",DEC A,$0D,$0A] ' Show String and Decimal Number ' increment A

â»Ãá¡ÃÁ·Õè A1-8 â»Ãá¡ÃÁ·´ÅÍ§ãª ¤Òí ÊÑ§è HSEROUT à¾×Íè Ê §¢ ÍÁÙÅä»ÂÑ§¤ÍÁ¾ÔÇàµÍÃ A1.4.10 àª×Íè Áµ ÍÊÒÂÃÐËÇ Ò§ºÍÃ ´ RBX-877 ¡Ñº¾ÍÃ µÍ¹Ø¡ÃÁ à» ´â»Ãá¡ÃÁ Hyper Terminal ËÃ×ÍË¹ Òµ Ò§ Serial communication ã¹ Microcode Studio áÅ ÇàÅ×Í¡ÍÑµÃÒºÍ´à» ¹ 2,400 ºÔµµ ÍÇÔ¹Ò·Õ ÃÙ»áºº¢ ÍÁÙÅà» ¹ 8N1 A1.4.11 ÃÑ¹â»Ãá¡ÃÁ áÅ ÇÊÑ§à¡µ¡ÒÃáÊ´§¼Å¢Í§â»Ãá¡ÃÁ Hyper Terminal ·ÕËè ¹ Òµ Ò§ËÅÑ¡¢Í§ Hyper Terminal áÊ´§¼Å¡ÒÃ·íÒ§Ò¹´Ñ§¹Õé

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

¡ÒÃÃÑº¢ ÍÁÙÅÍ¹Ø¡ÃÁâ´Âãª ¤Òí ÊÑ§è SERIN ÃÙ»áºº¡ÒÃãª §Ò¹¤íÒÊÑ§è SERIN Pin,Mode,{Timeout,Label,}{[Qual...],}{Item...}

Ñ ¢ ÍÁÙÅ ÊíÒËÃÑººÍÃ ´ RBX-877 ãª ¢Ò RC7 (PORTC.7) Pin ¤×Í ¢Ò¾ÍÃ µ·Õãè ª Ãº Mode ãª ¡Òí Ë¹´ÍÑµÃÒºÍ´áÅÐÃÙ»áºº¡ÒÃÊ×Í è ÊÒÃ¢ ÍÁÙÅ ¶ Òà· Ò¡Ñº 0 ËÁÒÂ¶Ö§ ¡íÒË¹´¤ ÒÍÑµÃÒºÍ´à» ¹

2,400 ºÔµµ ÍÇÔ¹Ò·Õ ¶ Òà· Ò¡Ñº 2 ËÁÒÂ¶Ö§ ¡íÒË¹´ÍÑµÃÒºÍ´à· Ò¡Ñº 9,600 ºÔµµ ÍÇÔ¹Ò·Õ ÃÙ»áºº¢ ÍÁÙÅà» ¹áºº 8N1 Timeout ËÁÒÂ¶Ö§ ª Ç§àÇÅÒÃÍÃÑº¢ ÍÁÙÅ ÁÕË¹ ÇÂà» ¹ÁÔÅÅÔÇ¹ Ô Ò·Õ ¶ ÒËÒ¡ÃÍÃÑº¢ ÍÁÙÅà¡Ô¹àÇÅÒ·Õ¡è Òí Ë¹´ «Õ¾ÂÕ ¨Ù Ð¡ÃÐâ´´ä»·íÒ§Ò¹ÂÑ§µíÒáË¹ §·Õ¡è Òí Ë¹´â´Â Label Qual à» ¹¢ ÍÁÙÅ·Õãè ª à»ÃÕÂºà·ÕÂº¡Ñº¢ ÍÁÙÅ·ÕÍ è Ò ¹ä´ ¶ ÒµÃ§¡Ñ¹ãË ¹Òí ¢ ÍÁÙÅµÑÇµ Íä»à¡çº·Õµè ÇÑ á»Ã Item SERIN à» ¹¤íÒÊÑ§è § ÒÂ·ÕÊ è ´Ø ã¹¡ÒÃÃÑº¢ ÍÁÙÅ¨Ò¡¤ÍÁ¾ÔÇàµÍÃ ÁÒáÊ´§ áµ ¨ÐäÁ ÊÒÁÒÃ¶µÃÇ¨ÊÍº ¡ÒÃÊ×Íè ÊÒÃµ Ò§æ ä´ â´Â·íÒä´ à¾ÕÂ§ÃÍÃÑº¢ ÍÁÙÅÀÒÂã¹àÇÅÒ·Õ¡è Òí Ë¹´à· Ò¹Ñ¹é A1.4.12 à¢ÕÂ¹â»Ãá¡ÃÁ·Õè A1-9 ·íÒ¡ÒÃ¤ÍÁä¾Å áÅ Ç´ÒÇ¹ âËÅ´ä»ÂÑ§ºÍÃ ´ RBX-877 ' File : a0109.bas ' Description : Receive serial data from computer by SERIN command @ DEVICE PIC16F877,HS_OSC ' Use DEFINE OSC 20 ' Use DEFINE LCD_DREG PORTD ' Set DEFINE LCD_DBIT 4 ' Set DEFINE LCD_RSREG PORTC ' Set DEFINE LCD_RSBIT 0 ' Set DEFINE LCD_EREG PORTC ' Set DEFINE LCD_EBIT 5 ' Set DEFINE LCD_BITS 4 ' Set DEFINE LCD_LINES 2 ' Set DEFINE LCD_COMMANDUS 2000 ' Set DEFINE LCD_DATAUS 50 ' Set A VAR BYTE LOOP: SERIN PORTC.7,0,["R"],A LCDOUT $FE,$01,A GOTO LOOP

PIC16F877 and HS Oscilator Oscillator 20 MHz LCD Data port starting Data bit (0 or 4) if 4-bit bus LCD Register Select port LCD Register Select bit LCD Enable port LCD Enable bit LCD bus size (4 or 8 bits) number of lines on LCD command delay time in us data delay time in us

¤íÒÍ¸ÔºÒÂà¾ÔÁè àµÔÁ ¡ÒÃÃÍÃÑº¢ ÍÁÙÅ¨Ò¡¤ÍÁ¾ÔÇàµÍÃ ´Ç Â¤íÒÊÑ§è SERIN ã¹â»Ãá¡ÃÁ¹Õ¨é Ðãª µÇÑ ÍÑ¡ÉÃ R à» ¹µÑÇ¡íÒË¹´¡ÒÃàÃÔÁè µ ¹ÃÑº¢ ÍÁÙÅ ¨Ò¡¹Ñ¹é ¨ÐÃÑº¢ ÍÁÙÅ·Õµè ÒÁËÅÑ§µÑÇÍÑ¡ÉÃ R ÁÒà¡çºäÇ ·µÕè ÇÑ á»Ã A áÅ Çãª ¤Òí ÊÑ§è LCDOUT à¾×Íè ¹íÒ¢ ÍÁÙÅ ·ÕÃè ºÑ ä´ ÁÒáÊ´§¼Å·Õâè Á´ÙÅ LCD ÊíÒËÃÑº¡ÒÃ¡íÒË¹´ Mode ã¹¤íÒÊÑ§è SERIN à» ¹ 0 ËÁÒÂ¤ÇÒÁÇ Ò àÅ×Í¡ãª ÍµÑ ÃÒºÍ´ 2,400 ºÔµµ ÍÇÔ¹Ò·Õ ÃÙ»áºº¢ ÍÁÙÅà» ¹áºº 8N1

â»Ãá¡ÃÁ·Õè A1-9 â»Ãá¡ÃÁ·´ÅÍ§ãª §Ò¹¤íÒÊÑ§è SERIN à¾×Íè ÃÑº¢ ÍÁÙÅÍ¹Ø¡ÃÁ¨Ò¡¤ÍÁ¾ÔÇàµÍÃ ÁÒáÊ´§¼Å ·Õâè Á´ÙÅ LCD º¹ºÍÃ ´ RBX-877

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A1.4.13 àª×Íè Áµ ÍÊÒÂÃÐËÇ Ò§ºÍÃ ´ RBX-877 ¡Ñº¾ÍÃ µÍ¹Ø¡ÃÁ à» ´â»Ãá¡ÃÁ Hyper Terminal ËÃ×ÍË¹ Òµ Ò§ Serial communication ã¹ Microcode Studio áÅ ÇàÅ×Í¡ÍÑµÃÒºÍ´à» ¹ 2,400 ºÔµµ ÍÇÔ¹Ò·Õ ÃÙ»áºº¢ ÍÁÙÅà» ¹ 8N1 ÍÂ Ò§äÃ¡çµÒÁÊíÒËÃÑº¡ÒÃ·´ÊÍºâ»Ãá¡ÃÁ¤ÃÒÇ¹Õ¤é ÇÃàÅ×Í¡ãª Ë¹ Òµ Ò§ Serial Communication ¢Í§ Microcode Studio ¨ÐàËÁÒÐÊÁ¡Ç Ò à¹×Íè §¨Ò¡ÊÒÁÒÃ¶áÊ´§¤ Ò·ÕÊè § ÍÍ¡ä»¨Ò¡¤ÍÁ¾ÔÇàµÍÃ ãË ¼ãÙ ª §Ò¹àËç¹´ ÇÂ A1.4.14 ÃÑ¹â»Ãá¡ÃÁ áÅ Ç¡´¤ÕÂº ÍÃ ´à¾×Íè Ê §¢ ÍÁÙÅä»ÂÑ§ºÍÃ ´ RBX-877 ¼ Ò¹·Ò§ª Í§ Send ã¹Ë¹ Òµ Ò§ Serial Comminication ¢Í§ Microcode Studio ¨Ò¡¹Ñ¹é ¡´»ØÁ Connect ÊÑ§à¡µ¡ÒÃáÊ´§¼Å¢Í§âÁ´ÙÅ LCD º¹ºÍÃ ´ RBX-877 à»ÃÕÂºà·ÕÂº¡Ñº¤ Ò·Õáè Ê´§º¹Ë¹ Òµ Ò§ Serial Communication ¢Í§ Microcode Studio ·ÕËè ¹ Òµ Ò§ Serial Communication ¢Í§ Microcode Studio áÊ´§¼Å¡ÒÃ·íÒ§Ò¹´Ñ§¹Õé

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' File : a0110.bas ' Description : Receive serial data from computer by SERIN2 command @ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS Oscilator DEFINE OSC 20 ' Use Oscillator 20 MHz DEFINE LCD_DREG PORTD ' Set LCD Data port DEFINE LCD_DBIT 4 ' Set data bit start at bit4 in 4-bit mode DEFINE LCD_RSREG PORTC ' Set LCD Register Select port DEFINE LCD_RSBIT 0 ' Set LCD Register Select bit DEFINE LCD_EREG PORTC ' Set LCD Enable port DEFINE LCD_EBIT 5 ' Set LCD Enable bit DEFINE LCD_BITS 4 ' Set LCD bus size (4 or 8 bits) DEFINE LCD_LINES 2 ' Set number of lines on LCD DEFINE LCD_COMMANDUS 2000 ' Set command delay time in us DEFINE LCD_DATAUS 50 ' Set data delay time in us DAT VAR BYTE[9] LOOP: SERIN2 PORTC.7,396,3000,OUT,[str DAT\9 ] ' Recieve Data 9 bytes save to DAT LCDOUT $FE,$01,STR DAT\9 ' Show data on LCD Module GOTO LOOP ' Again OUT: FREQOUT PORTA.4,100,2000 ' If Timeout, generate sound GOTO LOOP

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ADFM

PCFG3 PCFG2 PCFG1 PCFG0

R/W-0 R/W-0

R/W-0

: ÊÒÁÒÃ¶Í Ò¹ËÃ×Íà¢ÕÂ¹ºÔµ¹Õéä´ ÊÀÒÇÐàÁ×èÍàÃÔèÁ¨ ÒÂä¿ÁÕÅÍ¨Ô¡à» ¹ "0"

ÊíÒËÃÑºÃÕ¨ÊÔ àµÍÃ ADCON0 ¶ Òà¢ÕÂ¹â»Ãá¡ÃÁ´ ÇÂ¡ÒÃãª PICBASIC PRO ¤ÍÁä¾àÅÍÃ äÁ ¨Òí à» ¹µ Í§ ¡íÒË¹´¤ Ò´ ÇÂµ¹àÍ§ÊÒÁÒÃ¶¡ÃÐ·íÒ¼ Ò¹¤íÒÊÑ§è DEFINE ADC ä´ 4 ºÔµÅ Ò§¢Í§ÃÕ¨ÊÔ àµÍÃ ADCON1 ãª ¡Òí Ë¹´ ¡ÒÃ·íÒ§Ò¹¢Í§¢Ò¾ÍÃ µÇ Ò µ Í§¡ÒÃãË ¢Òã´à» ¹¢ÒÃÑºÊÑÒ³ÍÐ¹ÒÅÍ¡ ¢Òã´à» ¹ÍÔ¹¾ØµàÍÒµ ¾µØ ´Ô¨µÔ ÍÅ»¡µÔ â´ÂáÊ´§ÃÒÂÅÐàÍÕÂ´Ë¹ Ò·Õàè ËÅ Ò¹Õãé ¹µÒÃÒ§·Õè A5-1 ÊíÒËÃÑººÔµ 7 ¢Í§ÃÕ¨ÊÔ àµÍÃ ADCON1 ¤×ÍºÔµ ADFM ãª àÅ×Í¡ÃÙ»áºº¼ÅÅÑ¾¸ ¢Í§¡ÒÃá»Å§ÊÑÒ³ ¶ ÒºÔµ ¹Õ¡é Òí Ë¹´ãË à» ¹ 0 ¼ÅÅÑ¾¸ 10 ºÔµ ¨ÐªÔ´·Ò§´ Ò¹« ÒÂ¢Í§¡ÅØÁ ¢ ÍÁÙÅ 16 ºÔµ (4 ºÔµÅ Ò§à» ¹ 0 ËÁ´) áµ ¶Ò à» ¹ 1 ¼ÅÅÑ¾¸ ¡ÒÃá»Å§¤ Ò 10 ºÔµ ¨ÐªÔ´·Ò§´ Ò¹¢ÇÒ¢Í§¡ÅØÁ ¢ ÍÁÙÅ 16 ºÔµ (4 ºÔµº¹à» ¹ 0 ËÁ´)

¼ÅÅÑ¾¸ 10 ºÔµ b

15 14 13 12 11 10

ADFM = 0 ¼ÅÅÑ¾¸ áººªÔ´« ÒÂ

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15 14 13 12 11 10

ADFM = 1 ¼ÅÅÑ¾¸ áººªÔ´¢ÇÒ

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PCFG3PCFG0 0000 0001 0010 0011 0100

AN7 AN6 AN5 AN4 AN3 AN2 AN1 AN0 Vref ª Í§ÍÐ¹ÒÅÍ¡ : Vref+ (RE2) (RE1) (RE0) (RA5) (RA3) (RA2) (RA1) (RA0) - áÃ§´Ñ¹Í Ò§ÍÔ§ A A A A A A A A V,, V55 8:1 A A A A Vref+ A A A AN3 V55 7:1 D D D A A A A A V,, V55 5:0 D D D A Vref+ A A A AN3 V55 4:1 D D D D A D A A V,, V55 3:0

0101 011X

D D

Vref+ D

1000 1001 1010

A D D

A A A

1011 1100 1101 1110 1111

D D D D D

A D D D D

A A D D D

D D

A D

AN3 -

V55 -

2:1 0:0

Vref+ VrefA A Vref+ A

A A A

AN3 V,, AN3

AN2 V55 V55

6:2 6:0 5:1

Vref+ Vref+ Vref+ D Vref+

A A A D D

A A A A A

AN3 AN3 AN3 V,, AN3

AN2 AN2 AN2 V55 AN2

4:2 3:2 2:2 1:0 1:2

VrefVrefVrefD Vref-

A ¤×Í ÍÔ¹¾ØµÍÐ¹ÒÅÍ¡, D ¤×Í ÍÔ¹¾ØµàÍÒµ ¾Øµ, Vref+ ¤×Íãª ¢Ò¹Õéà» ¹áÃ§´Ñ¹Í Ò§ÍÔ§ºÇ¡, Vref- ¤×Í ãª ¢Ò¹Õéà» ¹áÃ§´Ñ¹Í Ò§ÍÔ§Åº, V,, ¤×Í áÃ§´Ñ¹Í Ò§ÍÔ§à· Ò¡Ñºä¿àÅÕéÂ§, V55 ¤×Í áÃ§´Ñ¹Í Ò§ÍÔ§à· Ò¡Ñº¡ÃÒÇ´ , AN3 ¤×Í ãª ÍÔ¹¾ØµÍÐ¹ÒÅÍ¡ª Í§ 3 à» ¹¢ÒáÃ§´Ñ¹Í Ò§ÍÔ§ºÇ¡ , AN2

µÒÃÒ§·Õè A5-1 áÊ´§¡ÒÃ¡íÒË¹´¤ Ò¼ Ò¹ºÔµ PCFG3-PCFG0 ã¹ÃÕ¨ÊÔ àµÍÃ ADCON1 à¾×Íè àÅ×Í¡¡ÒÃ·íÒ§Ò¹ ¢Í§¢Ò¾ÍÃ µ·Õàè ¡ÕÂè Ç¢ Í§¡ÑºÊÑÒ³ÍÐ¹ÒÅÍ¡

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VAR WORD OSC 20 ADC_BITS 10 ADC_CLOCK 3 ADC_SAMPLEUS

' Oscilator = 20 MHz ' Set number of bits in result ' Set clock source (Internal RC = 3) 50 ' Set sampling time in microseconds

DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE

LCD_DREG PORTD LCD_DBIT 4 LCD_RSREG PORTC LCD_RSBIT 0 LCD_EREG PORTC LCD_EBIT 5 LCD_BITS 4 LCD_LINES 2 LCD_COMMANDUS LCD_DATAUS 50

' Set ' Set ' Set ' Set ' Set ' Set ' Set ' Set 2000 ' Set

ADCON1 = %10000000 MAIN:ADCIN

LCD Data port starting Data bit (0 or 4) if 4-bit bus LCD Register Select port LCD Register Select bit LCD Enable port LCD Enable bit LCD bus size (4 or 8 bits) number of lines on LCD ' Set command delay time in us data delay time in us ' All PORTA & PORTE is Analog

0, SENSOR0 ' Read channel 2 LCDOUT $FE,$01,"SENSOR0 = ", DEC SENSOR0 PAUSE 500 GOTO MAIN

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à» ¹ ADCIN 1 , SENSOR0

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6.2.3 ÃÙ»áºº¡ÒÃÊ §¢ ÍÁÙÅ¢Í§ÃÕâÁµ¤Í¹â·ÃÅ Easy remote4 à¾×Íè ãË ÀÒ¤ÃÑºÊÒÁÒÃ¶Í Ò¹¢ ÍÁÙÅ¡ÒÃ¡´ÊÇÔµª ¨Ò¡ÃÕâÁµ¤Í¹â·ÃÅä´ â´Â§ ÒÂ ã¹¡ÒÃÊ §¢ ÍÁÙÅ ¢Í§ Easy remote4 ¨Ö§ãª ¡ÒÃÊ §¢ ÍÁÙÅáººÍ¹Ø¡ÃÁ µÒÁÁÒµÃ°Ò¹ RS-232 ´ ÇÂÍÑµÃÒºÍ´ 1,200 ºÔµµ Í ÇÔ¹Ò·Õ ã¹ÃÙ»áºº 8N1 ¢ ÍÁÙÅ·ÕÊè § ¹Ñ¹é à» ¹µÑÇÍÑ¡ÉÃ¢Ö¹é ÍÂÙ¡ ºÑ ¡ÒÃ¡´ÊÇÔµª µÇÑ ã´ ´Ñ§áÊ´§µíÒáË¹ §¢Í§ ÊÇÔµª ã¹ÃÙ»·Õè 6-2 (¢) ¡´ÊÇÔµª A Ê §¢ ÍÁÙÅµÑÇÍÑ¡ÉÃ A µÑÇ¾ÔÁ¾ ãË ÊÅÑºµÑÇ¾ÔÁ¾ àÅç¡ ¡´ÊÇÔµª B Ê §¢ ÍÁÙÅµÑÇÍÑ¡ÉÃ B µÑÇ¾ÔÁ¾ ãË ÊÅÑºµÑÇ¾ÔÁ¾ àÅç¡ ¡´ÊÇÔµª C Ê §¢ ÍÁÙÅµÑÇÍÑ¡ÉÃ C µÑÇ¾ÔÁ¾ ãË ÊÅÑºµÑÇ¾ÔÁ¾ àÅç¡ ¡´ÊÇÔµª D Ê §¢ ÍÁÙÅµÑÇÍÑ¡ÉÃ D µÑÇ¾ÔÁ¾ ãË ÊÅÑºµÑÇ¾ÔÁ¾ àÅç¡ ÊÒàËµØ·ÊÕè § ÊÅÑºµÑÇ¾ÔÁ¾ ãË ¡ºÑ µÑÇ¾ÔÁ¾ àÅç¡à¾×Íè ãË µÇÑ ÃÑº·ÃÒºÇ Ò ¡ÒÃ¡´ÊÇÔµª ¹¹Ñé à» ¹¡ÒÃ¡´ áºº¤ Ò§µ Íà¹×Íè § ËÃ×Íà» ¹¡ÒÃ¡´»Å ÍÂà» ¹¨Ñ§ËÇÐ «Ö§è ¨ÐãË ¼ÅÅÑ¾¸ ã¹¡ÒÃ¤Çº¤ØÁ·Õáè µ¡µ Ò§¡Ñ¹ ¹Ñ¹è ¤×Í¶ Ò¡´ÊÇÔµª à» ¹¨Ñ§ËÇÐ ¤ÃÑé§áÃ¡¨ÐÊ §¢ ÍÁÙÅµÑÇÍÑ¡ÉÃáººµÑÇ¾ÔÁ¾ ãË ¶ Ò¡´µÑÇà´ÔÁã¹¤ÃÑé§µ ÍÁÒ ¢ ÍÁÙÅ·ÕÊè § ÍÍ¡¨Ðà» ¹µÑÇÍÑ¡ÉÃáººµÑÇ¾ÔÁ¾ àÅç¡ áµ ¶Ò ËÒ¡¡´¤ Ò§µ Íà¹×Íè § ¨ÐÊ §¢ ÍÁÙÅµÑÇÍÑ¡ÉÃáºº Å ÒÊØ´¹Ñé¹ÍÍ¡ÁÒµÅÍ´àÇÅÒ

¡Ô¨¡ÃÃÁ·Õè 9

µÔ´µÑ§é á¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´ 38kHz ÍØ»¡Ã³ áÅÐà¤Ã×Íè §Á×Í Ê¡ÃÙ 3x10 ÁÁ. x 1 àÊÒ¾ÅÒÊµÔ¡ 3 ÁÁ. x 1

¹Íµ 3 ÁÁ. x 1

ªÔ¹é µ ÍÁØÁ» Ò¹ x 1

âÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´ 38kHz x 1

¢Ñ¹é µÍ¹¡ÒÃ»ÃÐ¡Íº A9.1 ãª Ê¡ÃÙ 3x10 ÁÁ. Ã ÍÂ¼ Ò¹á¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´¨Ò¡´ Ò¹Ë¹ Ò áÅ Çãª àÊÒ¾ÅÒÊµÔ¡ 3 ÁÁ. ÊÇÁà¢ Òä»´ Ò¹ËÅÑ§à¾×Íè » Í§¡Ñ¹ªÔ¹é µ Í¾ÅÒÊµÔ¡ÁØÁ» Ò¹ ·Õ¨è Ðµ Í§¹íÒÁÒµÔ´µÑ§é àºÕÂ´¡Ñº¨Ø´ºÑ´¡ÃÕ¢Í§á¼§Ç§¨Ã

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

A9.2 ãª ª¹Ôé µ ÍÁØÁ» Ò¹ÂÖ´à¢ ÒÊ¡ÃÙáÅÐ¢Ñ¹ãË á¹ ¹´ ÇÂ¹Íµ 3 ÁÁ.

A9.3 ¤ÅÒÂÊ¡ÃÙ·ÂÕè ´Ö àÊÒÃÍ§·Í§àËÅ×Í§´ Ò¹Ë¹ ÒÍÍ¡à¾×Íè àÊÕÂºªÔ¹é µ ÍÁØÁ » Ò¹·ÕèÂÖ´¡Ñºá¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´¨Ò¡¢Ñé¹µÍ¹·Õè A9.2 ¨Ò¡¹Ñ¹é ¢Ñ¹Ê¡ÃÙ¡ÅÑºà¢ Òä»ãË á¹ ¹

A9.4 µ ÍÊÒÂ¨Ò¡á¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´ 38kHz à¢ Ò·Õ¨è ´Ø µ Í ¾ÍÃ µ RA2 ´Ñ§¹Ñé¹ã¹¡ÒÃà¢ÕÂ¹â»Ãá¡ÃÁÀÒÉÒàºÊÔ¡·Õèãª PICBASIC PRO ¤ÍÁä¾àÅÍÃ à¾×èÍÍ Ò¹¤ Ò¨Ò¡á¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´ 38kHz ¨Ðµ Í§à¢ÕÂ¹â»Ãá¡ÃÁµÔ´µ Í·Õµè Òí áË¹ § PORTA.2

¹Ñº¨Ò¡¹Õé ËØ¹ Â¹µ Robo-PICA ¡ç¨ÐÁÕ¤ÇÒÁÊÒÁÒÃ¶à¾ÔÁè ÍÕ¡ 1 ÍÂ Ò§ ¹Ñ¹è ¤×Í ÊÒÁÒÃ¶Ê×Íè ÊÒÃ¢ ÍÁÙÅÍ¹Ø¡ÃÁ ¼ Ò¹áÊ§ÍÔ¹¿ÃÒàÃ´ä´

¶ Òµ Í§¡ÒÃãª ¾ÍÃ µ A ·Ñ§é ËÁ´à» ¹¢Ò¾ÍÃ µÍÔ¹¾ØµàÍÒµ ¾µØ ´Ô¨µÔ ÍÅ ¨Ðµ Í§¡íÒË¹´¤ ÒãË ¡ºÑ ÃÕ¨ÊÔ àµÍÃ ADCON1 à· Ò¡Ñº 0x07 ¡ Í¹

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

¡Ô¨¡ÃÃÁ·Õè 10

Í Ò¹¤ Ò¨Ò¡ÃÕâÁµ¤Í¹â·ÃÅ Easy Remote4 ¡ Í¹·Õè¨Ð¹íÒÃÕâÁµ¤Í¹â·ÃÅä»ãª »ÃÐâÂª¹ ã¹¡ÒÃ¤Çº¤ØÁÍØ»¡Ã³ µ Ò§æ ¨Ðµ Í§ÁÒÃÑºÃÙ à§×èÍ¹ä¢¡ Í¹Ç Ò ¢ ÍÁÙÅ·ÕÃè âÕ Áµ¤Í¹â·ÃÅÊ §ÍÍ¡ÁÒ¹Ñ¹é ÁÕÃ»Ù áººÍÂ Ò§äÃ ÁÕÇ¸Ô ãÕ ª â»Ãá¡ÃÁã¹¡ÒÃÍ Ò¹¤ ÒÍÂ Ò§äÃ áÅÐÍ Ò¹¤ ÒáÅ Ç¨Ð µÃÇ¨ÊÍº¤ Ò¢Í§ÊÇÔµª ·ÍÕè Ò ¹ä´ àËÅ Ò¹Ñ¹é ÍÂ Ò§äÃ â´Ââ»Ãá¡ÃÁ·Õè P10-1 à» ¹µÑÇÍÂ Ò§¡ÒÃÍ Ò¹¤ Ò¨Ò¡ÃÕâÁµ¤Í¹â·ÃÅ áÅ Ç¹íÒ¼Åä»áÊ´§¼Å·Õâè Á´ÙÅ LCD ¹Í¡¨Ò¡¹Õ¡é ¨ç Ð¹íÒ¤ Ò·ÕÍè Ò ¹ä´ ¹ÁÕé Òà»ÃÕºà·ÕÂºÇ Òà» ¹¤ Ò¤ÕÂ· ¡Õè Òí Ë¹´ËÃ×ÍäÁ â´Â áÊ´§¤ÇÒÁáµ¡µ Ò§¢Í§¤ÕÂµ Ò §æ ÍÍ¡ÁÒ·Ò§ÅíÒâ¾§à» Ââ«´ ÇÂ¤íÒÊÑ§è FREQOUT ¢Í§â»Ãá¡ÃÁÀÒÉÒàºÊÔ¡·Õãè ª PICBASIC PRO ¤ÍÁä¾àÅÍÃ '***************************************************************** '* Name : P1001.BAS * '* Notes : Use SERIN2 Receive Data From Remote Control * '***************************************************************** @ DEVICE PIC16F877,HS_OSC ' used PIC16F877 KEY VAR BYTE DEFINE OSC 20 ' Oscilator = 20 MHz DEFINE LCD_DREG PORTD ' Set LCD Data port DEFINE LCD_DBIT 4 ' Set starting Data bit (0 or 4) DEFINE LCD_RSREG PORTC ' Set LCD Register Select port DEFINE LCD_RSBIT 0 ' Set LCD Register Select bit DEFINE LCD_EREG PORTC ' Set LCD Enable port DEFINE LCD_EBIT 5 ' Set LCD Enable bit DEFINE LCD_BITS 4 ' Set LCD bus size (4 or 8 bits) DEFINE LCD_LINES 2 ' Set number of lines on LCD DEFINE LCD_COMMANDUS 2000 ' Set command delay time in us DEFINE LCD_DATAUS 50 ' Set data delay time in us ADCON1 = $07 ' ALL PORTA & PORTE = Digital I/O MAIN: SERIN2 PORTA.2,813,2000,MAIN,[KEY] ' Receive Data From IR Module LCDOUT

$FE,$01," KEY = ", KEY

IF (KEY = "A") OR (KEY = "a") THEN FREQOUT PORTA.4,100,2000 ENDIF IF (KEY = "B") OR (KEY = "b") THEN FREQOUT PORTA.4,100,2200 ENDIF IF (KEY = "C") OR (KEY = "c") THEN FREQOUT PORTA.4,100,2400 ENDIF IF (KEY = "D") OR (KEY = "d") THEN FREQOUT PORTA.4,100,2600 ENDIF

' Show Data On LCD Module ' Check Key = "A" or "a" ? ' 2kHz Beep ' Check Key = "B" or "b" ? ' 2.2kHz Beep ' Check Key = "C" or "c" ? ' 2.4kHz Beep ' Check Key = "D" or "d" ? ' 2.6kHz Beep

GOTO MAIN

â»Ãá¡ÃÁ·Õè P10-1 â»Ãá¡ÃÁÍ Ò¹¤ Ò¨Ò¡ÃÕâÁµ¤Í¹â·ÃÅ ER4 áÅ ÇáÊ´§¼Å´ ÇÂàÊÕÂ§áÅÐâÁ´ÙÅ LCD

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

A10.1 à» ´â»Ãá¡ÃÁ Microcode Studio à¢ÕÂ¹â»Ãá¡ÃÁ·Õè P12-1 A10.2 ´ÒÇ¹ âËÅ´â»Ãá¡ÃÁ¹Õäé »ÂÑ§ËØ¹ Â¹µ Robo-PICA ¨Ò¡¹Ñ¹é ¡´ÊÇÔµª MODE à¾×Íè ãË ÍÂÙã ¹âËÁ´ÃÑ¹ (LED ÊÕ à¢ÕÂÇ·Õµè Òí áË¹ § RUN µÔ´ÊÇ Ò§) A10.3 ãª ÃâÕ Áµ¤Í¹â·ÃÅ Easy Remote4 ¡´ÊÇÔµª Ê§ ÊÑÒ³ä»ÂÑ§á¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´ 38kHz ÊÑ§à¡µ¡ÒÃ·íÒ§Ò¹¢Í§âÁ´ÙÅ LCD ·Õ¨è ÍáÊ´§¼Å¢Í§âÁ´ÙÅ LCD ¨ÐáÊ´§µÑÇÍÑ¡ÉÃ A,B,C,D ËÃ×Í a,b,c,d ¾Ã ÍÁ·Ñ§é ¢ÑºàÊÕÂ§ µÔ´é ÊÑ¹é æ ·ÕèÁÕ¤ÇÒÁ¶Õèáµ¡µ Ò§¡Ñ¹ä»ã¹áµ ÅÐ¤ÕÂ ËÃ×ÍÊÇÔµª ÍÍ¡·Ò§ÅíÒâ¾§à» Ââ«

¡Ô¨¡ÃÃÁ·Õè 11

ËØ ¹Â¹µ à¤Å×èÍ¹·Õè´ ÇÂ¡ÒÃ¤Çº¤ØÁ¨Ò¡ÃÕâÁµ¤Í¹â·ÃÅ ¡Ô¨¡ÃÃÁ¹Õàé » ¹¡ÒÃãª ÃâÕ Áµ¤Í¹â·ÃÅ ER-4 ÁÒà» ¹µÑÇÊ §¢ ÍÁÙÅÊíÒËÃÑº¡ÒÃ¢Ñºà¤Å×Íè ¹ãË á¡ Robo-PICA â´Â ¢ ÍÁÙÅ·ÕÊè § ÁÒ¹Ñ¹é ¨Ð¡íÒË¹´ãË Robo-PICA à¤Å×Íè ¹·Õäè »·Ò§´ Ò¹Ë¹ Ò à¤Å×Íè ¹·Õ¶è ÍÂËÅÑ§ àÅÕÂé Ç« ÒÂ áÅÐàÅÕÂé Ç¢ÇÒ ÁÕÅ¡Ñ É³Ð¡ÒÃ·íÒ§Ò¹¤Å ÒÂ¡ÑºÃ¶ÇÔ·ÂØº§Ñ ¤Ñº A11.1 à» ´â»Ãá¡ÃÁ Microcode Studio à¢ÕÂ¹â»Ãá¡ÃÁ·Õè P11-1 A11.2 ´ÒÇ¹ âËÅ´â»Ãá¡ÃÁ¹Õäé »ÂÑ§ËØ¹ Â¹µ Robo-PICA ¨Ò¡¹Ñ¹é ¡´ÊÇÔµª MODE à¾×Íè ãË ÍÂÙã ¹âËÁ´ÃÑ¹ (LED ÊÕ à¢ÕÂÇ·Õµè Òí áË¹ § RUN µÔ´ÊÇ Ò§) ËØ¹ Â¹µ Robo-PICA ¨ÐËÂØ´¹Ô§è ÍÂÙ¡ ºÑ ·Õè ¨¹¡Ç Ò¨ÐÁÕ¡ÒÃ¡´ÊÇÔµª ·ÃÕè âÕ Áµ¤Í¹â·ÃÅ ER-4 ¡ÒÃÊÑ§è §Ò¹ ¨Ò¡ÃÕâÁµ¤Í¹â·ÃÅáººÍÔ¹¿ÃÒàÃ´¹Ñ¹é ¨Ðµ Í§Ê §áÊ§ÍÔ¹¿ÃÒàÃ´ãË µÃ§¡ÑºÀÒ¤ÃÑº ÁÔ©Ð¹Ñ¹é ¨ÐÊ×Íè ÊÒÃ¢ ÍÁÙÅäÁ ä´ ÃÕâÁµ¤Í¹â·ÃÅ Easy Remote4

ËØ¹ Â¹µ Robo-PICA

○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

á¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´ 38kHz

ÃÙ»·Õè A11-1 áÊ´§¡ÒÃ¤Çº¤ØÁËØ¹ Â¹µ ·µÕè Í §Ê §áÊ§ÍÔ¹¿ÃÒàÃ´¨Ò¡ÃÕâÁµ¤Í¹â·ÃÅ ER-4 ãË µÃ§¡Ñº á¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´ 38kHz ·Õµè ´Ô µÑ§é ÍÂÙ´ Ò ¹Ë¹ Ò¢Í§ËØ¹ Â¹µ Robo-PICA

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

'***************************************************************** '* Name : P1101.BAS * '* Notes : Control ROBO-PICA With Remote Control * '***************************************************************** @ DEVICE PIC16F877,HS_OSC ' used PIC16F877 KEY VAR BYTE DEFINE OSC 20 ' Oscilator = 20 MHz ADCON1 = $07 ' ALL PORTA & PORTE = Digital I/O HIGH PORTC.2 ' Enable Motor A HIGH PORTC.1 ' Enable Motor B TRISD = %11110000 ' RD0-RD3 = OUTPUT MAIN: SERIN2 PORTA.2,813,100,FREE,[KEY] ' Wait Recieve Motor ' If No Data Stop Motor IF (KEY = "A") OR (KEY = "a") THEN Backward ' Pess A or a action IF (KEY = "B") OR (KEY = "b") THEN S_Right ' Press B or b action IF (KEY = "C") OR (KEY = "c") THEN S_Left ' Press C or c action IF (KEY = "D") OR (KEY = "d") THEN Forward ' Press D or d action GOTO MAIN FREE: FORWARD: BACKWARD: S_LEFT: S_RIGHT:

PORTD PORTD PORTD PORTD PORTD

= = = = =

%00000000 %00000110 %00001001 %00000101 %00001010

: : : : :

GOTO goto Goto GOTO GOTO

Main Main Main Main Main

' ' ' ' '

Stop motor routine Forward routine Backward routine Turn left routine Turn right routine

¤íÒÍ¸ÔºÒÂ¡ÒÃ·íÒ§Ò¹¢Í§â»Ãá¡ÃÁà¾ÔÁè àµÔÁ àÃÔÁè µ ¹´ ÇÂ¡ÒÃ¡íÒË¹´ãË ¾ÍÃ µ A áÅÐ E à» ¹¾ÍÃ µÍÔ¹¾ØµàÍÒµ ¾µØ ´Ô¨µÔ ÍÅ´ ÇÂ¤íÒÊÑ§è ADCON1 = $07 ¨Ò¡¹Ñ¹é àÍç¹àÍàºÔÅÇ§¨Ã¢ÑºÁÍàµÍÃ A áÅÐ B à¾×Íè ãË Ë¹Ø Â¹µ ¾Ã ÍÁà¤Å×Íè ¹·Õ´è Ç Â¤ÇÒÁàÃçÇÊÙ§ÊØ´ ÅíÒ´Ñºµ ÍÁÒ Í Ò¹ ¤ Ò¨Ò¡á¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´¼ Ò¹·Ò§¢Ò RA2 ´ ÇÂ¤íÒÊÑ§è SERIN2 áÅ Ç¹íÒ¤ Òä´ à¡çºäÇ ã¹µÑÇá»Ã KEY ¶ ÒäÁ Á¡Õ ÒÃ¡´¤ÕÂã ´æ ¹Ò¹à¡Ô¹ 100 ÁÔÅÅÔÇ¹Ô Ò·Õ ãË ¡ÃÐâ´´ä»·íÒ§Ò¹·ÕÅè ÒàºÅ FREE «Ö§è à» ¹¡ÒÃËÂØ´¡ÒÃà¤Å×Íè ¹·Õè ¢Í§ÁÍàµÍÃ ËÅÑ§¨Ò¡Í Ò¹¤ Ò¨Ò¡ÃÕâÁµ¤Í¹â·ÃÅáÅ Ç ¹íÒä»à»ÃÕÂºà·ÕÂºÇ ÒµÃ§¡Ñº¤ ÒÊÇÔµª ¢Í§ÃÕâÁµ¤Í¹â·ÃÅËÃ×ÍäÁ ¶ ÒµÃ§¡ÑºÊÇÔµª D ËÃ×Í d ãË Ë¹Ø Â¹µ à¤Å×Íè ¹·Õäè »¢ Ò§Ë¹ Ò ¶ ÒµÃ§¡ÑºÊÇÔµª C ËÃ×Í c ãË Ë¹Ø Â¹µ àÅÕÂé Ç·Ò§´ Ò¹« ÒÂ ¶ ÒµÃ§¡ÑºÊÇÔµª B ËÃ×Í b ãË Ë¹Ø Â¹µàÅÕÂé Ç·Ò§´ Ò¹¢ÇÒ ¶ ÒµÃ§¡ÑºÊÇÔµª A ËÃ×Í a ãË Ë¹Ø Â¹µ à¤Å×Íè ¹·Õ¶è ÍÂËÅÑ§

â»Ãá¡ÃÁ·Õè P11-1 â»Ãá¡ÃÁ¤Çº¤ØÁËØ¹ Â¹µ Robo-PICA ãË à¤Å×Íè ¹·Õ´è Ç Â¢ ÍÁÙÅÍ¹Ø¡ÃÁ·ÕÊè § ÁÒ¨Ò¡ ÃÕâÁµ¤Í¹â·ÃÅ ER-4

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

º··Õè 7

ËØ¹ Â¹µ µÃÇ¨¨ÑºÇÑµ¶ØáººäÁ ÊÁÑ ¼ÑÊ ¨Ò¡º··Õáè Å Çá¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´ 38kHz ÁÕ¤ÇÒÁÊÒÁÒÃ¶ã¹¡ÒÃÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´ ·ÕÊè § ÁÒä´ ¨Ò¡ÃÐÂÐ·Ò§¤ Í¹¢ Ò§ä¡Å ·íÒãË àÁ×Íè ¹íÒá¼§Ç§¨ÃâÁ´ÙÅÃÑºáÊ§ÍÔ¹¿ÃÒàÃ´ 38kHz ÁÒà» ¹µÑÇ µÃÇ¨¨Ñº¡ÒÃÊÐ· Í¹áÊ§ÍÔ¹¿ÃÒàÃ´ ·íÒãË ÃÐÂÐ¡ÒÃÊÐ· Í¹¡ÅÑº¢Í§áÊ§à¾ÔÁè ÁÒ¡¢Ö¹é ¨Ö§¹íÒÁÒÃÇÁà¢ Ò¡Ñº ÀÒ¤Ê §ÊÑÒ³ÍÔ¹¿ÃÒàÃ´¤ÇÒÁ¶Õè 38 kHz à¾×Íè ÊÃ Ò§à» ¹µÑÇµÃÇ¨¨Ñº¡ÒÃÊÐ· Í¹áÊ§ â´Âãª ªÍ×è Ç Ò ZX-08 á¼§Ç§¨ÃµÃÇ¨¨ÑºÇÑµ¶Ø´Ç ÂáÊ§ÍÔ¹¿ÃÒàÃ´ (infrared objector)

7.1 ËÅÑ¡¡ÒÃ·íÒ§Ò¹¢Í§ ZX-08 á¼§Ç§¨ÃµÃÇ¨¨ÑºÇÑµ¶Ø´Ç ÂáÊ§ÍÔ¹¿ÃÒàÃ´ ã¹á¼§Ç§¨Ã¹Õàé » ¹·Ñ§é ÀÒ¤ÃÑºáÅÐÊ §áÊ§ÍÔ¹¿ÃÒàÃ´ÃÇÁÍÂÙ´ Ç Â¡Ñ¹ ÊíÒËÃÑºÀÒ¤Ê §»ÃÐ¡Íº´ ÇÂ IC1 àºÍÃ IRD-629FW «Ö§è ¨Ð·íÒË¹ Ò·ÕÊè Ã Ò§¤ÇÒÁ¶Õè 38kHz ÍÍ¡·Ò§¢Ò 3 àÁ×Íè ÁÕ¡ÒÃ» Í¹ÅÍ¨Ô¡ 1 à¢ Ò ÁÒ·ÕÍè ¹Ô ¾Øµ·Ò§¢Ò 5 àÍÒµ ¾µØ ¨Ò¡¢Ò 3 ¢Í§ IC1 ¶Ù¡Ê §µ Íä»ÂÑ§·ÃÒ¹«ÔÊàµÍÃ Q1 à¾×Íè ¢ÂÒÂÊÑÒ³ãË ÁÕ¤ÇÒÁáÃ§ÁÒ¡¢Öé¹ â´ÂÁÕµÑÇµ Ò¹·Ò¹»ÃÑº¤ Òä´ VR1 µÑÇµ Ò¹·Ò¹ R2 áÅÐ R3 ·íÒË¹ Ò·Õè»ÃÑº¤ÇÒÁ áÃ§¢Í§ÊÑÒ³ ÊÑÒ³¨Ð¶Ù¡Ê §ÍÍ¡ä»´ ÇÂ LED1 «Ö§è à» ¹ LED ÍÔ¹¿ÃÒàÃ´ +V IC1 IRD-629FW

K1 IR-Tx

+V = 3-6V 1

GP4/LED GP2/TxE GP0/DET

K2 IR-Rx

R1 150

GP5/DIN

R2 2k2

VR1 10k SENSE

7 R5 1k

ÇÑµ¶ØËÃ×ÍÊÔ§è ¡Õ´¢ÇÒ§

R4 150 LED1 IR-LED Q1 BC337

R3 2k2

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/2 , /2 , Vout

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Vcc

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2.4

2.0

1.6

1.2

0.8

0.4

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µÔ´µÑ§é âÁ´ÙÅ GP2D120 á¡ Robo-PICA A15.1 ãª ª¹Ôé µ ÍÁØÁ©Ò¡ÂÖ´à¢ Ò·Õºè ÃÔàÇ³´ Ò¹Ë¹ Ò¢Í§ºÍÃ ´ RBX-877 â´Âãª Ê¡ÃÙ 3x10 ÁÁ. ¢Ñ¹ÂÖ´àÍÒäÇ A15.2 ·Õµè Òí áË¹ §µÃ§¡Ñ¹´ Ò¹Å Ò§ ºÃÔàÇ³á¼ ¹°Ò¹ãË ¹äªÔ¹é µ ÍÁØÁ©Ò¡ÍÕ¡ÍÑ¹ ÂÖ´à¢ Òä»´ ÇÂ ¢Ñ¹ãË á¹ ¹´ ÇÂÊ¡ÃÙ 3x10 ÁÁ.

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¤íÒàµ×Í¹à¡ÕÂè Ç¡ÑºÊÒÂÊÑÒ³¢Í§ GP2D12 áÅÐ GP2D120 à¹×Íè §¨Ò¡âÁ´ÙÅ GP2D12 áÅÐ GPD120 ÁÕ¡ÒÃ¨Ñ´¢ÒÊÑÒ³·Õáè µ¡µ Ò§¨Ò¡¨Ø´µ Íº¹ºÍÃ ´ StampBOX áÁ ÇÒ ¨ÐÁÕÃ»Ù Ã Ò§àËÁ×Í¹¡Ñ¹¡çµÒÁ ´Ñ§¹Ñ¹é ¨Ö§ÁÕ¡ÒÃµ ÍÊÒÂÊÑÒ³áºº¾ÔàÈÉãË á¡ âÁ´ÙÅ GP2D12 áÅÐ GP2D120 â´Â¨Ðµ Íà¢ Ò¡ÑºâÁ´ÙÅäÇ áÅ Ç ¼Ùã ª §Ò¹à¾ÕÂ§¹íÒ»ÅÒÂ¢Í§ÊÒÂÊÑÒ³ÍÕ¡´ Ò¹Ë¹Ö§è µ Í à¢ Ò¡Ñº¨Ø´µ ÍÊÑÒ³º¹ºÍÃ ´ Stamp-BOX ä´ àÅÂ â´Âµ Í§äÁ ¶Í´ÊÒÂÊÑÒ³ã¹´ Ò ¹·Õµè ´Ô ¡ÑºµÑÇ âÁ´ÙÅÍÂ Ò§à´ç´¢Ò´ áÅÐË ÒÁà»ÅÕÂè ¹ÊÒÂÊÑÒ³¢Í§âÁ´ÙÅ GP2D120 ÊÅÑº¡ÑºÊÒÂÊÑÒ³¢Í§µÑÇ µÃÇ¨¨ÑºáººÍÔ¹×è æ à´ç´¢Ò´

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¡ÒÃà¢ÕÂ¹â»Ãá¡ÃÁà¾×èÍÍ Ò¹¤ Ò¨Ò¡ GP2D120 áÊ´§¼Å·Õâè Á´ÙÅ LCD A16.1 à» ´â»Ãá¡ÃÁ Microcode Studio à¢ÕÂ¹â»Ãá¡ÃÁ·Õè P16-1 A16.2 ´ÒÇ¹ âËÅ´â»Ãá¡ÃÁ¹Õäé »ÂÑ§ËØ¹ Â¹µ Robo-PICA ¨Ò¡¹Ñ¹é ¡´ÊÇÔµª MODE à¾×Íè ãË ÍÂÙã ¹âËÁ´ÃÑ¹ '**************************************************************** '* Name : P1601.BAS * '* Notes : Read data from GP2D120 module * '**************************************************************** @ DEVICE PIC16F877a , HS_OSC ' Use PIC16F877 and HS Oscilator DAT VAR Word ' Save Raw Data SENSOR7 VAR WORD ' Save Data I var byte ' Counter R var word ' Save Converted Data DEFINE OSC 20 ' Use Oscillator 20 MHz DEFINE ADC_BITS 10 ' Set number of bits in result DEFINE ADC_CLOCK 3 ' Set clock source (Internal RC = 3) DEFINE ADC_SAMPLEUS 50 ' Set sampling time in microseconds DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE

LCD_DREG PORTD LCD_DBIT 4 LCD_RSREG PORTC LCD_RSBIT 0 LCD_EREG PORTC LCD_EBIT 5 LCD_BITS 4 LCD_LINES 2

' ' ' ' ' ' ' '

Set Set Set Set Set Set Set Set

LCD Data port starting Data bit (0 or 4) if 4-bit bus LCD Register Select port LCD Register Select bit LCD Enable port LCD Enable bit LCD bus size (4 or 8 bits) number of lines on LCD

â»Ãá¡ÃÁ·Õè P16-1 â»Ãá¡ÃÁÍ Ò¹¤ ÒâÁ´ÙÅ GP2D120 ÁÒáÊ´§¼Å·Õâè Á´ÙÅ LCD ¢Í§ Robo-PICA (ÁÕµÍ )

100

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

DEFINE DEFINE

LCD_COMMANDUS 2000 LCD_DATAUS 50

' Set command delay time in us ' Set data delay time in us

ADCON1 = %10000000

' All PORTA & PORTE is Analog

Dat = 0 For i = 1 to 5 ADCIN 7,SENSOR7 dat = (Sensor7 + next DAT = DAT/5 LCDOUT $FE,$01,"Raw R = (2914 / (DAT+5)) LCDOUT $FE,$C0,"Far pause 200 goto Main

' ' ' '

Main:

DAT)

Clear data for Averate Loop 5 time for averate data Read channel 7 sum data

' averate = ",DEC3 Dat ' -1 ' = ",DEC2 R," CM"'

data show RAW data on LCD Convert data ==> centimeter Show On LCD

' Again

â»Ãá¡ÃÁ·Õè P16-1 â»Ãá¡ÃÁÍ Ò¹¤ ÒâÁ´ÙÅ GP2D120 ÁÒáÊ´§¼Å·Õâè Á´ÙÅ LCD ¢Í§ Robo-PICA (¨º) ¡ÒÃ·íÒ§Ò¹¢Í§â»Ãá¡ÃÁ·Õè P16-1 ¨Ð¡íÒË¹´ãË äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ Í Ò¹¤ ÒÊÑÒ³ÍÐ¹ÒÅÍ¡¨Ò¡ ª Í§ÊÑÒ³ Analog 7 (AN7) «Öè§µÃ§¡Ñº¢Ò RE2 ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ â´Â¡ÒÃÍ Ò¹¤ Ò¹Ñ¹é ¨ÐÍ Ò¹«éÒí 5 ¤ÃÑé§ áÅ Ç¹íÒÁÒËÒ¤ Òà©ÅÕèÂ à¾×èÍãË ä´ ¼Å¡ÒÃÇÑ´·ÕèÁÕ ¤ÇÒÁáÁ ¹ÂíÒÁÒ¡ÂÔ§è ¢Ö¹é ¡ Í¹¹íÒä»áÊ´§¼Å·Õâè Á´ÙÅ LCD ¨Ò¡¹Ñé¹¹íÒ¤ Ò·ÕèÍ Ò¹ä´ ÁÒá»Å§ãË ÍÂÙ ã¹Ë¹ ÇÂ ¢Í§à«¹µÔàÁµÃ áÅ Ç¹íÒ¤ ÒË¹ ÇÂà«¹µÔàÁµÃ¹Õäé »áÊ´§·Õè âÁ´ÙÅ LCD ã¹ºÃÃ·Ñ´·Õè 2 ¨Ò¡¹Ñ¹é Ç¹Í Ò¹¤ Òµ Íà¹×Íè §

¡Ô¨¡ÃÃÁ·Õè 17

ËÅºËÅÕ¡ÊÔè§¡Õ´¢ÇÒ§´ ÇÂ¡ÒÃÇÑ´ÃÐÂÐ·Ò§ ã¹¡Ô¨¡ÃÃÁ¹Õàé » ¹¡ÒÃ¹íÒ¤ÇÒÁÃÙá ÅÐ¼Å¡ÒÃ·íÒ§Ò¹¨Ò¡¡Ô¨¡ÃÃÁ·Õè 16 ÁÒ¾Ñ²¹Òà» ¹â»Ãá¡ÃÁà¾×Íè ¤Çº¤ØÁ ãË Ë¹Ø Â¹µ Robo-PICA ÊÒÁÒÃ¶µÃÇ¨ÊÍºÇÑµ¶Ø·¡Õè ´Õ ¢ÇÒ§ÍÂÙ´ Ò ¹Ë¹ Òã¹ÃÐÂÐ·Õ¡è Òí Ë¹´ä´ ã¹¢³Ð·Õ¡è Òí ÅÑ§à¤Å×Í¹·Õè áÅÐàÁ×Íè µÃÇ¨¾ºãË ·Òí ¡ÒÃËÅºËÅÕ¡ ËÅÑ¡¡ÒÃ¤×Í Í Ò¹¤ Ò¨Ò¡âÁ´ÙÅ GP2D120 áÅ Ç¹íÒÁÒà»ÃÕÂºà·ÕÂº¡Ñº¤ Ò·Õµè §Ñé äÇ ¶ ÒÁÕ¤Ò ÁÒ¡¡Ç Ò¤ Ò·Õµè §Ñé äÇ áÊ´§Ç ÒÁÕÇµÑ ¶ØÍÂÙ´ Ò ¹Ë¹ Ò ÂÔ§è ¤ Ò·Õµè §Ñé äÇ Á¤Õ Ò ÁÒ¡ÇÑµ¶ØÂ§Ôè ÍÂÙã ¡Å ÁÒ¡ ¨ÐÊÑ§è ãË Ë¹Ø Â¹µ à¤Å×Íè ¹·Õ¶è ÍÂËÅÑ§ 0.5 ÇÔ¹Ò·Õ áÅ ÇËÁØ¹µÑÇ·Ò§« ÒÂÍÕ¡ 1 ÇÔ¹Ò·Õ áµ ¶ ÒµÃÇ¨ÊÍºäÁ ¾ºÇÑµ¶ØÍÂÙ ´ Ò¹Ë¹ Ò ¡çãË ËØ ¹Â¹µ à¤Å×èÍ¹·ÕèµÃ§ä»´ Ò¹Ë¹ Ò ¾Ã ÍÁ·Ñ§é áÊ´§¤ Ò·ÕÍè Ò ¹ä´ ·¨Õè ÍáÊ´§¼Å¢Í§âÁ´ÙÅ LCD ´ ÇÂ

àÃÕÂ¹ÃÙá ÅÐÊÃ Ò§ËØ¹ Â¹µ ÍµÑ â¹ÁÑµ¡Ô ºÑ äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ PIC

101

'**************************************************************** '* Name : P1701.BAS * '* Notes : Robo-PICA in Object detection mission * '**************************************************************** @ DEVICE PIC16F877a , HS_OSC ' Use PIC16F877 and HS Oscilator SENSOR7 VAR WORD ' Save Data DEFINE OSC 20 ' Use Oscillator 20 MHz DEFINE ADC_BITS 10 ' Set number of bits in result DEFINE ADC_CLOCK 3 ' Set clock source (Internal RC = 3) DEFINE ADC_SAMPLEUS 50 ' Set sampling time in microseconds DEFINE LCD_DREG PORTD ' Set LCD Data port DEFINE LCD_DBIT 4 ' Set starting Data bit (0 or 4) if 4-bit bus DEFINE LCD_RSREG PORTC ' Set LCD Register Select port DEFINE LCD_RSBIT 0 ' Set LCD Register Select bit DEFINE LCD_EREG PORTC ' Set LCD Enable port DEFINE LCD_EBIT 5 ' Set LCD Enable bit DEFINE LCD_BITS 4 ' Set LCD bus size (4 or 8 bits) DEFINE LCD_LINES 2 ' Set number of lines on LCD DEFINE LCD_COMMANDUS 2000 ' Set command delay time in us DEFINE LCD_DATAUS 50 ' Set data delay time in us HIGH PORTC.2 HIGH PORTC.1 TRISD = %11110000 ADCON1 = %10000000

' ' ' '

Enable Motor A Enable Motor B RD0-RD3 = OUTPUT All PORTA & PORTE is Analog

Main: ADCIN 7,SENSOR7 ' Read channel 7 LCDOUT $FE,$80,"Raw = ",DEC3 Sensor7 ' show RAW data on LCD IF (sensor7 > 350) then PORTD = %00001001 ' Robot Backward Pause 500 PORTD = %00000101 ' Robot Spin Left pause 1000 endif PORTD = %00000110 ' Robot Forward goto Main

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