Programming robot controllers

Myke Predko is a new product test engineer at Celestica. He is the author of McGraw-Hill's Programming and Customizing PICMicrocontrollers, 2e and the Build Your Own Robot Kit.

Introduction	p. ix
Acknowledgments	p. xix
Chapter 1 Microcontrollers in Robots	p. 1
Controlling a Robot	p. 2
Support Components	p. 5
Memory and Device Programming	p. 11
Interrupts	p. 15
Built-In Peripherals	p. 18
Interfacing the Controller to the Robot	p. 21
Chapter 2 Software Development	p. 25
Source Files, Object Files, Libraries, Linkers, and Hex Files	p. 27
Assemblers	p. 30
Interpreters	p. 33
Compilers	p. 36
Simulators and Emulators	p. 42
Integrated Development Environments	p. 45
Chapter 3 The Microchip PICmicro Microcontroller	p. 49
Different PICmicro MCU Devices and Features	p. 52
Application Development Tools Used in This Book	p. 53
Basic Circuit Requirements	p. 75
The PIC16F627	p. 81
El Cheapo PICmicro MCU Programmer Circuit	p. 116
Chapter 4 Microcontroller Connections	p. 127
Hardware Interface Sequencing	p. 129
Robot C Programming Template	p. 132
Prototyping with the PICmicro Microcontroller	p. 136
Intercomputer Communications	p. 141
RS-232	p. 143
HyperTerminal RS-232 Terminal Emulator	p. 148
RS-232 Interface Example Between PC and PICmicro MCU	p. 153
Bidirectional Synchronous Interfaces	p. 163
Output Devices	p. 166
LEDs	p. 167
ledflash - Flashing an LED	p. 170
PWM Power-Level Control	p. 178
ledpwm - Dimming the Output of an LED	p. 180
Piezo Electric Buzzers and Speakers for Audible Output	p. 191
Beeper Application	p. 192
LCDs	p. 196
LCD - Sample Two-Wire LCD Interface	p. 204
Sensors	p. 216
Whiskers for Physical Object Detection	p. 217
Whisker Debounce	p. 221
IR Collision Detection Sensors	p. 228
irdetect - IR LED and Detector-Based Object Sensor	p. 231
IR Remote Controls	p. 238
Sony Remote Control Receiver Application	p. 241
Combining irdetect and remote	p. 247
Ultrasonic Distance Measurement	p. 253
Ultra - Example Interface	p. 255
Light-Level Sensors	p. 264
Light - Practical Sensor Examples	p. 267
Sound Sensors	p. 279
Sound - Recognizing Audio Commands	p. 284
H-Bridge Motor Control	p. 290
Wallhug - Using the Tamiya Wall-Hugging Mouse as an Application Base	p. 292
Odometry for Motor Control and Navigation	p. 307
Radio Control Servos	p. 313
Servo2 - 60-Minute Robot Base Using RC Servos	p. 315
Chapter 5 Bringing Your Robot to Life	p. 329
Real-Time Operating Systems (RTOS)	p. 330
Roach Example Application Running in an RTOS	p. 336
State Machines	p. 343
Randomly Moving a Robot Application with IR Remote Control	p. 346
Behavioral Programming	p. 349
Neural Networks and Artificial Intelligence	p. 355
Chapter 6 Designing the Robot System	p. 361
Defining the Requirements for the Robot	p. 363
Choosing the Peripherals to Be Used in the Robot	p. 367
Selecting the Parts and Assembly Techniques	p. 368
Validating the Operation of the Robot	p. 371
Finding and Resolving Problems	p. 373
Adding Features, Functions, and Peripherals	p. 377
Appendix A Glossary	p. 379
Appendix B Useful Tables and Data	p. 393
Appendix C Microcontroller Selection Table	p. 405
Appendix D PICC Lite Language and Library Reference	p. 409
Appendix E Resources	p. 429
Index	p. 441

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