Elektor Electronics July

Transcription

www.elektor-electronics.co.uk
JULY/AUGUST 2007
£ 5.65
platform voor elektronica
DOUBLE SUMMER ISSUE
Sensors
Actuators
Microcontrollers
Power Supplies & Chargers
Mechanics
Communications
Tips & Tricks
Miscellaneous
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Summer Circuits 2007
Contents
Colophon
Alphanumski Puzzle
Elektor SHOP
Sneak Preview
6
140
145
148
SENSORS
A/D Converter for Robots
Bat’s Ear
CMUCam1 Vision System
CO Sensor
Compass Sensor for Lego Mindstorms NXT
From Cassette Recorder to Robot Propulsion
An Inclinometer for your Robot
25
30
18
35
36
26
32
IR Close Object Detector
Light Sensing with an LED
Light-seeking Robot
An Obstacle Detecting Robot
Overheat Detector Alarm/Switch
PIC or Basic Stamp IR Telemeter
PIR Sensor
Positioning with Photodiode Arrays
A Robot that won’t lose its bearings
Sensor for Line Following Robots
Simple D/A Converter for Robots
Sound Activated Switch
Stereo Robot Ears*
Ultrasonic Distant Obstacle Detector
Whiskers on Robots
Wireless Pulse Sensor
27
38
29
10
21
21
28
33
24
20
17
23
13
37
34
12
ACTUATORS
12 V Bidirectional Motor Control
3 Amp PWM DC Motor Controller*
Catapult for Robots… or Other Uses
Complete Stepper Motor Driver
Controlling Servos
Driving Higher Power Motors
Driving Stepper Motors
Driving Stepper Motors: KISS
MotoBox*
PIC 12C508 Stepper Motor Controller
PIC Indicator Relay
Robot Footballer
Servo to Motor Conversion
zBot: 10-A Power Stage for DC Motor
44
50
56
46
47
51
59
53
40
48
55
54
58
45
MICROCONTROLLERS
Low2 Cost USB Demo Board
LPC900 Programmer*
75
72
Optimised STK200/300 Programmer
Propeller Prototyping Board for BoeBot*
77
69
CONTENTS
Satnav for Robots
Serial Interface for the Propeller*
Servo Control from a PC
‘Teaclipper’ Postage-Stamp Programmer
Which Brain for my Robot?
78
81
68
71
62
POWER SUPPLIES & CHARGERS
3-A Wide-input
Adjustable Switching Regulator
Deep Discharge Protection
for Rechargeable Cells
Dual Battery*
Fast Charger for NiMH Batteries*
LDO Regulator with Soft Start or Tracking
Lithium Charger*
Mini Power Inverter
Multi-purpose NiCd & NiMH Charger
84
94
90
93
95
88
87
91
Volume 33
July/August 2007
no. 367
COMMUNICATIONS
2.4 GHz Antenna for Robotics Vehicles
IR Communications using a UART
IR Remote Control with the R8C
Radio Remote Control
for PDAs and Smartphones
Receiver for RC5 Remote Controls
Removed Pulse Detector
Robot Voice
zBot: Wireless Link
110
113
115
115
112
114
117
114
TIPS & TRICKS
Balancing Robot
DIY Wheels
R8C Measures Negative Voltages
118
120
121
MISCELLANEOUS
Paralleling LiPo Batteries
PWM Voltage Dropper
Switch-Mode 555 Supply
USB Converter*
Voltage Stabiliser
zBot: Solar/Battery Power Supply
Chaotic Fireflies
Clap Controlled Switcher
Colour Tamer
Football with Robots
Formula Flowcode Buggy
KiCAD: a high-level tool
New Lego Mindstorms NXT Motor Block
Philips ME Construction Kits
126
132
126
138
122
134
133
130
A Robot with an Elephant’s Memory
Stepped Volume Control
Walking Works!
131
127
128
85
89
86
82
86
83
MECHANICS
Antieu-robot
Babybot
Bolo
Hunter
Minimalist Motor
Robot MOPS
Torque is Cheap
Trembly
Tribot
99
100
98
104
102
107
101
104
103
* PCB design included
Subscriptions: Elektor Electronics (Publishing),
Regus Brentford, 1000 Great West Road, Brentford TW8 9HH, England.
Tel. (+44) 208 261 4509, fax: (+44) 208 261 4447
Internet: www.elektor-electronics.co.uk
Email: subscriptions@elektor-electronics.co.uk
Rates and terms are given on the Subscription Order Form
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,
1000 Great West Road, Brentford TW8 9HH, England. Tel. (+44) 208 261 4509,
fax: (+44) 208 261 4447 www.elektor-electronics.co.uk
The magazine is available from newsagents, bookshops and electronics retail outlets, or on
subscription. Elektor Electronics is published 11 times a year with a double issue for July & August.
Under the name Elektor and Elektuur, the magazine is also published in French, Spanish, German and
Dutch. Together with franchised editions the magazine is on circulation in more than 50 countries.
Head Office: Segment b.v. P.O. Box 75 NL-6190-AB Beek
Telephone: (+31) 46 4389444, Fax: (+31) 46 4370161
The Netherlands
Distribution: Seymour, 2 East Poultry Street, London EC1A, England
Telephone:+44 207 429 4073
UK Advertising: Huson International Media, Cambridge House, Gogmore Lane,
Chertsey, Surrey KT16 9AP, England.
Telephone: +44 1932 564999, Fax: +44 1932 564998
Email: p.brady@husonmedia.com
Internet: www.husonmedia.com
Advertising rates and terms available on request.
International Editor: Mat Heffels (m.heffels@segment.nl), Wisse Hettinga
(w.hettinga@segment.nl)
International Advertising: Frank van de Raadt, address as Head Office
Email: advertenties@elektuur.nl
Advertising rates and terms available on request.
Editor: Jan Buiting (editor@elektor-electronics.co.uk)
Copyright Notice
International editorial staff: Harry Baggen, Thijs Beckers, Ernst Krempelsauer,
Jens Nickel, Guy Raedersdorf.
Design staff: Antoine Authier, Ton Giesberts, Paul Goossens,
Luc Lemmens, Jan Visser, Christian Vossen
Editorial secretariat: Hedwig Hennekens (secretariaat@segment.nl)
Graphic design / DTP: Giel Dols, Mart Schroijen
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
Segment. b.v. and may not be reproduced or transmitted in any form or by any means, including
photocopying, scanning an recording, in whole or in part without prior written permission from
the Publishers. Such written permission must also be obtained before any part of this publication is
stored in a retrieval system of any nature. Patent protection may exist in respect of circuits, devices,
components etc. described in this magazine. The Publisher does not accept responsibility for failing
to identify such patent(s) or other protection. The submission of designs or articles implies permission to the Publishers to alter the text and design, and to use the contents in other Segment publications and activities. The Publishers cannot guarantee to return any material submitted to them.
Managing Director / Publisher: Paul Snakkers
Marketing: Carlo van Nistelrooy
Customer Services: Margriet Debeij (m.debeij@segment.nl)
Disclaimer
Prices and descriptions of publication-related items subject to change. Errors and omissions excluded.
© Segment b.v. 2007
Printed in the Netherlands
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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
Input 1
Low 5
Low 6
Delay 1000
‘ Right whisker input
‘ Left whisker input
‘ P5 output for PWM
‘ P6 output for PWM
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
Pwm 0,3590,32768
Pwm 1,3195,32768
Case 1
Pwm 0,3600,32768
Pwm 1,3600,32768
Pause 1000
Case 2
Pwm 1,3180,32768
Pwm 0,3180,32768
Pause 1000
Case 3
Pwm 0,3750,32768
Pwm 1,3750,32768
Pause 1500
End Select
Loop
‘ No obstacle
‘ Forward
‘ Obstacle on the right side
‘ Slight turn to the left
‘ Obstacle on the left side
‘ Slight turn to the right
‘ Head-on obstacle
‘ Full half turn
11
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070006 - 11
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(070006-I)
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 crosscorrelation 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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Sound source
060040 - 13
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.
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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.
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C10
10k
22k
1k
3
100k
47k
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R15
R12
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1
SENSITIVITY
IC1 = LM324N
MCLR
RB6
VREF
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Digital
C2
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10k
2
R18
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+5V
C9
20MHz
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1k
1μ
16V
100k
10k
22k
47k
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K2
R8
10k
R5
10k
R3
060040 - 11
47k
R1
C6
C7
4
IC1
100μ
16V
100n
11
VREF
R2
33k
K1
POWER
C5
22μ
16V
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.
14
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15
R16
C10
SL5
C9
R9
R15
C4
R14
R11
SL2
C3
1
1
R10
R12
8
IC1
1
7
18
10
IC2
9
SL3
1
R2
R7
1
R19
JP1
JP2
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C2
R4
SL1
SL6
R3
R1
R5
C6
C5
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SL4
C7
R13
R6
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R8
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C1
R17
r otkelE )c(
060040-1
1-040060
(c) Elekto r
Figure 4. Component layout of the binaural sensor PCB.
The PCB files can be downloaded from [3].
Components list
Semiconductors
Resistors
R1,R5,R12 = 47k7
R2 = 33k7
R3,R10 = 22k7
R4,R11 = 1k7
R6,R9,R13,R16,R18,R19,R20 = 10k7
R7, R14 = 2k72
R8, R15 = 100k7
R17 = 100k7 preset
Rx = 100k7
Capacitors
C1,C2,C3,C4 = 1μF 16 V
C5 = 22μF 16 V
C6 = 100μF 16 V
C7,C8 = 100nF
C9,C10 = 22pF
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
Figure 5. Resolution of the sound source
bearing is a function of its azimuth.
The average value is approximately 9°.
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Figure 6. The binaural sensor prototype.
16
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IC1.A
R1
20k
K1 U out
R2
10k
*VUZ[Y\J[PVUHUK;LZ[
1
3
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20k
>LISPURZ
[1] www.convict.lu/Jeunes/RoboticsIntro.htm
[2] www.ultimaterobolab.com
[3] www.elektor-electronics.co.uk
R4
5 Bit Digital IN
10k
K2
+5V
R5
20k
R6
8
10k
;OLJ\YYLU[JVUZ\TW[PVUVMQ\Z[T(JHU
ILZ\WWSPLKI`HSTVZ[HU`=Z[HIPSPZLK
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JTHWHY[WVPU[PUNMVY^HYKZ(/a
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UL[^VYR[V[OLIP[+PNP[HSV\[W\[-PN\YL;OLYLZ\S[HU[+*V\[W\[SL]LSPZ
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(060040-I)
IC1 = LM358N
R3
IC1
4
R7
R8
10k
20k
R9
6
R10
20k
20k
IC1.B
7
5
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
Central
22
2 ms
26
12
1.5 ms
Extreme left
16
2
1 ms
6
Simple D/A Converter for Robots
Tilo Gockel
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070133 - 11
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Web link
[1] http://ww1.microchip.com/downloads/
en/AppNotes/00538c.pdf
17
CMUCam1 Vision System
Seattle Robotics give BoeBot (and other robots) vision!
Ken Gracey (Parallax, Inc.)
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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 engages 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 Gmin Gmax
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.
18
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 command 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.
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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
Sensor for Line Following Robots
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L_WLJ[LKWPU3V^`V\»YLKVULJHSPIYH[PUN[OLJPYJ\P[0MUV[YLWLH[[OLWYVJLZZ
HUKHKQ\Z[7\U[PS[OLJVYYLJ[JHSPIYH[PVU
PZHJOPL]LK
;OLZJOLTH[PJMVYVUS`VULVMMV\YJOHUULSZ[OH[JHUILTHKL^P[OQ\Z[VUL34 0*;OLW\SS\WYLZPZ[VYH[JVTWHYH[VYWPU
PZ\ZLKILJH\ZL[OL34 OHZVWLUJVSSLJ[VYV\[W\[Z9KL[LYTPULZ[OLJ\YYLU[
NVPUN[V[OL093,+
4HU` JVTWHYH[VYZ JHU IL \ZLK [OL
34 5Q\Z[OHWWLULK[VILH]HPSHISL
;OLZHTLTH`HWWS`SHYNLS`[V[OLVW[VZLUZVYI\[UV[L[OH[THU`KPMMLYLU[WPUV\[Z
L_PZ[ZVJOLJRV\[[OH[KH[HZOLL[
(070230-I)
Overheat Detector Alarm/Switch
T. K. Hareendran
+5V REG
R1
R3
C6
10k
1k
2x
BC 547
C1
10M
16V
R4
1
IC2
2
R2
3
12k
5
R7
7
6
LM35
2
4
8
1
7
4
22k
3
C5
220k
IC1
100M
16V
T2
T1
12k
CA3130
R5
C3
1M
16V
47M 16V
R
IC3
LMC555
2 TR
6 THR
OUT
CV
R6
1
10M
16V
10k
3
BZ1
5
C4
1M
P1
8
DIS
R8
TP1
2k2
([[OLOLHY[VM[OPZJPYJ\P[PZHWYLJPZPVU
PU[LNYH[LK[LTWLYH[\YLZLUZVY[`WL34
0*ÔPJOWYV]PKLZHUHJJ\YH[LS`SPULHY
HUKKPYLJ[S`WYVWVY[PVUHSV\[W\[PUT=
V]LY[OLaLYV[VKLNYLLZ*[LTWLYH[\YLYHUNL;OL34KL]LSVWZHUV\[W\[
]VS[HNLVMT=2JOHUNLPUTLHZ\YLK
[LTWLYH[\YL+LZPNULK[VKYH^HTPUPTHS
J\YYLU[VMP[ZVÛ[OL34OHZ]LY`SV^
ZLSMOLH[PUNPUZ[PSSHPY
/LYL[OLV\[W\[VM[OL34PZHWWSPLK
[V[OLUVUPU]LY[PUNPUW\[VMHJVTWHYH[VY^PYLKHYV\UKH*(VWHTW0*
(]VS[HNLKP]PKLYUL[^VYR97ZL[Z[OL
[OYLZOVSK]VS[HNLH[[OLPU]LY[PUNPUW\[VM
[OLVWHTW;OL[OYLZOVSK]VS[HNLKL[LYTPULZ[OLHKQ\Z[HISL[LTWLYH[\YL[YPWSL]LS
H[ÔPJO[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\MÄJPLU[]VS[HNL[VZ[HY[^VYRPUN;OLZL[
\WPUHZ[HISLTVKLKPYLJ[S`KYP]LZHJ[P]L
5V
060349 - 11
WPLaVLSLJ[YPJI\aaLY)a[VYHPZLHSV\K
HSLY[*VTWVULU[Z99HUK*KL[LYTPUL[OLVUVMMYO`[OTVM[OLZV\UKLY
( [YHUZPZ[VY IHZLK YLSH` KYP]LY TH` IL
KYP]LUVMM[OLLTP[[LYVM;;7:PTPSHYS`
YLWSHJPUN[OLWPLaVZV\UKLY^P[OHZ\P[HISLYLSH`HSSV^ZZ^P[JOPUNVMOPNOWV^LY
ÅHZOLYZZPYLUZVYOVYUZ^VYRPUNVU[OL(*
THPUZZ\WWS`
(060349-I)
PIC or Basic Stamp IR Telemeter
with a PIC or
a Basic Stamp
1
VCC
3
VCC
C. Tavernier
Regulator
(S[OV\NOP[PZZ[PSSWVZZPISL[VJVUZ[Y\J[H
[LSLTL[LY\ZPUNZ[HUKHYKYLZV\YJLZ[OLZL
KH`ZP[»ZUV[YLHSS`^VY[OÔPSLILJH\ZLVM
[OLH]HPSHIPSP[`VMYLHK`[V\ZLPU[LNYH[LK
Reflective
object
VCC
Signal
processing
circuit
Control
circuit
12k
(S[OV\NO[OLZPTWSLZ[YVIV[ZTHÌLJVU[LU[[VZPTWS`KL[LJ[PUNVIZ[HJSLZTHU`
YVIV[Z[OH[YLX\PYLWYLJPZPVUPU[OLPYWVZP[PVUPUNULLK[VILHISL[VTLHZ\YLKPZ[HUJLZ HJJ\YH[LS` ;V HJOPL]L [OPZ P[ PZ
ULJLZZHY`[V\ZLH[LSLTL[LYÔPJOJHU
ILPUMYHYLKVY\S[YHZVUPJ09PZ]LY`Z\P[HISLMVYTLHZ\YPUNZOVY[KPZ[HUJLZHML^
JLU[PTL[YLZ\W[VHML^[LUZVMJLU[PTL[YLZÔPSL\S[YHZV\UKPZTVYLZ\P[HISLMVY
KPZ[HUJLZMYVTHML^[LUZVMJLU[PTL[YLZ[V
ZL]LYHSTL[YLZ
4
VOUT
2
VIN
(Control
signal
input)
Light detector (PSD)
LED drive
circuit
IR LED
VCC
1
GND
TVK\SLZ[OH[HYLHSSYLSH[P]LS`HJJ\YH[L
JOLHWHUKJVTWHJ[;HRPUNHSVVRH[09
[LSLTL[LYZ[OL:OHYWYHUNLPZJ\YYLU[S`[OL
SHYNLZ[HUKTVZ[YLHKPS`H]HPSHISLPUZVMHY
070235 - 11
HZ^L^PZO[VZ[PJR^P[OWYVK\J[ZH[WYPJLZ
JVTWH[PISL^P[OHUºHTH[L\Y»YVIV[
;OPZYHUNLÔVZLWHY[U\TILYZHSSILNPU
^P[O.7¯PUJS\KLZ[LSLTL[LYZ[OH[WYV-
21
Listing 1. Use of GP2Dxx with a Basic Stamp.
Vin
Vout
Measr
Measr =
Read:
Vin = 0
Wait:
IF Vout
SHIFTIN
Vin = 1
Pause =
con
con
var
0
0
1
Byte
‘ Definition of control input
‘ Definition of data output
‘ Allocation of one byte for the result
‘ Initialization of variable « Measr »
‘ Validation of telemeter
= 0 THEN Wait
‘ Wait until result is available
Vout, Vin, 2, [Measr]
‘ Put telemeter to sleep
1
‘ Pause as a precaution
‘ The result of the measurement is available in the variable ‘Measr’
]PKLVUVMMV\[W\[Z[OV\NO[OLZLHYLU»[
YLHSS`[LSLTL[LYZHZZ\JOPUMVYTH[PVUPU
HUHSVN\LMVYTHUKPUMVYTH[PVUPUKPNP[HS
MVYT;OV\NO[OL]LYZPVUZWYV]PKPUNHUHSVN\LPUMVYTH[PVU^V\SKHWWLHY[VIL[OL
LHZPLZ[[V\ZLP[»ZHIZ\YK[V\ZL[OLTPUH
YVIV[KYP]LUI`HTPJYVJVU[YVSSLYÔPJO
^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\[
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 WLYMVYTPUN [Y\L KPZ[HUJL TLHZ\YLTLU[ HZ [OL
YH`ZYLÅLJ[LKI`[OLVIQLJ[HYLUVSVUNLY
WPJRLK\WI`Q\Z[HZPTWSLWOV[VKPVKLI\[
I`H**+HYYH`
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_PTH[LS`;OLZL[^V[`WLZHYLM\SS`JVTWH[PISLIV[OTLJOHUPJHSS`HUKLSLJ[YPJHSS`
HUKZVL]LY`[OPUN^LHYLHIV\[[V^YP[LPZ
(ZHYLZ\S[[OLHUNSLVMPUJPKLUJLVM[OL
YLÅLJ[LKILHTYLHJOPUN[OPZHYYH`]HYPLZ
HJJVYKPUN[VOV^MHYH^H`[OLKL[LJ[LK
VIQLJ[PZHUKOLUJLHSSV^Z[Y\LKPZ[HUJL
TLHZ\YLTLU[WYV]PKLK[OLYLPZHTPUPTHSHTV\U[VMZPNUHSWYVJLZZPUN[VL_WSVP[
[OL PUMVYTH[PVU NLULYH[LK I` [OL **+
ZLUZVY
;OPZPZ[OLJHZLPU[OL:OHYW[LSLTL[LYZ
VM[OPZ[`WL[OLPU[LYUHSISVJRKPHNYHTVM
ÔPJOPZZOVÛPU-PN\YL0U[OVZL[LSLTL[LYZ^P[OHTLHZ\YLTLU[]HSPKH[PVUPUW\[
HZPU[OLTVKLSZJOVZLU[OL3,+PZVUS`
WV^LYLK\UKLYP[ZJVU[YVSHSSV^PUNH]LY`
ZPNUPÄJHU[YLK\J[PVUPUX\PLZJLU[WV^LY
JVUZ\TW[PVU0U[OLV[OLY[LSLTL[LYZP[»Z
VUHSS[OL[PTL
;OL**+ZLUZVYPZMVSSV^LKI`HZPNUHS
WYVJLZZPUNJPYJ\P[[OH[HSSV^ZHUV\[W\[[V
ILNLULYH[LKHZLP[OLYHUVUVMM[`WLZPNUHS
MVY[OLZPTWSLZ[[LSLTL[LYZHUHUHSVN\L
ZPNUHSVYSHZ[SÌP[KPNP[HSPUMVYTH[PVU
HZPU[OLTVKLSZ[OH[PU[LYLZ[\Z
:VHZ[VILJVTWH[PISL^P[OHTH_PT\T
U\TILYVMYVIV[PJZZVS\[PVUZ^L»]LVW[LK
[V ZOV^ `V\ OV^ [V \ZL Z\JO H [LSLTL[LY^P[OLP[OLYH)HZPJ:[HTWVYH70*
TPJYVJVU[YVSSLYWYVNYHTTLKPU)HZPJVY
THJOPULJVKL
Listing 2. Use of GP2Dxx with a PIC controller.
Read
BCF
NOP
Wait
BTFSS
GOTO
BSF
CLRF
MOVLW
MOVWF
BCF
NOP
Readbit
BCF
NOP
NOP
RLF
BTFSC
BSF
BSF
NOP
NOP
GOTO
PortA.0
‘ Validation of telemeter
PortA,1
Wait
PortA,0
Measr
8
Count
Status,C
‘ Wait until result is available
‘ Vin goes High
‘ Initialization of the variable ‘Measr’
‘ Get ready to read 8 bits
Porta.0
‘ Make clock Low
Measr,f
PortA.1
Measr,0
PortA.0
‘ Rotation of preceding bit
‘ Read data bit
DECFSZ Count,f
Readbit
‘ Zero the carry
‘ Make clock High
‘ Count down number of bits to read
‘The result of the measure is available in the variable ‘Measr’
22
3
2
70 ms or more
PIC
or
Basic Stamp
Connector
GP2Dxx
1.5 ms or more
0.2 ms or less
+5V
1.5 ms or more
1 ms or more
Power
OFF
VIN
1
D1
2
3
RA0 (PIC) or
P0 (Stamp)
1N4148
4
RA1 (PIC) or
P1 (Stamp)
Output
MSB
LSB
Example of distance measuring output (8-bit)
070235 - 12
Distance measuring output (DEC)
)HZPJMVY[OL)HZPJ:[HTWHUK70*ZWYV;OL [LSLTL[LY HWWSPJH[PVU JPYJ\P[ JHU
NYHTTLKPU)HZPJVYPU70*HZZLTISLYMVY
IL Z\TTLK \W HZ ZOVÛ PU -PN\YL
[OVZLVM`V\ÔVWYLMLYTHJOPULJVKL
ÔL[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[\4
220
White paper: KODAK made gray chart R-27
HSSÙV[OPUNÔLU[OLYLPZUVTLHZ\Ywhite surface (reflectivity: 90%)
200
PUN[HRPUNWSHJL(NSHUJLH[[OL[PTPUN
Gray paper: KODAK made gray chart R-27
gray surface (reflectivity: 18%)
KPHNYHTPU-PN\YLZOV^Z\Z[OH[[OPZ
180
PUW\[PZ\ZLKUV[Q\Z[MVY]HSPKH[PUN[OL
160
TLHZ\YLTLU[I\[HSZVHZHJSVJRMVY
White
140
[YHUZMLYYPUN[OLYLHKPUN[V[OL=V\[[LYTPUHS/LUJLP[ULLKZ[VILJVU[YVSSLK
120
I`[OLHZZVJPH[LKTPJYVJVU[YVSSLYI\[
100
HZP[T\Z[UV[ILZ\IQLJ[LK[VH]VS[HNL
80
HIV]L=KPVKL+PZVSH[LZP[MYVT
60
[OLTPJYVJVU[YVSSLYV\[W\[ÔLU[OL
Gray
SH[[LYPZOPNO
40
;OL[PTPUNKPHNYHTPU-PN\YLZOV\SK
LUHISL`V\[VLHZPS`MVSSV^[OLSPZ[PUNZ
VM[OL]LY`ZOVY[WYVNYHTZ^L»]L^YP[[LUMVY\ZPUN[OPZZLUZVYÔL[OLYPU
20
0
0
20
40
60
80
100
120
Distance to reflective object L (cm)
140
070235 - 14
LSB
070235 - 13
(ZMHYHZ[OL)HZPJ:[HTWPZJVUJLYULK
Q\Z[[OLPUZ[Y\J[PVU:/0-;05PZHSSP[[HRLZ
[VYLHK[OLYLZ\S[VM[OLZLUZVY»ZTLHZ\YLTLU[-VY[OL70*[OLYL^PSSVI]PV\ZS`
ULLK[VILHML^TVYLPUZ[Y\J[PVUZ[V
NLULYH[L[OLYLHKJSVJRHUKYLJV]LY[OL
YLSL]HU[KH[H0UIV[OJHZLZ[OLZLWYVNYHTZWYV]PKL[OLKPNP[HSKH[HYL[\YULK
I`[OL[LSLTL[LYMVSSV^PUN[OLTLHZ\YLTLU[PU[OL]HYPHISLº4LHZY»
;OLUP[»Z\W[V`V\YYVIV[»ZTHUHNLTLU[WYVNYHT[V\ZL[OPZ]HS\LKPYLJ[S`
VY [V SPULHYPZL P[ \ZPUN H JVU]LYZPVU
[HISLPM`V\^HU[[VWLYMVYTHJ[\HS
KPZ[HUJLTLHZ\YLTLU[
0UMHJ[·HUK[OPZPZWLYOHWZ[OLZVSL
ZOVY[JVTPUNVM[OLZL[LSLTL[LYZ·[OL
PUMVYTH[PVU[OL`WYV]PKLPZMHYMYVTSPULHYHZZOVÛPU-PN\YL
(070235-I)
Sound Activated Switch
Hesam Hoshiri
+5V...+12V
R4
33k
R6
1k8
R2
3M3
R1
5k6
T3
R5
330 7
BD140
C2
4M7
T2
R3
47k
*VU[YVSI`ZV\UKTHÌL]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
^HU[Z[VVWLU[OLKVVYVYIYLHRZVTL[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
C1
T1
D1
0M1
MIC1
2SC945
RE1
2SC945
1N4007
060379 - 11
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\HSSÒHZ
VULPU[LYUHS-,;PUZPKLÔPJOYLX\PYLZ
HIPHZ]VS[HNL[VVWLYH[L;OLVW[PT\T
IPHZSL]LSMVYYLZWVUZL[VZV\UKOHZ[V
ILMV\UKI`[YPHSHUKLYYVY
(SSYLSL]HU[LSLJ[YPJHSZHML[`WYLJH\[PVUZZOV\SKILVIZLY]LKÔLUJVUULJ[PUNTHPUZWV^LYLKSVHKZ[V[OL
YLSH`JVU[HJ[Z
(060379-I)
23
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]LSVWTLU[VMUL^ZLUZVYZVU
[OLV[OLYP[PZ[VKH`WVZZPISL[VTHRLYVIV[Z^P[OM\UJ[PVUZ[OH[VUS`HML^`LHYZHNV^V\SK
OH]L ZLLTLK TVYL SPRL ZJPLUJL
ÄJ[PVU(UK[OPZPZQ\Z[ÔH[^L»YL
1
WYVWVZPUNUV^^P[O[OLJVUZ[Y\J[PVUVMHYVIV[JHWHISLVMKL[LJ[PUN[LYYLZ[YPHSTHNUL[PJ5VY[OHUK
OLUJL[VMVSSV^HU`HUN\SHYKPYLJ[PVU^P[OYLZWLJ[[V[OH[L_HJ[S`HZ
`V\^V\SKÄUK`V\YILHYPUNZ\ZPUN
HJVTWHZZ;VKV[OPZP[\ZLZHZ\JJLZZVY[V[OLNVVKVSKULLKSLJVTWHZZPU[OLMVYTVMHTVK\SLTHKL
I`+L]HU[LJOJHSSLKH*47VY
*47: KLWLUKPUN VU ]LYZPVUZ
HUKKVJ\TLU[Z
;OPZTVK\SLZ\WWSPLKPU[OLMVYT
VM H ZTHSS YLHK`[V\ZL 7*) HZ
ZOVÛPU[OLWOV[VJVU[HPUZ[^V
7OPSPWZ24ATHNUL[PJÄLSKZLUZVYZTV\U[LKH[YPNO[HUNSLZ^P[O
[OLPYV\[W\[ZPNUHSZWYVJLZZLKI`
HZ\P[HIS`WYVNYHTTLK70*-
TPJYVJVU[YVSSLY 0[ PZ JHWHISL VM
KLSP]LYPUN HUN\SHY WVZP[PVU PUMVYTH[PVU
^P[OYLZWLJ[[V[LYYLZ[YPHSTHNUL[PJ5VY[O
^P[OHUHJJ\YHJ`VM\W[VH;OPZ
PUMVYTH[PVUPZH]HPSHISLPU[OLMVYTVMH
7>4ZPNUHSÔLYL[OL^PK[OVM[OLW\SZLZ
YLWYLZLU[Z[OPZHUNSL[OV\NOPU[OPZJHZL
[OLYLZVS\[PVUPZVUS`0[PZHSZVH]HPSHISL
]PHHU0*I\Z[OH[KLWLUKPUNVUÔPJO
YLNPZ[LYPZYLHKPU[OLTVK\SLJHUTHRL
[OPZHUNSLH]HPSHISLPU[OLMVYTVMHIP[
^VYKVMMLYPUNHWYLJPZPVUVM
0MHYVIV[PZÄ[[LK^P[OZ\JOHTVK\SLP[»Z
[OLUWVZZPISLH[HU`TVTLU[[VÄUKV\[
[OLHUNSLP[Z[YHQLJ[VY`PZTHRPUN^P[OTHNUL[PJ5VY[OHUKOLUJL[VZ[LLYP[L_HJ[S`
HZ`V\^V\SK`V\YZLSM\ZPUNHJVTWHZZ
;OLVUS`ºWYVISLT»[OH[TH`HYPZLPZ[OL
PU[LYMHJPUN VM [OL *47 TVK\SL ^P[O
[OLTPJYVJVU[YVSSLYÄ[[LKPU[OLYVIV[:V
PUVYKLY[VJH[LYMVY[OLNYLH[LZ[U\TILY
VMYVIV[PJJVUÄN\YH[PVUZWVZZPISL^L»YL
NVPUN[VZOV^`V\OV^[VLTWSVÌV[O
TLHUZVMKPHSVN\LVMMLYLKI`[OLTVK\SL!
24
•7VZP[PVUPZ[OLHUNSLPU
KLNYLLZ ^P[O YLZWLJ[ [V
THNUL[PJ5VY[O
•>PK[O PZ [OL ^PK[O
VM [OL OPNO W\SZLZ PU
TPSSPZLJVUKZ
9LHKPUNZ\JOPUMVYTH[PVU
^P[OH)HZPJ:[HTW00VYH
70*WYVNYHTTLKPU)HZPJ
HTV\U[Z[VQ\Z[[^VSPULZ
VMWYVNYHT!
PULSIN 0, 1, PULSE
POSITION = (PULSE –
500) / 50
+U
21
1
2
3
SOUT
VIN
24
1
SIN
ATN
RES
2
22
3
IC1
20
19
18
17
16
15
14
13
P15
P0
P14
P1
P13
P2
P12
P3
P11
P4
P10
BS2
P5
P9
P6
P8
P7
4
5
4
6
5
or
7
6
CMPS03
8
7
9
8
10
9
CMP03
11
12
S1
23
070304 - 11
[OL7>4ZPNUHSZHUK[OL0*I\Z
-PN\YLZOV^ZHJPYJ\P[MVY\ZPUN[OL7>4
ZPNUHSZ0[OHZILLUKLZPNULKMVY\ZL^P[O
H)HZPJ:[HTW00I\[JHUIL[YHUZWVZLK
MVYHU`70*TPJYVJVU[YVSSLYWYVNYHTTLKPU
)HZPJ[OH[KVLZUV[OH]L0*M\UJ[PVUZ
0U[LYY\W[:WYLZLU[VUWPUVM[OL*47
TVK\SLPZUV[PU]VS]LKPU[OLKPHSVN\L
WYVJLZZI\[THRLZP[WVZZPISL[VJHSPIYH[L
[OLTVK\SLHZWLYHWYVJLK\YLNP]LUPU[OL
KVJ\TLU[H[PVUÔPJO^L^VU»[YLWYVK\JL
OLYLHZP[PZWLYMLJ[S`Z[YHPNO[MVY^HYK
;OLPUMVYTH[PVUZ\WWSPLKI`[OL*47
TVK\SLPZHZ\JJLZZPVUVMOPNOW\SZLZZLWHYH[LKI`SV^Z[H[LZVMTZK\YH[PVU;OL
^PK[OVM[OLOPNOW\SZLZPUKPJH[LZ[OLHUNSL
VM[OLWYPUJPWHSH_PZVM[OLTVK\SL^P[O
YLZWLJ[[V5VY[OHJJVYKPUN[V[OLMVSSV^PUNYLSH[PVUZOPW!
7VZP[PVU$>PK[O¶ô
ÔLYL!
;OLÄYZ[SPULLUHISLZ[OL
PUZ[Y\J[PVU PU LSIN [V
YLHK[OLOPNOK\YH[PVUVM[OLW\SZL
NLULYH[LKI`[OL*47TVK\SL
;OLZLJVUKSPULTLYLS`HWWSPLZ[OL
HIV]LYLSH[PVUZOPWNP]LU[OH[[OL
YLZVS\[PVUVM[OLTLHZ\YLTLU[WLYMVYTLKI`PULSINPZMZPU[OL
JHZLVM[OL)HZPJ:[HTW00:V^L
[OLUOH]L[OLHUNSLPUKLNYLLZ^P[O
YLZWLJ[[VTHNUL[PJ5VY[OPU[OL
]HYPHISLPOSITION
0M`V\^HU[NYLH[LYWYLJPZPVUVYPM
`V\YTPJYVJVU[YVSSLYKVLZOH]LHU
0*PU[LYMHJLH]HPSHISLP[»ZWVZZPISL
[V\ZL[OPZPU[LYMHJL[VKPHSVN\L^P[O
[OL*47TVK\SLHZPZZOVÛI`
^H`VML_HTWSLPU-PN\YL0[OHZ
ILLUKLZPNULKMVYH*\ISVJ*)
VYH70*WYVNYHTTLKPU)HZPJ^P[O
HJVTWPSLY[OH[OHZHU0*SPIYHY`
ÔPJOPZ[OLJHZLMVYTVZ[VM[OLT
[OLZLKH`Z
;OLVUS`WYLJH\[PVUZ[VIL[HRLU^P[O[OPZ
JPYJ\P[JVUJLYU[OL0*I\ZW\SS\WYLZPZ[VYZÔPJOKVULLK[VILÄ[[LKHZ[OL`HYL
UV[I\PS[PU[VLP[OLY[OL*47TVK\SL
VY[OLTPJYVJVU[YVSSLYÔPJOL]LY[`WLP[
PZ0M`V\HYL\ZPUNH70*WYVNYHTTLKPU
)HZPJ`V\HSZVULLK[VLUZ\YL`V\JVYYLJ[S`JOVVZL[OLWVY[ZPU[LUKLK[VOHUKSL
[OL:+(HUK:*3ZPNUHSZVM[OL0*I\Z
HZJLY[HPU)HZPJJVTWPSLYZPTWVZLYLZ[YPJ[PVUZOLYL
;VILPUHWVZP[PVU[V^YP[L[OLJVYYLZWVUKPUNWYVNYHTHSS`V\[OLUULLK[VRUV^PZ
[OH[[OL0*HKKYLZZVM[OL*47TVK\SLPZ*HUK[OH[MV\YTHPUYLNPZ[LYZHYL
HJJLZZPISL[V\Z[OYV\NO[OPZHKKYLZZ!
•YLNPZ[LYJVU[HPUZ[OLTVK\SL»ZZVM[^HYL
]LYZPVUU\TILY"
•YLNPZ[LYJVU[HPUZ[OLHUNSLJVKLKPU
VULI`[L/LUJL[OPZ]HS\LJOHUNLZMYVT
¶ JVYYLZWVUKPUN [V H JPYJSL MYVT
¶"
•YLNPZ[LYZ HUK JVU[HPU [OL HUNSL
+U
21
1
2
3
SOUT
VIN
R2
1
SIN
ATN
RES
22
2
3
IC1
5
6
7
8
9
I2CSTART
Temp = I2CWRITE (&HC0)
Temp = I2CWRITE(0)
I2CSTART
Temp = I2CWRITE(&HC1)
Version = I2CREAD(0)
Position8 = I2CREAD(0)
P o s i t i o n 1 6. b y t e 1
I2CREAD(0)
P o s i t i o n 1 6. b y t e 0
I2CREAD(0)
R1
24
4k7
-YVT[OH[WVPU[VUYLHKPUN[OPZ
PUMVYTH[PVU ]PH HU 0 * I\Z PZ
X\P[LZ[YHPNO[MVY^HYKHZZOVÛ
PU[OL]LY`ZOVY[SPZ[PUNILSV^
^YP[[LUMVY[OL)HZPJSHUN\HNLVM
[OL*\ISVJ!
Position16
;OL ]HYPHISL Temp PZ UV[ \ZLK
MVY HU`[OPUN I\[ PZ YLX\PYLK
I` [OL WHY[PJ\SHY ZÙ[H_ VM [OL
0*PUZ[Y\J[PVUZVM[OL*\ISVJ»Z
)HZPJ )` [OL ZHTL [VRLU [OL
JVUZ[HU[[OH[T\Z[ILWYLZLU[
PU[OLI2CREAD PUZ[Y\J[PVUZOHZ
UVWHY[PJ\SHYTLHUPUN
/LUJLPM`V\\ZL[OPZSPZ[PUN^P[OH
70*WYVNYHTTLKPU)HZPJHZSPNO[
HKHW[H[PVUTPNO[WYV]LULJLZZHY`
KLWLUKPUNVU[OLJVTWPSLY`V\
HYL\ZPUN
:VÔL[OLY`V\JOVVZL[OL7>4
VY0*]LYZPVUMVYPU[LYMHJPUN^P[O
[OL*47TVK\SLP[NP]LZ`V\
WVZP[PVUPUMVYTH[PVUHIV\[`V\Y
YVIV[»Z[YHQLJ[VY`^P[OYLZWLJ[[V
THNUL[PJ5VY[O(SS[OH[YLTHPUZ
MVY`V\[VKVPZ[VTHRLNVVK\ZL
VMP[ZV`V\YYVIV[^VU»[ºSVZLP[Z
ILHYPUNZ»
2
4k7
JVKLK[OPZ[PTLPU[^VI`[LZPU
[OLMVYTVMHU\TILYIL[^LLU
HUK L_WYLZZLKPUKLJPTHSÔPJOPZPUMHJ[[OLHUNSLPU
KLNYLLZT\S[PWSPLKI`
10
11
12
P0
P15
P1
P14
P2
P13
P3
P12
P4
P5
CB220
P11
P10
P6
P9
P7
P8
4
20
4
19
5
or
18
6
CMPS03
17
7
16
8
15
CMP03
9
14
SCL
13
SDA
S1
23
070304 - 12
=
(070304-I)
3
=
;OL MPYZ[ [OYLL PUZ[Y\J[PVUZ
HKKYLZZ[OLTVK\SLHUKZLSLJ[
[OLÄYZ[YLNPZ[LY[VILYLHK;OL
UL_[PUZ[Y\J[PVUZYLHK[OLMV\Y
WYL]PV\ZS`KLZJYPILK YLNPZ[LYZ
PUZ\JJLZZPVU[O\ZTHRPUN[OL
ZVM[^HYL]LYZPVUU\TILYH]HPSHISLPU[OL]HYPHISLVersion
[OLIP[JVKLKHUNSLPU[OL]HYPHISLPosition8HUK[OL
IP[HUNSLPU[OLIP[]HYPHISL
Pin 9 - 0V GND
Web Links
Pin 8 - No Connect
Devantech
Pin 7 - 50/60 Hz
Pin 5 - No Connect
http://www.robot-electronics.co.uk/shop/Compass_
CMPS032004.htm
Pin 4 - PWM
A little background reading:
Pin 3 - SDA
http://zedomax.com/blog/zedomax-diy-hack-lets-make-a-digitalcompass/
Pin 6 - Calibrate
Pin 2 - SCL
Pin 1 - +5V
http://zedomax.com/
blog/2006/08/16/digital-compassusing-cmps03/
070304 - 13
A/D Converter for Robots
Tilo Gockel
;OL;3* *7HUHSVN\L[VKPNP[HSJVU]LY[LY(+MYVT;L_HZ0UZ[Y\TLU[ZPZH
NVVKJOVPJLMVYHWWSPJH[PVUZPU[OLÄLSKVM
YVIV[PJZLZWLJPHSS`[OVZL\ZPUNJVTWH[PISLTPJYVJVU[YVSSLYZ;OLZLWHY[PJ\SHY
JVU]LY[LYZHYLYLHKPS`H]HPSHISLSV^JVZ[
HUKLHZ`[V\ZL
( X\PJR SVVR H[ [OL ;3* KH[H ZOLL[
PUKPJH[LZ[OL[PTPUN^H]LMVYTZMVY[OL0
6*SVJR+(;(6<;HUK*:ZPNUHSZ-PN\YL(JPYJ\P[[V[LZ[[OLJVU]LY[LY^HZ
X\PJRS`JVUZ[Y\J[LK\ZPUNH]HYPHISLYLZPZ[VYHZHWV[LU[PHSKP]PKLY-PN\YLZOV^Z
[OLZPTWSLPU[LYMHJLIL[^LLUH;3* *7
HUKHJVTWH[PISLTPJYVJVU[YVSSLY
( ZOVY[ M\UJ[PVU ÔPJO YLHKZ [OL ZLYPHS
operating sequence
1
2
3
4
5
6
7
8
8
Don’t
I/O
CLOCK
Access
Cycle B
tsu(CS)
1
3
Access
Cycle C
tconv
(see Note A)
Sample
Cycle B
2
4
5
6
7
Care
Sample
Cycle C
tsu(CS)
CS
twH(CS)
DATA
OUT
Hi-Z State
Hi-Z State
A7
A6 A5 A4 A3 A2 A1 A0
B7
B6 B5 B4 B3 B2 B1 B0
B7
A7
Previous Conversion Data A
MSB
LSB
(see Note B)
ten
Conversion Data B
MSB
MSB
LSB
MSB
ten
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.
25
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;
}
+5VDC
MC51
1
REF+
VCC
8
TLC549
7
I/O CLOCK
2
DATA OUT
ANALOG
Px.x
6
A7
A6
A5
A4
A3
A2 A1
Px.x
A0
5
Px.x
10k
3
REF-
GND
4
070134 - 12
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`
LUV\NOUV[[VULLKP[MHZ[LYWYVJLZZVYZ
TH`YLX\PYLP[I\[P[OHZILLUºJVTTLU[LK
V\[» PU [OPZ SPZ[PUN ;OL HJ[\HS M\UJ[PVU
^YP[[LUPU*PZ!
unsigned char ReadADC1() {
(ZHUL_HTWSL[^V;3* (+JVU]LY[LYZJHUIL^PYLK[VHTPJYVJVU[YVSSLY[V
TLHZ\YL[OLHTV\U[VMSPNO[MHSSPUNVU[V
[^V3PNO[+LWLUKHU[9LZPZ[VYZ3+9;OPZ
HWWSPJH[PVU^PSSYLX\PYL[^VVM[OLPU[LYMHJLJVUULJ[PVUZZOVÛPU-PN\YL*VUULJ[[OL3+9LP[OLYPUWSHJLVM[OL]HYPHISL
YLZPZ[VYVYPUWHYHSSLS[VP[
(070134-I)
From Cassette Recorder
to Robot Propulsion
B. Broussas
;OLYLHYLJ\YYLU[S`[OYLLWYPUJPWHSTL[OVKZMVY[OLWYVW\SZPVUVMHTVIPSLYVIV[!
[OLTVKPÄLKYHKPVJVU[YVSZLY]V[OLZ[LWWLY TV[VY HUK [OL +* TV[VY (SS OH]L
HK]HU[HNLZHUKKPZHK]HU[HNLZÔPJOHYL
PTWVY[HU[[VILMHTPSPHY^P[OILMVYLTHRPUN`V\YJOVPJL
;OLTVKPÄLKYHKPVJVU[YVSZLY]VVMMLYZ
U\TLYV\ZHK]HU[HNLZ[OLTHPUVULILPUN
[OH[P[VMMLYZYLSH[P]LSÒPNO[YHJ[P]LWV^LY
^P[OV\[ULLKPUNHYLK\JPUNNLHYIV_HZ
[OPZPZHSYLHK`JVU[HPULK^P[OPU[OLZLY]V
JHZL :V HSS `V\ OH]L [V KV PZ TV\U[ P[
VU[V[OLYVIV[HUKÄ_[OLÔLLSZKPYLJ[S`
VU[VP[ZZOHM[>OH[»ZTVYLHYHKPVJVU[YVS
ZLY]VPZWV^LYLKMYVT=ÔPJOPZWHY[PJ\SHYSÒHUK`MVYYVIV[Z\ZPUNMV\Y=
YLJOHYNLHISLIH[[LYPLZ
;OLTHQVYKYHÎHJRVM[OLYHKPVJVU[YVS
ZLY]VSPLZUV[ZVT\JOPUP[ZW\SZLKYP]L
TVKLMVYÔPJO]HYPV\ZZVS\[PVUZHYLWYVWVZLKLSZLÔLYLPU[OPZPZZ\LHZPU[OLSHJR
VMWYLJPZPVUPU[OLILOH]PV\YVM[OLZLY]V
^P[OYLZWLJ[[V[OLW\SZL^PK[O(S[OV\NO
[OLVYL[PJHSS`[OLZLY]VY\UZH[TH_PT\T
ZWLLK PU VUL KPYLJ[PVU VY [OL V[OLY MVY
W\SZLZVMVYTZHUKZ[VWZMVYW\SZLZVM
26
1
+6V
C1
10M
16V
7
IN1
1
3
IN2
4
IN1
IC1
OUT1
VCONT
NC
LB1630
OUT2
IN2
2
8
6
M1
M
5
400mA max.
070303 - 11
TZL_WLYPLUJLZOV^Z[OH[KPMMLYLUJLZ
VM¶PU[OLW\SZL^PK[OULLKLKHYL
ZVTL[PTLZLUJV\U[LYLK;OLZLKPMMLYLUJLZ
THRLP[ULJLZZHY`[VJHSPIYH[L[OLWYVW\SZPVUJVU[YVSWYVNYHTZVMYVIV[ZÄ[[LK^P[O
ZLY]VZVUHUPUKP]PK\HSIHZPZ[OLYLI`Y\SPUNV\[HU`YLWYVK\JPIPSP[`MYVTVULTVKLS
VMYVIV[[VHUV[OLY
:[LWWLYTV[VYZKVUV[Z\MMLYMYVT[OLZL
KYHÎHJRZI\[KVU»[\Z\HSS`PUJS\KLHU`
I\PS[PUTLJOHUPJHSYLK\J[PVUTLHUPUN
`V\OH]L[VWYV]PKLL_[LYUHSYLK\J[PVUPM
`V\KVU»[^HU[[VLUK\W^P[O[VVSP[[SL
[VYX\L0M`V\KVU»[MHUJÌ\PSKPUNZ\JO
HKL]PJL`V\YZLSMP[»ZWVZZPISL[V\ZL[OL
ºNLHYIV_LZ»ZVSKHZRP[ZI`]HYPV\ZYVIV[PJZVYTVKLSSPUNYL[HPSLYZI\[L_WLYPLUJL
ZOV^Z [OLZL HYL \Z\HSS` KLZPNULK MVY
Z[HUKHYK+*TV[VYZHUKHYL\UZ\P[HISL
MVYJVTWHYH[P]LSÌ\SRPLYZ[LWWLYTV[VYZ
4VYLV]LYKYP]PUNZ[LWWLYZVISPNLZ\Z[V
\ZLLP[OLYHZWLJPHSPaLK0*VYHJVSSLJ[PVUVMSVNPJ0*ZPUHZZVJPH[PVU^P[OWV^LY
[YHUZPZ[VYZ
:VPM`V\HYLMVYJLK[VMHSSIHJRVUL_[LYUHS
YLK\J[PVUMVYL_HTWSLILJH\ZL`V\KVU»[
^HU[[V\ZLHZLY]V[OL+*TV[VY[OLU
ILJVTLZ [OL UH[\YHS JOVPJL LZWLJPHSS`
ZPUJLJLY[HPUºNLHYIV_»RP[ZHYLZVSK^P[O
Z\JOTV[VYZ:VHSS[OH[YLTHPUZPZ[VKYP]L
[OLTJVYYLJ[S`
(S[OV\NO JVU]LU[PVUHS [YHUZPZ[VYIHZLK
JPYJ\P[ZHYLZ[PSS\ZHISL[OLYLPZHSZVVUL
]LY` ZPTWSL ZVS\[PVU KPYLJ[S` PUZWPYLK
I`[OLVSKJHZZL[[LYLJVYKLYZPUÔPJO
+*TV[VYZ^LYL^PKLS`\ZLK0[PU]VS]LZ
\ZPUNHU3)0*THKLI`:HU`VÔPJO
JHUILJHUUPIHSPaLKMYVTTHU`JHZZL[[L
YLJVYKLYZ[OH[OH]LILLU[OYVÛV\[VY
LSZLIV\NO[UL^MYVT3L_[YVUPJMVYL_HTWSL^^^SL_[YVUPJMY
(]HPSHISL PU HU WPU +07 WHJRHNL [OL
3) PZ YPKPJ\SV\ZS` ZPTWS` [V
Truth table
\ZLHZZOVÛPU-PN\YL0UMHJ[
for LB1630 motor control IC.
HSSP[ULLKZ[VILHISL[V^VYRPZ
IN1
IN2
OUT1
OUT2
Motor
VULL_[LYUHSKLJV\WSPUNJHWHJP[VY
H
L
H
L
Forward run
0[»ZJVU[YVSSLKI`[^VSVNPJZPNUHSZ
ÔPJO HYL ;;3JVTWH[PISL ÔLU
L
H
L
H
Reverse run
[OLJPYJ\P[PZWV^LYLKMYVTH]VS[H
H
HiZ
HiZ
Stop
HNLVM[OLVYKLYVM=;OLZ\WWS`
L
L
HiZ
HiZ
Stop
T\Z[ILIL[^LLUHUK=HUK
T\Z[UV[\UKLYHU`JPYJ\TZ[HUJLZ
L_JLLK=H[YPZRVMKLZ[YV`PUN[OL
2
21
0*
+6V
;OL J\YYLU[ KYHÛ I` [OL TV[VY
1
24
SOUT
VIN
ILPUNKYP]LUJHUIL\W[VT(
2
SIN
C1
3
22
TH_PT\T[OV\NOWLHRZ\W[V(
ATN
RES
10M
IC2
HYLHSSV^LKI\[VUS`PU[OLMVYT
16V
20
5
P15
P0
VMW\SZLZÔVZLK\YH[PVUTHÙV[
19
6
P14
P1
L_JLLK TZ H[ H K\[` J`JSL VM
18
7
P13
P2
7
17
8
P12
P3
1
8
16
9
;OLWYV[LJ[PVUKPVKLZ]P[HSÔLU
IN1
OUT1
P11
P4
M1
IC1
15
10
CB220
P10
P5
3
6
KYP]PUNHULSLJ[YPJTV[VY\ZPUN[YHUVCONT
NC
M
14
11
P9
P6
LB1630
ZPZ[VYZ HYL I\PS[ PU[V [OL 3)
4
5
13
12
OUT2
P8
P7
IN2
HUKZVKVU»[ULLK[VILHKKLK[V
400mA max.
[OLJPYJ\P[ZOVÛ
2
4
23
;OL[^VPUW\[Z05HUK05HSSV^
SVNPJJVU[YVSVM[OLTV[VYHZWLY
070303 - 12
[OL;HISL
0UW\[Z05HUK05VM[OL3)
Q\Z[ULLK[VILPUVWWVZP[LZ[H[LZMVY
[OLTV[VY[V[\YUVUL^H`VY[OLV[OLY:V
W\SZLZ[VVULVY[OLV[OLYVMPUW\[Z05
P[»Z]LY`LHZ`[VJVU[YVS\ZPUN[^VWHYHSSLS
VY05
WVY[SPULZMYVTHU`TPJYVJVU[YVSSLY
-PN\YL ZOV^Z VUL ^H` VM WLYMVYTPUN
0UKLWLUKLU[S`VM[OPZºVUVMM»[`WLJVU[YVS
[OPZZVY[VMZWLLKJVU[YVS\ZPUNH*\ISVJ
[VTHRL[OLTV[VYY\UPUVULKPYLJ[PVUVY
*)ÔPJOOHZ[OLHK]HU[HNLV]LY[OL
[OLV[OLY[OLZWLLKJHUHSZVILJVU[YVSTHU`V[OLYTPJYVJVU[YVSSLYZ[OH[JHUIL
SLK(SS[OH[PZULLKLKPZ[VHWWS`7>4
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,,+
ÔPJOJHU]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)\[
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070300 - 11
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PIR-Sensor
Abraham Vreugdenhil
1
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2
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–
3
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Light-seeking Robot
B. Broussas
+6V
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WYVISLTZ VM TLJOHUPJZ HUK RPUL[PJZ PU
VYKLY[VTHUHNLP[ZTV]LTLU[ZWYVISLTZ
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C4
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470M
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100n
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13
14
1
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PWR
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P6
IC1
P7
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GND
P0
P1
P2
R1
R2
6
3
4
RES
PCO
BS1-IC
P3
P4
P5
PCI
7
8
Servo
9
10
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11
E
12
GND
GND
C1
C2
100n
100n
2
070306 - 11
SLNZ VY YLZWVUKPUN [V H ZPNUHS MYVT P[Z
THZ[LY&
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29
WSLI\[UVSLZZZ\JJLZZM\SPUWYVK\JPUNH
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8\P[LZPTWS`P[»ZHSPNO[ZLLRPUNYVIV[·
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)S\L IHZL MYVT 9VN\L 9VIV[PJZ ^^^
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IHZL MYVT 3Ù_4V[PVU ^^^SÙ_TV[PVUJVT6MJV\YZLPM`V\HYLNVVKH[
TLJOHUPJZ [OLYL»Z UV[OPUN [V Z[VW `V\
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WYVW\SZPVUZLY]VZ;OLIYPNO[ULZZPZTLHZ\YLK\ZPUN[^VWOV[VYLZPZ[VYZVY3+9ZZ[PSS
JHSSLK*K:JLSSZPUZVTLSP[LYH[\YLJVUULJ[LK [V WVY[Z 7 HUK 7 VM [OL )HZPJ
:[HTW0;OLVKKTVKLVMJVUULJ[PVU\ZLK
OLYLTHRLZP[WVZZPISL[V\ZLHUPUZ[Y\J[PVU
ZWLJPÄJ[V[OL)HZPJ:[HTW0[OLPUZ[Y\J[PVU
POTÔPJOTLHZ\YLZ[OLJOHYNPUN[PTLVMH
JHWHJP[VYJVUULJ[LK[VVULVMP[ZWVY[ZPL
[OLYLI`[OLYLZPZ[HUJLVM[OL3+9HUK[O\Z
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PZ VWLYH[PUN [OLZL [^V 3+9Z T\Z[ IL
TV\U[LK WVPU[PUN MVY^HYKZ ZLWHYH[LK
MYVTLHJOV[OLYI`HZTHSSWPLJLVMJHYKIVHYKVYVWHX\L7*)PUZ\JOH^H`[OL`
JHU»[IV[OYLJLP]L[OLZHTLPSS\TPUH[PVU
;OL HZZLTIS` JHU IL WV^LYLK I` MV\Y
= IH[[LYPLZ ;OPZ ]VS[HNL PZ HWWSPLK
KPYLJ[S`[V[OLZLY]VZHUK[V[OL\UYLN\SH[LK 7>9 PUW\[ VM [OL )HZPJ :[HTW0
>H[JOV\[<UKLYUVJPYJ\TZ[HUJLZJVUULJ[ [OL ZLY]V Z\WWSPLZ MYVT [OL )HZPJ
:[HTW0»Z=V\[W\[¶P[ZI\PS[PU=
YLN\SH[VY^V\SKU»[HWWYLJPH[LP[
;OLZVM[^HYLWHY[VMV\YYVIV[PZH[SLHZ[
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Q\KNLMYVT[OLSPZ[PUNILSV^!
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
b0
=
RightSto p
+
Move
- LightDif
b1 = LeftStop - Move + LightDif
PULSOUT 0, b0
PULSOUT 1, b1
GOTO Main
;OPZSPZ[PUNPZ]LY`LHZ`[VHUHS`ZL(M[LYHU
PUP[PHSWOHZL[VKLÄUL[OLSHILSZ\ZLKHUK
[OLYLZLY]H[PVUVM[OL9(4PU[OL)HZPJ
:[HTW0^LNVVU[VTLHZ\YL[OLSPNO[\ZPUN
[OLPUZ[Y\J[PVUPOT;OPZPUZ[Y\J[PVUYL[\YUZ
PU[OL]HYPHISLLeftLDRVYRightLDRH
U\TILYYLWYLZLU[PUN[OLYLZPZ[HUJLVM[OL
3+9ZJVUULJ[LK[V7HUK7KP]PKLKI`
HJVUZ[HU[JHSSLKHZJHSPUNMHJ[VY@V\TH`
ULLK[VHKQ\Z[[OPZWHYHTL[LY[VZ\P[[OL
JOHYHJ[LYPZ[PJZVM[OL3+9Z`V\\ZL
;OL]HS\LZ[O\ZVI[HPULKHYLZ\I[YHJ[LK
VULMYVT[OLV[OLY[V`PLSKPUMVYTH[PVU
HIV\[[OLKPMMLYLUJLPUSPNO[PUNIL[^LLU
[OL[^VJLSSZ;OLJHSJ\SH[PVUVM[OLW\SZL
SLUN[OZ[VILHWWSPLK[V[OLZLY]VZJHU
[OLUILWLYMVYTLKUV[PUN[OH[RightStopHUKLeftStopHYL[OL]HS\LZTHRPUNP[WVZZPISL[VTHRL[OLZLY]VZZ[VWHUK
[OH[MovePZHWHYHTL[LYPU[LUKLK[VZL[
[OLIHZPJZWLLKVM[OLZLY]VZ[VÔPJOPZ
HKKLKVYZ\I[YHJ[LK[OLYLZ\S[VM[OLKPMMLYLUJLPUPSS\TPUH[PVU
/LUJL MVY L_HTWSL PM LightDif OHZ
[OL]HS\LI^PSSIL¶
PLÔPSLI^PSSIL¶
PL.P]LU[OH[[OLYLZVS\[PVUVM[OL
PULSOUTW\SZLPZZ[OLWYVNYHT^PSS
[O\ZNLULYH[LTZW\SZLZMVYVULZLY]V
HUKTZVULZMVY[OLV[OLYJH\ZPUN[OL
YVIV[[V[\YU[V^HYKZ[OLKPYLJ[PVUVM[OL
3+9[OH[PZYLJLP]PUN[OLTVZ[SPNO[
:V[OPZWYVNYHTPZM\SS`M\UJ[PVUHSI\[NP]LU
[OLZWYLHKPU[OLJOHYHJ[LYPZ[PJZVMIV[O[OL
ZLY]VZ^P[OYLZWLJ[[V[OLPYKYP]LW\SZLZHUK
[OLYLZPZ[HUJLVM[OL3+9ZP[^PSS\UKV\I[LKSÌLULJLZZHY`MVY`V\[V[^LHRJLY[HPU
U\TLYPJHSWHYHTL[LYZHNHPU[VVI[HPUZH[PZMHJ[VY`YLZ\S[Z;VKVZVUV[L[OH[!
•RightStopHUKLeftStopHYLLX\HS[V
VM[OLW\SZL^PK[O[OH[THRLZ[OLYPNO[
HUKSLM[ZLY]VZZ[VW
•Move SL[Z `V\ KLMPUL [OL YV[H[PVUHS
ZWLLK VM [OL ZLY]VZ ÔLU [OL YVIV[ PZ
NVPUNZ[YHPNO[HOLHK0[PZLX\HS[VVM
[OLKPMMLYLUJLIL[^LLU[OLW\SZL^PK[OMVY
Z[VWHUK[OLW\SZL^PK[OKLZPYLKMVYTV]PUNZ[YHPNO[HOLHK
•;OLJVLMÄJPLU[Z\ZLKPU[OLPOT
PUZ[Y\J[PVUZJHUHSZVILHKQ\Z[LKIL[^LLU
HUKPUVYKLY[VVI[HPUZH[PZMHJ[VY`
ILOH]PV\YVM[OLYVIV[NP]LU[OL3+9Z
\ZLKHUK[OLHTIPLU[SPNO[PU[OLWSHJL
ÔLYL[OLYVIV[PZVWLYH[PUN
5V[L[VV[OH[PM`V\YYVIV[ZLLTZ[VZO`
H^H` MYVT [OL SPNO[ PUZ[LHK VM TV]PUN
[V^HYKZP[`V\»]LWYVIHIS`YL]LYZLK[OL
^PYPUNIL[^LLU[OLYPNO[HUKSLM[ZLY]VZ
VYYPNO[HUKSLM[3+9ZHSS[OPZPZYLSH[P]LVM
JV\YZLKLWLUKPUNVUÔH[`V\JHSSMYVU[
HUKIHJRVU[OLYVIV[
5V^P[»ZV]LY[V`V\
(070306-I)
Bat’s Ear
Alexander Wiedekind-Klein
.LUH\NLUVTTLUPZ[;VILWYLJPZL[OPZ
\S[YHZVUPJ KPZ[HUJL TLHZ\YPUN KL]PJL PZ
TVYL[OHUQ\Z[HULHYZPUJLP[NLULYH[LZ
W\SZLZVMZV\UKH[R/aHZ^LSSHZSPZ-
30
[LUPUNMVY[OLPYYLÅLJ[PVUZ;OLJPYJ\P[PU
-PN\YLPZKP]PKLKPU[V[^VWHY[Z([[OL
[VWPZ[OLR/aVZJPSSH[VYHUKHºW\ZO
W\SS»V\[W\[Z[HNLI\PS[HYV\UK0**HUK
0*+;OLVZJPSSH[VYPZZ^P[JOLKVUHUK
VMMHJJVYKPUN[V[OL=SVNPJSL]LSVUH
JVU[YVSPUW\[WPUVM27PZHKQ\Z[LK[V
ZL[[OLVZJPSSH[VYMYLX\LUJ`L_HJ[S`LX\HS
[V[OLYLZVUHU[MYLX\LUJ`VM[OL\S[YHZVUPJ
[YHUZK\JLYUVTPUHSS`R/a
9LÅLJ[LKZPNUHSZHYLHTWSPÄLKI`0*(
HUK0**YLJ[PÄLKI`+HUKI\MMLYLK
1
C1
R5
470k
150p
P1
10k
V+
39k
I`0*+;OPZJPYJ\P[MVYTZ
[OLHUHSVN\LMYVU[LUKHUK
PZJVUULJ[LK[VHTPJYVJVU[YVSSLYMVYZ\IZLX\LU[ZPNUHS
WYVJLZZPUN >L ^PSS SVVR
ILSV^ H[ [OL MHJ[VYZ [OH[
ULLK[VILIVYULPUTPUK
ÔLUJVUZPKLYPUN[OLKPNP[HSZPNUHSWYVJLZZPUNHSNVYP[OT[VIL\ZLK
14
11
IC1
IC2
7
4
R1
IC1.A
C5
IC1.B
2
1
3
r1
4
r1
6
US TX
IC1.C
5
8
9
(40kHz)
10
r1
100n
+5V
US
+5V
IC1.D
12
13
22k
(M[LYHI\YZ[VM\S[YHZV\UK
R9
SH Z [ PUN H W W Y V_PTH[ LS`
IC1 = CD4001
TZ PZ [YHUZTP[[LK ^L
IC2 = TL084
ZHTWSL[OLLU]LSVWLVM[OL
YLJLP]LKZPNUHSHZKLSP]LYLK
I`[OLHUHSVN\LMYVU[LUK
C3
MVY HWWYV_PTH[LS` TZ
0U[OPZ[PTLZV\UK[YH]LSZ
R3 10p
HWWYV_PTH[LS`THUKZV
56k
C7
R7
^LOH]LHTH_PT\TYHUNL
2
3k9
C2
R2
VMTILJH\ZL[OLZV\UK
1
100n
IC2.A
4k7
T\Z[ [YH]LS [V [OL KPZ[HU[
3
100n
V+
US RX
VIQLJ[HUKIHJR-PN\YL
(40kHz)
R4
ZOV^Z H [`WPJHS YLJLP]LK
US
C4
ZPNUHS ;OL NYLLU YLJ[HU4M7
N\SHY W\SZL YLWYLZLU[ Z
25V
[OL ZPNUHS H[ [OL JVU[YVS
R8
C8
PUW\[WPUVM2ÔPJO
Z^P[JOLZVU[OLVZJPSSH[VY
4M7
25V
MVY[OLTZW\SZLWLYPVK
+\YPUN[OPZ[PTL[^LJHU
HSYLHK`ZLLZVTLZPNUHSH[
[OLV\[W\[VM[OLYLJLP]LY
-PN\YL 0U [OPZ JHZL P[
HZP[PZPTWVZZPISL[VH]VPKZVTLKPYLJ[
2
X\PJRS` ILJVTLZ HWWHYYLJLW[PVUVM[OL[YHUZTP[[LKW\SZL;OPZ
LU[[OH[PM^L\ZLKHZPTWSL
LMMLJ[OHZ[VIL[HRLUPU[VHJJV\U[PUZ\I[OYLZOVSKKL[LJ[VYPUWSHJL
ZLX\LU[WYVJLZZPUN
VM [OL TPJYVJVU[YVSSLY P[
^V\SKILPTWVZZPISL[VNL[
;OLZLJVUKWLHRPU[OLZPNUHSHM[LY[PTL[
YLSPHISLYLZ\S[Z(TPJYVJVUPZHYLÅLJ[PVUMYVTHUVIQLJ[;OL[PTLPZ
[YVSSLY^P[OºPU[LSSPNLU[»ZVM[WYVWVY[PVUHS[V[OLKPZ[HUJL[V[OLVIQLJ[
^HYLJV\SKMVYL_HTWSLIL
4LHZ\YLTLU[VM[PTL[ JVTTLUJLZH[[OL
WYVNYHTTLK [V JHSJ\SH[L
TPKKSLVM[OL[YHUZTP[I\YZ[PLHWWYV_P[OLKPZ[HUJL[V[OLULHYLZ[
TH[LS`TZHM[LY[OLVZJPSSH[VYPZLUHVIQLJ[VY[VYLWVY[[OLKPZISLKHUKÄUPZOLZÔLU[OLHTWSP[\KLVM
[HUJLZ [V ZL]LYHS VIQLJ[Z
[OLYLÅLJ[LKZPNUHSYLHJOLZP[ZWLHR]HS\L
3
ZPT\S[HULV\ZS`
0UHPY[OLKPZ[HUJL[V[OLVIQLJ[TLHZ\YLK
PUJLU[PTL[YLZPZLHZ`[VJHSJ\SH[L![VH
:PUJL[OLVUS`JVUULJ[PVUZ
NVVKHWWYV_PTH[PVUP[PZLX\HS[V[OL[PTL
[V[OLJPYJ\P[HYLH=Z\W[V[OLYLÅLJ[PVUPUTPSSPZLJVUKZT\S[PWSPLK
WS` HUK NYV\UK H JVU[YVS
I`-VYL_HTWSLH[PTLVMTZMVY[ ZPNUHSMVY[OL[YHUZTP[[LYHUK
JVYYLZWVUKZ[VHKPZ[HUJLVMJT
[OLHUHSVN\LLU]LSVWLZPNUHSYL[\YULKI`[OLYLJLP]LY
0M HU VIQLJ[ PZ ]LY` ULHY [OL YLMSLJ[LK
[V[OLWYVJLZZPUNOHYK^HYL
ZV\UK^PSSIL]LY`SV\KHUKILYLJLP]LK
P[PZZ[YHPNO[MVY^HYK[V^PYL
HM[LYH]LY`ZOVY[[PTLWVZZPIS`ÔPSL[OL
\WMV\YJVWPLZVM[OLJPYJ\P[
W\SZLPZZ[PSSILPUN[YHUZTP[[LK-PN\YL
4
TV\U[LKH[YPNO[HUNSLZ[V
0U[OPZJHZLP[PZILZ[[VTLHZ\YL[OL[PTL
VUL HUV[OLY 0U H YVIV[[HRLUMVY[OLYLJLP]LKZPNUHS[VYLHJOOHSM
PJZ HWWSPJH[PVU [OPZ ^V\SK
P[Z TH_PT\T HTWSP[\KL MYVT ÔLU [OL
NP]L[OLYVIV[[OLHIPSP[`[V
VZJPSSH[VYPZZ^P[JOLKVU;OPZ[PTLJHU
KL[LJ[VIQLJ[ZPUHU`WVZP[OLUIL\ZLK[VMVYTHULZ[PTH[LMVY[OL
[PVUYLSH[P]L[VP[ZLSM
KPZ[HUJL[V[OLVIQLJ[
11
r1
STI
1
+5V
2
3
GND
4
CONTROL
C6
R6 10p
100k
13
9
IC2.C
10
8
14
IC2.D
D1
12
180k
LL4448
6
IC2.B
7
5
180k
22k
R10
C9
100n
070281 - 11
control input
analogue output
t1
t2
time
070281 - 12
control input
strong refection
t1
analogue output
t2
time
070281 - 13
control input
t1
1st maximum
analogue output
1rd maximum
2nd maximum
(070281-I)
0M[OLYLPZHU\TILYVMYLÅLJ[PUNVIQLJ[Z
H[KPMMLYLU[KPZ[HUJLZ[OLYL^PSSILZL]LYHS
YLMSLJ[LK W\SZLZ VM KPMMLYLU[ HTWSP[\KLZ
time
070281 - 14
31
An Inclinometer for Your Robot
C. Tavernier
www.tavernier-c.com
220k
47 7
220k
47 7
0M`V\YTVIPSLYVIV[»ZZVSLM\UJ[PVUPZ[V
YVHTHIV\[[OL[PSPUNVY^VVKLUMSVVYZ
VM`V\YOVTLP[»ZUV[]LY`SPRLS`[VOH]L
T\JOULLKVM[OLZLUZVY^L»YLNVPUN[V
ILKLZJYPIPUNPU[OPZHY[PJSL/V^L]LYPM
P[OHZ[VJVUMYVU[[OLOHYZOYLHSP[PLZVM[OL
NYV\UKVM[OLV\[ZPKL^VYSK^P[OP[ZOVSLZ
HUKI\TWZHUPUJSPUVTL[LYTH`WYV]L
L_[YLTLS`\ZLM\SPUVYKLYMVYP[UV[
MVYTKLWLUKPUNVU[OL[`WLVM0*
[V RLLS V]LY H[ [OL MPYZ[ L]LY ZV
1
JOVZLU
ZSPNO[\UL]LUULZZ
+6V...+12V
-VYV\YYVIV[PJZHWWSPJH[PVU^LOH]L
)LMVYL LSLJ[YVUPJZ RUL^ OV^ [V
R2
KLJPKLK[VHKVW[HYLSH[P]LS`PUL_HJJVTWSPZOHSS[OLMLH[Z[OH[^LHYL
WLUZP]LHJJLSLYVTL[LYPU[OLMVYTVM
\ZLK[V[VKH`HUPUJSPUVTL[LY^HZ
[OL(+?3MYVT(UHSVN+L]PJLZ
HW\YLS`TLJOHUPJHSZ`Z[LT^P[O
C4
C1
+VUV[LYPNO[H^HÒV^L]LY[OH[
HSS[OLKPMÄJ\S[PLZVMPTWSLTLU[H[OPZ0*PZUVSVUNLYILPUNWYVK\JLK
[PVUJ\TILYZVTLULZZHUKSHJRVM
10n
100n
8
2
I\[ PZ Z[PSS ^PKLS` H]HPSHISL MYVT
HJJ\YHJ`[OPZPTWSPLK4PNO[HZ^LSS
8
X
1
YL[HPSLYZ0MP[ZOV\SKL]LU[\HSS`KPZHWZH`[OH[P[Z\ZLPUHUHTH[L\YYVIV[
VDD
IC2.A
2
7
3
BIAS
XOUT
WLHYJVTWSL[LS`P[JV\SKILYLWSHJLK
^HZPMUV[PTWVZZPISLH[SLHZ[]LY`
R1
IC1
I`[OL(+?3T\JOTVYLYLJLU[
KPMÄJ\S[
4
5
NC
NC
IC2 = OP284
HUKLSLJ[YPJHSS`JVTWH[PISLVUS`[OL
-VYHML^`LHYZUV^[OPZOHZUV
ADXL311
1
6
5
WPUV\[ILPUNKPMMLYLU[
SVUNLY ILLU [OL JHZL [OHURZ [V
ST
YOUT
Y
7
;OL(+?3HJ[\HSS`PUJS\KLZ[^V
[OLTHYRL[PUNI`(UHSVN+L]PJLZ
COM
IC2.B
6
3
OPNOS`ZLUZP[P]LHJJLSLYVTL[LYZH[
VMºZVSPKZ[H[L»HJJLSLYVTL[LYZPL
4
YPNO[HUNSLZ^P[OWVZP[PVUPUNIL[WYVK\JLKPU[OLMVYTVM0*Z^P[O
C2
C3
[LY[OHU)LJH\ZLVM[OPZHUK
UV]PZPISLTV]PUNWHY[Z
47n
47n
PMP[PZWSHJLKWHYHSSLS[V[OLZ\YMHJL
0UMHJ[P[»ZZ[PSSPTWVZZPISL[VTLHZVM[OL,HY[OP[PZPUÅ\LUJLKI`[OL
\YLHJJLSLYH[PVU^P[OV\[LTWSV`070305 - 11
HJJLSLYH[PVUK\L[V[OL,HY[O»ZNYH]PUNZVTLRPUKVMTV]PUNWHY[I\[
P[`HUKZVJHUPUKPJH[LSLM[YPNO[
UV^HKH`Z[OPZJVUZPZ[ZVMHTPU\[L
PUJSPUH[PVUYVSSVYMVY^HYKIHJRWVS`ZPSPJVUZ[Y\J[\YLZ\ZWLUKLKI`
^HYK[PS[0U[OPZ^H`^LJYLH[LHK\HS
H]HPSHISL H[ [OL HJJLSLYVTL[LY 0* V\[MV\YZWYPUNZVM[OLZHTLTH[LYPHSHIV]L
H_PZPUJSPUVTL[LY
W\[PUMVYTH[PVUYLMSLJ[PUN[OLHJJLSLYH[OLJOPWVM[OLHJJLSLYVTL[LY0*>OLU
;OLZLPUJSPUH[PVUZJHUILL_WSVP[LKPUHU
[PVUYLNPZ[LYLK·PUHUHSVN\LVYKPNP[HS
[OPZTVIPSLLSLTLU[PZZ\IQLJ[LK[VHJJLSHIZVS\[L MVYT PM ^L
LYH[PVU P[ KLMVYTZ
^HU[[VRUV^L_HJ[S`
HUK [OPZ KLMVYTH[PVU
2
[OLHUNSLIL[^LLU[OL
PZ YL]LHSLK I` H ]HYP+6V...+12V
PUJSPUVTL[LY OLUJL
H[PVU PU [OL JHWHJPR2
[OL0*JHYY`PUNP[HUK
[ H U J L I L [ ^ L L U H
20
[OLNYV\UKVYPUHYLSWSH[L SVJH[LK VU [OL
1
H[P]LMVYTPM^L^HU[
TVIPSL LSLTLU[ HUK
MCLR
11
18
RC0
RC7
Q\Z[HSPTP[PUKPJH[PVU
[^VÄ_LKWSH[LZVU[OL
C1
C4
12
IC3 RC6 17
RC1
VMÔH[[OLYVIV[JHU
JOPW P[ZLSM ;^V V\[
13
16
100n
10n
RC2
RC5
^P[OZ[HUKILMVYLP[[VWVMWOHZL ZX\HYL^H]L
8
2
14
15
RC3/SCL RC4/SDA
8
1
WSLZV]LY
ZPNUHSZHYLHWWSPLK[V
VDD
IC2.A
PIC16F876
2
7
3
9
21
[OLÄ_LKWSH[LZ>OLU
BIAS
XOUT
OSC1
RB0
R1
10
22
OSC2
RB1
IC1
C5
0U [OL JHZL VM [OL
[OL TVIPSL WSH[L PZ
4
5
2
23
RA0/AN0
RB2
NC
NC
IC2
=
OP284
( + ? 3 V Y [ O L
Z\IQLJ[LK[VHJJLSLYH3
24
10M
ADXL311
RA1/AN1
RB3
16V
(+?3[OLHIZVS\[L
[PVUHUKTV]LZ[OLZL
1
6
5
4
25
ST
YOUT
RA2/AN2
RB4
7
5
26
PUJSPUH[PVUPZNP]LUI`
ILJVTL \UIHSHUJLK
RA3/AN3
RB5
COM
IC2.B
6
6
27
RA4/T0CKI
RB6
[OLLX\H[PVUZ!
HUKWOHZLKLTVK\SH3
4
7
28
RA5/AN4
RB7
[PVU `PLSKZ H ]VS[HNL
C2
C3
;PS[$HYJZPU(? (?
WYVWVY[PVUHS [V [OL
8
19
47n
47n
HJJLSLYH[PVU
6MJV\YZL[OL\ZLYPZ
HUK
070305 - 12
X\P[L \UH^HYL VM HSS
[OPZNVPUNVUI\[OHZ
9VSS$HYJZPU(Y(@
32
220k
47 7
Q\Z[[^VPUZ[Y\J[PVUZ[V
ÔLYL( ?HUK(YHYL
3
HJJLZZ [OL [PS[ VY YVSS
[OLHUHSVN\L]VS[HNLZ
R2
PUMVYTH[PVU
Z\WWSPLKI`[OLHJJLS:V MVY L_HTWSL `V\
LYVTL[LY ÔLU P[ PZ
^V\SK^YP[L
PUJSPULKHUK( ?HUK
21
(@[OL]VS[HNLZZ\W+6V...+12V
C4
C1
1
24
SOUT
VIN
WSPLK ÔLU P[ PZ WLYtilt = Adin(0)
2
10n
100n
SIN
tilt = tilt – 512
MLJ[SÒVYPaVU[HS
8
2
3
22
8
ATN
RES
1
( Z ZOVÛ PU -PN‘ adjust accordVDD
IC3
IC2.A
2
7
3
5
20
ing to the voltage
\YL[OLHJJLSLYVTBIAS
XOUT
P0
P15
R1
6
19
IC1
P1
P14
L[LYHWWSPJH[PVUJPYJ\P[
output
4
5
7
18
NC
NC
P2
P13
IC2 = OP284
KVLZU»[ HTV\U[ [V
‘ when the incli8
17
ADXL311
P3
P12
]LY`T\JO;OLVUS`
n o m ete r
is
1
6
5
9
16
ST
YOUT
P4
P11
7
10
CB220
15
PTWVY[HU[ LSLTLU[Z
horizontal
P5
P10
COM
IC2.B
6
11
14
3
P6
P9
HYLPUMHJ[JHWHJP[VYZ
12
13
4
P7
P8
*HUK*ÔPJOÄS[VYLJV]LY[OL[PS[PUMVYC2
C3
[LY[OLHJJLSLYVTL[LY
TH[PVU\ZPUNH*\ISVJ
4
23
47n
47n
V\[W\[]VS[HNL0[HJ[\*)
HSSÒHZHWHZZIHUKVM
>OPSL`V\TPNO[^YP[L
070305 - 13
ZL]LYHSR/aHUKJHU
MVYL_HTWSL
[OLYLMVYLYLHJ[[V]LY`
MHZ[]PIYH[PVUZUV[H[
t i l t
=
\YLTV\U[LKVUH[PU`ôTT7*)
HSSÔH[^L^HU[PUHUHWWSPJH[PVUHZHU
Adc _ Read(0)
ZLLWOV[V
PUJSPUVTL[LY>P[O[OL]HS\LZJOVZLUOLYL
tilt = tilt - 512
‘
adjust
<ZPUNV\YHJJLSLYVTL[LYHZHUPUJSPUVT[OLWHZZIHUKPZYLZ[YPJ[LK[V/aLHZaccording to the voltage output
L[LYPU]VS]LZTLHZ\YPUNP[ZHUHSVN\LV\[PS`LUV\NO
‘ w h e n t h e i n c li n o m et e r is
W\[]VS[HNLZVUIV[OH_LZHUKZ\I[YHJ[;OL[^VVWHTWZHYYHUNLKHZMVSSV^LYZ
horizontal
PUNMYVT[OLT[OL]VS[HNLZH[YLZ[[OH[PZ
H]VPKHU`L_[LYUHSPUÅ\LUJLVU[OLZLÄS[LY
ÔLU[OL0*ZVJRL[PZWLYMLJ[S`WHYHSSLS[V
JHWHJP[VYZHUKHSSV^[OLHJJLSLYVTL[LY[V
[VYLJV]LY[OL[PS[PUMVYTH[PVU^P[OH70*
[OLNYV\UK
ILJVUULJ[LK^P[OV\[ZWLJPHSWYLJH\[PVUZ
WYVNYHTTLK PU )HZPJ PU [OPZ L_HTWSL
-PN\YLZOV^ZHUL_HTWSLVM[OL\ZLVM
[VHU`TPJYVJVU[YVSSLYVY(+*PUW\[
4PRYV)HZPJJVTWPSLYHUKIP[(+*
[OPZPUJSPUVTL[LY^P[OH70*TPJYVJVU[YVS;OL VUS` TPUVY WYVISLT `V\ TPNO[
;OLZHTLPUZ[Y\J[PVUZ^PSSVI]PV\ZSÌL\ZLK
SLY ^P[O H I\PS[PU (+* ÔPSL -PN\YL
LUJV\U[LYJVUZ[Y\J[PUN[OPZWYVQLJ[PZ[OH[
MVYYVSSI\[\ZPUNHUHSVN\LJOHUULSPM`V\
ZOV^Z[OLZHTL[`WLVMJPYJ\P[[OPZ[PTL
[OLHJJLSLYVTL[LYPZPUHU:4+WHJRHNL
OH]LHKVW[LK[OLJPYJ\P[KPHNYHTZVM-PN^P[OH*\ISVJ*)
ÔPJOPZUV[HS^H`ZLHZ`MVYZVSKLYPUNVU[V
\YLZVY;OLUP[VUS`YLTHPUZMVY`V\[V
>L HYL UV[ NP]PUN `V\ H WYVNYHT MVY
HUHTH[L\Y7*);OLYLPZUV^HTVK\SL
L_WSVP[[OPZKH[H[VWYL]LU[`V\YYVIV[»ZMHSSL_WSVP[PUN[OLPUMVYTH[PVUZ\WWSPLKI`[OL
YLM(JJLSMYVT3L_[YVUPJ^^^SL_[YVUPJ
PUNV]LYVU[LYYHPU[OH[»Z[VVZ[LLWMVYP[
PUJSPUVTL[LYHZPUIV[OJHZLZHSPRLP[[HRLZ
MY[OH[PUJS\KLZHSS[OLJVTWVULU[ZPU-PN(070305-I)
Positioning with Photodiode Arrays
Pascal Choquet
0UK\Z[YPHSWYVK\J[PVUSPULYVIV[ZYLX\PYL
OPNOYLZVS\[PVU ZLUZVYZ [V TLHZ\YL [OL
WVZP[PVUVMYVIV[PJHJ[\H[VYZZV[OH[[OL
[VVSZJHUILHJJ\YH[LS`N\PKLKVU[V[OL
^VYRWPLJL(WOV[VKPVKLHYYH`[VNL[OLY
^P[OHUL_[LYUHSSPNO[ZV\YJLPZVM[LU\ZLK
HZHZLUZVYPU[OPZHWWSPJH[PVU;OPZJOPW
JVU[HPUZHSPULVMWOV[VKPVKLZ[VNL[OLY
^P[OHZLYPLZVMZHTWSLHUKOVSK:/JPYJ\P[ZÔPJO[HRLHZUHWZOV[VM[OLYLHKPUNZ
VMLHJOWOV[VKPVKLZH[[OLZHTLPUZ[HU[
HUK[OLUV\[W\[Z[OLZLPU[LNYH[LKHUHSVN\L
]HS\LZZLYPHSS`MYVTHZPUNSLV\[W\[;OL:
/JPYJ\P[ZHYLPTWVY[HU[ILJH\ZL[OLZLUZP[P]P[`VMLHJOLSLTLU[[V[OLSPNO[X\HU[HPZ
KLWLUKLU[VU[OLPU[LNYH[PVUWLYPVK"^P[OV\[[OL:/[OLSHZ[LSLTLU[^V\SKZOV^
[OLOPNOLZ[ZLUZP[P]P[`
;OL HJJVTWHU`PUN [HISL SPZ[Z [OL TVZ[
PTWVY[HU[ WYVWLY[PLZ VM ZVTL JVTTVU
HYYH`Z;OLZLUZP[P]P[`PZKLWLUKHU[VU[OL
HJ[P]LKPVKLZ\YMHJLHYLHHUK[OLPU[LNYH[PVU[PTL
-YVT[OLV\[ZPKL[OLZLHYYH`ZSVVR]LY`
ZPTWSLHWHY[MYVT[OL[^VZ\WWS`JVUULJ[PVUZ[OLYLHYLVUS`[OYLLZPNUHSZMVY
JVUULJ[PVU[VHTPJYVJVU[YVSSLY!(JSVJR
PUW\[*32HZ[HY[PTW\SZL:0PUW\[HUK
HUHUHSVN\LV\[W\[ZPNUHS(6(6ZOV\SK
ILSVHKLK^P[OH£YLZPZ[VY[VNYV\UK
;VYLHKV\[[OLHYYH`]HS\LZ[OLJVU[YVSSLY
ÄYZ[S`NLULYH[LZ[OLJSVJRZPNUHSHUK[OLU
ZL[Z:0OPNO^P[OZ\MÄJPLU[ZL[\W[PTL
ILMVYL H YPZPUN JSVJR LKNL 6U Z\JJLZZP]LMHSSPUNJSVJRLKNLZ[OL]HS\LVMLHJO
PUKP]PK\HSWP_LS^PSSILV\[W\[H[(6;OL
TPJYVJVU[YVSSLYYLHKZLHJOSL]LSHUKZ[VYLZ
P[Z]HS\L
( MLH[\YL VM [OL 43? [`WL HYYH`
PZ [OH[ [OL MPYZ[ [^V ]HS\LZ YLHK V\[ HYL
K\TTPLZ[OLÄYZ[VM[OLYLHS]HS\LZ
HWWLHYZH[[OL[OPYKJSVJRLKNL;OL[^V
]HS\LZHM[LY[OL[O]HS\LHYLHSZVK\TTPLZ[OLYLHKV\[[OLYLMVYLYLX\PYLZ
JSVJRLKNLZPU[V[HS[VYLHKHSS[OLKH[HHUK
[OLÄUHSYKLKNLYLPUP[PHSPZLZ[OLZOPM[
YLNPZ[LY;OLNHPUVM[OLWP_LSZH[LP[OLY
LUKVM[OLHYYH`PZHIV\[NYLH[LY[OHU
[OVZLPU[OLJLU[YLJVZPUL^LPNO[PUN[OPZ
JVTWLUZH[LZMVY[OLSPNO[SVZZL_WLYPLUJLK
H[[OLLKNLZÔLU[OLHYYH`PSS\TPUH[PVUPZ
WYV]PKLKI`HZPUNSL3,+
;OLPU[LNYH[PVUWLYPVKILNPUZH[[OL[O
33
JSVJRLKNLHUKJVU[PU\LZ\U[PS[OLUL_[
:0ZPNUHS;OLV\[W\[]HS\LZHYL[OLYLZ\S[
VM[OLWYL]PV\ZPU[LNYH[PVUWLYPVKZVPM[OL
HYYH`PZUV[JVU[PU\V\ZS`ZJHUULK[OLUP[
PZULJLZZHY`[VTHRL[^VJVTWSL[LZJHUZ
[VNL[TLHUPUNM\SYLZ\S[Z;OLÄYZ[ZJHU
J`JSLHM[LYWV^LY\WPZ\ZLK[VPUP[PHSPZL
KPNP[HSSL]LSZVU[OLJOPW[OL]HS\LZYLHK
HYLPU]HSPKHUKZOV\SKILKPZJHYKLK;OL
PU[LNYH[PVU[PTLPZLX\HS[V[OLWP_LSJV\U[
TPU\ZKP]PKLKI`[OLJSVJRMYLX\LUJ`
;OLZLUZP[P]P[`JHUILLHZPS`JVU[YVSSLKI`
[OLTPJYVJVU[YVSSLY
+5V
10k
R2
C6
C5
100n
100n
20
K1
1
MCLR/VPP
IC3
7
6
RA4/T0CKI
5
RA3/AN3/VREF+
4
4
RA1/AN1
2
A OUT
SI
CLK
C1
PIC18F242
1
21
2
22
23
MLX90255
RB0/INT0
RC7/RX/DT
RB1/INT1
RC6/TX/CK
RB2/INT2
24
RC5/SDO
RB3/CCP2
25
5
1
V+
C1+
RA0/AN0
3
RC4/SDI/SDA
RB4
26
27
28
RC3/SCK/SCL
RB5/PGM
RC2/CCP1
RB6/PGC
RC1/T1OSI/CCP2
RB7/PGD
RC0/T1OSO/T1CKI
OSC1
8
18
1M
25V
3
12
17
11
16
10
15
9
14
C2
4
11
R1OUT
X1
R1IN
T1IN
T1OUT
T2IN
T2OUT
R2OUT
R2IN
C10
13
14
RX
TX
7
8
C2+
MAX232
1M
25V
5
15
C2–
V6
OSC2
10
K2
C1–
13
12
16
IC1
C4
19
1M
25V
3307
R1
9
25V
2
RA2/AN2/VREF-
3
IC2
C3
1M
RA5/AN4/SS/LVDIN
C9
15p
15p
4.9152MHz
070314 - 11
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
;OLJPYJ\P[KPHNYHTZOVÛOLYLJVUZPZ[ZVM
[OLWOV[VKPVKLHYYH`[VNL[OLY^P[OHIHZPJ
70*TPJYVJVU[YVSSLYHUKHKYP]LYJOPWMVY
HU9:ZLYPHSPU[LYMHJLJVUULJ[PVU;OL
H\[OVYOHZWYVK\JLKHWYVNYHT^YP[[LUPU
*ÔPJOJHUIL\ZLKPU[OLJVU[YVSSLY;OL
ZV\YJLÄSLZaPWHYLH]HPSHISL
[VKVÛSVHKMYLLVMJOHYNLMYVT[OLEleR[VY,SLJ[YVUPJZ^LIZP[L(ZJHUJ`JSLPZ
PUP[PH[LK\ZPUNH[LYTPUHSWYVNYHTI`LU[LYPUNº:[YN:»;OL]HS\LZHYLZLWHYH[LK^P[O
ZLTPJVSVUZZV[OL`JHUILLHZPS`\ZLKPU
HU,_JLS[HISL
7OV[VKPVKLHYYH`ZJHUIL\ZLKPUYVIV[PJZMVYPTHNPUNIHZLKVU[OLWPUOVSLJHTLYHWYPUJPWSL[OLÒH]LHSZVILLU\ZLK
PUSPULMVSSV^PUNHWWSPJH[PVUZÔLYL[OL`
VMMLYNVVKYLZVS\[PVUHUKJHUILTV\U[LK
YLSH[P]LS`MHYH^H`MYVT[OLÅVVY;VNL[OLY
^P[OHWYPZTVYVW[PJHSNYH[PUN[OLHYYH`
JHUIL\ZLK[VWLYMVYTZPTWSL`L[WYLJPZL
JVSV\YYLJVNUP[PVU
(070314-I)
Whiskers on Robots
1
:VTL[PTLZ ZVWOPZ[PJH[LKZLUZVYZIHZLKVU
]PKLV JHTLYHZ PUMYHYLK VY \S[YHZV\UK HYL
UV[X\P[L\W[V[OLQVI
HUK^LOH]L[VYLZVY[[V
ZVTLÔH[TVYLWYPTP[P]L Z^P[JO[`WL ZLUZVYZ ;OLZL ^VYR SPRL
HUHUPTHS»ZÔPZRLYZVY
ºHU[LUUHL» VU PUZLJ[Z
KL[LJ[PUNULHYI`VIQLJ[Z
PU [OL LU]PYVUTLU[
>OLUKPZ[\YILKHZLUZVYZLUKZHW\SZL[V[OL
YVIV[[VPUKPJH[L[OH[HUVIQLJ[PZWYLZLU[
:LUZVYZ[OH[HYLIV[OZLUZP[P]LHUKYVI\Z[
34
JHUILTHKL\ZPUNZ[LLSN\P[HYZ[YPUNZ;OL
TH[LYPHSPZ]LY`ÅL_PISLHZ^LSSHZILPUN
JVUK\J[P]L ;OL PKLH
JV\SKUV[ILTVYLZPTWSL! ^L WHZZ [OL ^PYL
[OYV\NO H TL[HS [\IL
HUKÔLU[OL^PYLPZPU
JVU[HJ[^P[OHUVIQLJ[
PU [OL LU]PYVUTLU[
P[ ILUKZ HUK [OL [^V
THRLLSLJ[YPJHSJVU[HJ[
9LZWVUZP]LULZZHUKZLUZP[P]P[` KLWLUK JOPLMS`
VU[OLSLUN[OHUKZ[PMMULZZVM[OLWPLJLVMN\P[HYZ[YPUN\ZLK
+VP[`V\YZLSMJVUZ[Y\J[PVUZOV\SKUV[WYLZLU[
NYLH[KPMÄJ\S[PLZL]LU[V
[OLTVZ[TLJOHUVWOVIPJYLHKLY!ZLL-PN\YL>LWYVJLLKHZ
MVSSV^Z
3
+5V
10k
2
IC1 = 74HC74
4
S
2
*\[HSLUN[OVMZ[LLSN\P[HYZ[YPUNJT
[VJTPZLUV\NOHUKZH^VMMHSLUN[O
VM HIV\[ JT VM TT KPHTL[LY IYHZZ
[\IL+LI\YY[OLLKNLZPUZPKLHUKV\[
:VSKLYH^PYL[VVULLUKVM[OLIYHZZ
[\ILHUKHUV[OLY^PYL[V[OLLUKVM[OL
N\P[HYZ[YPUN0UZ\SH[L[OLQVPU[VU[OLN\P[HY
Z[YPUN\ZPUNOLH[ZOYPUR[\IPUN
:SPKL[OLZ[YPUNPU[V[OL[\ILZV[OH[VUS`
HIV\[[OLÄYZ[TTMYVT[OLLUKVM[OL
[\ILPZPUZ\SH[LK-P_[OLZ[YPUNJLU[YHSS`
^P[OPU[OL[\IL\ZPUNOV[TLS[NS\L)L
JHYLM\SUV[[VHSSV^[VVT\JONS\L[VY\U
KVÛPUZPKL[OL[\IL
D
Q
SENSOR INPUT
5
IC1.A
3
C
Q
6
R
1
RESET
;OLYLZ\S[ZOV\SKSVVRSPRL-PN\YL6M
JV\YZL`V\HYLMYLL[VL_WLYPTLU[^P[O
]HYPH[PVUZVU[OPZJVUZ[Y\J[PVU
(Z^LOH]LKLZJYPILKP[[OPZYVIV[ÔPZRLY
PZLZZLU[PHSS`Q\Z[HZPTWSLZ^P[JOJVU[HJ[
;VLUZ\YL[OH[L]LU[OLNLU[SLZ[JVSSPZPVU
KVLZUV[WHZZ\UUV[PJLK^LYLJVTTLUK
[OH[`V\\ZL[OLÔPZRLY[V[YPNNLYHÅPWÅVW
070282 - 11
HZZOVÛPU-PN\YL;OLTPJYVJVU[YVSSLY
PU[OLYVIV[JHU[OLUYLHK[OLZ[H[LVM[OL
ÅPWÅVWH[P[ZSLPZ\YLHUK[OLUYLZL[P[
(070282-I)
CO Sensor
Active charcoal filter
Gas inlet
Cap / Working electrode
terminal
Gas inlet
Backing
Layer
Catalyst
Layer
Gasket
Gas diffusion
control film
Separator
(immersed by liquid
alkaline electrolyte)
Gas sensing layer
Washer
Water
Can /
Counterelectrode
terminal
C1
070187 - 12
22M
R2
100k
Figure 1. Internal structure of the sensor.
IC1
2
working
AD708
1
Uout
MYPLUKS`HUK[OLOV\ZPUNPZSLHRWYVVM;OL
ZLUZVYJHUTLHZ\YL*6JVUJLU[YH[PVU\W
[VHUKP[OHZH[LTWLYH[\YLYHUNLVM¶
¢*[V¢*;OLOV\ZPUNOHZ[OLZHTL
MVYTHZHU((IH[[LY`
R1
1k
;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`
TGS5042
3
counter
070187 - 11
(ML^ZWLJPÄJH[PVUZ!
• :\P[HISL MVY \ZL PU IH[[LY`WV^LYLK
LX\PWTLU[
Figure 2. A simple sample application circuit.
35
•/PNOZLUZP[P]P[`HUKHJJ\YHJ`MVY*6
•3PULHYYLSH[PVUZOPWIL[^LLU*6JVUJLU[YH[PVUHUKV\[W\[]VS[HNL
•3V^ZLUZP[P]P[`[VL[OHUVS
•3V^ZLUZP[P]P[`[VV[OLYNHZZLZ[OH[TH`
ILWYLZLU[
-PN\YLZOV^Z[OLPU[LYUHSZ[Y\J[\YLVM[OL
;.:ZLUZVY;OLNHZZLUZP[P]LSH`LY
MVY*6PZSVJH[LKIL[^LLUHZ[HPUSLZZZ[LLS
YPUNJV\U[LYLSLJ[YVKLHUKHUPJRLSWSH[LK
JHW^VYRPUNLSLJ[YVKL;OLJHWPZWHJRLK
PUHZVY[VMÄSTHUKZL]LYHSZ\WWVY[PUNSH`-
LYZ(SSVM[OPZPZWHJRHNLKPUHJ`SPUKYPJHS
Z[HPUSLZZZ[LLSOV\ZPUN;OLSV^LYJVTWHY[TLU[PZÄSSLK^P[O^H[LYHUK[OLJHWLUK
PZÄSSLK^P[OHUHJ[P]H[LKJOHYJVHSÄS[LY
-PN\YLZOV^Z[OLZJOLTH[PJKPHNYHTVMH
IHZPJHWWSPJH[PVUJPYJ\P[MVY[OL;.:
;OLZLUZVYNLULYH[LZHUL_[YLTLS`ZTHSS
J\YYLU[ÔPJOPZJVU]LY[LKPU[VH]VS[HNL
I`HUPUZ[Y\TLU[H[PVUHTWSPMPLYMVYTLK
I`0*HUK99LZPZ[VY9PZULJLZZHY`[V
WYL]LU[WVSHYPZH[PVUVM[OLZLUZVYÔPJO
TPNO[V[OLY^PZLVJJ\YÔLU[OLJPYJ\P[PZ
Z^P[JOLKVMM
0[PZLZZLU[PHS[VH]VPKHWWS`PUNH]VS[HNL
[V[OLZLUZVY\UKLYHU`JVUKP[PVUZ+VPUN
ZV^V\SKWLYTHULU[S`KHTHNL[OLZLUZVY
;OL]VS[HNLHJYVZZ[OLZLUZVYT\Z[HS^H`Z
ILSLZZ[OHUT=
:VTLWV[LU[PHSHWWSPJH[PVUZMVY[OL
ZLUZVYHYL!
•9LZPKLU[PHS*6KL[LJ[VYZ
•*6TVUP[VYZMVYPUK\Z[YPHSHWWSPJH[PVUZ
•=LU[PSH[PVUJVU[YVSMVYPUKVVYJHYWHYRZ
(070187-I)
Compass Sensor
for Lego Mindstorms NXT
Zeno Otten
(ML^`LHYZHNVHJVUZPKLYHISLHTV\U[VM
H[[LU[PVU^HZKL]V[LKPU,SLR[VY,SLJ[YVUPJZ[V[OLJVUZ[Y\J[PVUVMZLUZVYZMVY[OL
PU[LSSPNLU[JVU[YVSIYPJR9*?MYVT3LNV
4PUKZ[VYTZBD
;OLYLPZUV^HZ\JJLZZVY;OL5?;PZ[OL
OLHY[VM[OLUL^4PUKZ[VYTZ<ZPUN[OPZ
Z`Z[LTJVTW\[LYOVII`PZ[ZJHUKL]LSVW
I\PSKHUKPUWHY[PJ\SHYWYVNYHTU\TLYV\ZYVIV[Z[V[OLPYOLHY[»ZJVU[LU[
>P[O[OLJVTWHZZZLUZVY[OH[PZKLZJYPILK
OLYL[OL5?;JHUKL[LYTPULP[ZKPYLJ[PVU
^P[OHUHJJ\YHJ`KVÛ[VHML^KLNYLLZ
;OPZHSSV^ZHYVIV[[VILI\PS[[OH[»ZJHWHISLVMUH]PNH[PVU
;OL JVTWHU` +L]HU[LJ BD Z\WWSPLZ
NXT 4V3
+V
4
1
2
I C NXT SCL
2
5
I C NXT SDA
6
NXT GND
3
CMPS03
82k
82k
+5V
Robot Compass
Module
SCL
GND
SDA
2
9
3
SCL
SDA
GND
070156 - 11
H YLHK`[VNV JVTWHZZ TVK\SL [`WL
*47: ;^V T\[\HSS` WLYWLUKPJ\SHY
7OPSPWZ 24A OHSSZLUZVYZ HYL \ZLK [V
KL[LJ[[OL,HY[O»ZNLVTHNUL[PJÄLSK>P[O
HZTHSS70*JVU[YVSSLYH]HS\LIL[^LLU
HUKKLNYLLZPZJHSJ\SH[LKHUKTHKL
H]HPSHISLPUKPNP[HSMVYTH[[OLV\[W\[VM
[OLTVK\SL;OLJVTT\UPJH[PVU^P[O[OL
V\[ZPKL^VYSK[HRLZWSHJL]PH[OL0*WYV[VJVSVY]PHH7>4V\[W\[
;OLTVK\SLYLX\PYLZH=Z\WWS`]VS[HNL
36
HUKJVUZ\TLZHIV\[T(;OPZTVK\SLPZLTPULU[S`Z\P[HISLMVY\ZL^P[O[OL
5?;
;OLUL^5?;OHZ[OLVW[PVUVMJVUULJ[PUNZLUZVYZ[OH[\ZL[OL0*WYV[VJVS;OPZ
HSSV^Z H ZLUZVY [V IL JVUULJ[LK [V [OL
5?;\ZPUNHU91WS\N
;OL5?;KVLZUV[OH]LPU[LYUHS
W\SS\WYLZPZ[VYZVU[OL0*I\Z:V
[OLZLOH]L[VILHKKLKL_[LYUHSS`
3LNVZ\NNLZ[YLZPZ[VYZ^P[OH]HS\L
VMR£VUIV[O[OLKH[HSPUL:+(
HZ^LSSHZ[OLJSVJRSPUL:*3
:VM[^HYL
;OLZ[HUKHYK3LNV4PUKZ[VYTZZVM[^HYL
PZ IHZLK PU KYHNNPUN NYHWOPJHS M\UJ[PVUISVJRZ6US`[OLWHYHTL[LYZJHUIL
JOHUNLK ÔPSL [OL M\UJ[PVUHSP[` VM [OL
ISVJRZPZÄ_LK
5V[,_HJ[*5?*PZHWYVNYHTTPUNSHUN\HNLMVY[OL5?;[OH[OHZHZ[YVUNYLZLTISHUJL[V*;OPZWLYTP[ZHT\JONYLH[LY
ÅL_PIPSP[`ÔLUWYVNYHTTPUN0UWHY[PJ\SHYÔLUP[JVUJLYUZOHYK^HYL[OH[PZUV[
VMÄJPHSS`Z\WWVY[LKI`3LNVZ\JOHZ[OPZ
JVTWHZZZLUZVY
;OL JVTWPSLY )YPJ? BD JHU IL KVÛSVHKLKMYLLPZZPTWSL[V\ZLHUKVMMLYZ
THU`VW[PVUZMVYWYVNYHTTPUN[OL5?;
;OLWYVNYHTJVTWHZZU_JÔPJOJHUIL
KVÛSVHKLKMYLLMYVT[OL,SLR[VY,SLJ[YVUPJZ^LIZP[LHZÄSLU\TILYaPW
JVU[PU\HSS`YLHKZ[OLJVTWHZZZLUZVY;OL
TLHZ\YLK]HS\LZHYL[OLUWYVJLZZLKI`
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5VY[O:V\[O,HZ[HUK>LZ[;OL]HS\LZ
TLHZ\YLKI`[OLLSLJ[YVUPJJVTWHZZJHU
HSZVILYLHKMYVT[OLKPZWSH`VU[OL5?;
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/
Ultrasonic
Distant Obstacle Detector
1
+5V...+12V
R5
330 7
1k
lin.
R7
14
C4
C5
10k
P1
IC1
10n
100M
15V
7
IC1 = 74HC14
IC1.A
IC1.B
4k7
R1
1
C1
22n
C2
R2
470k
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WSHJL
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RXUS
3
1
4
S2
T3
D2
R6
560p
S1
1N4148
BC548B
T2
D1
C3
1N4148
BC548B
1
2
220k
R4
470k
B. Broussas
470n
BC548B
TXUS
070236 - 11
HTWSPÄLY\ZPUN[YHUZPZ[VYZ;HUK;(Z
[OLNHPUVM[OPZZ[HNLPZ]LYÒPNOP[JHUIL
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YLZVUHU[MYLX\LUJ`VMR/aHWWLHYZH[
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VM[OL[YHUZTP[[PUN[YHUZK\JLY;OPZZPNUHS
PZYLJ[PÄLKI`+HUK+HUKÄS[LYLKI`
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WYVK\JLZHJ\YYLU[PU9JHWHISLVM[\YUPUN[YHUZPZ[VY;VU[VHNYLH[LYVYSLZZLY
L_[LU[
+LWLUKPUNVU[OLUH[\YLHUKKPZ[HUJLVM
[OLVIZ[HJSL[OPZWYVJLZZKVLZUV[ULJLZZHYPSÒHWWLUPUHJVTWSL[LS`VUVMMTHUULYHUKZV[OLSL]LSH]HPSHISLH[;JVSSLJ[VYTHÌLX\P[LWVVYS`KLÄULK;OL:JOTP[[*46:PU]LY[VYZHYL[OLYL[VJVU]LY[
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^P[O[OLZ\WWS`]VS[HNLI\[PUHSSJHZLZ
7THRLZP[WVZZPISL[VHJOPL]LHZH[PZMHJ[VY`ZL[[PUN
(S[OV\NOP[PZ]LY`ZPTWSL\UKLYNVVKJVU-
KP[PVUZ[OPZJPYJ\P[PZJHWHISLVMKL[LJ[PUN
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\W[VHYV\UKVYJTH^H`0MHZTHSSLY
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YLK\JL[OLNHPUI`HKQ\Z[PUN7
)\PSKPUN[OLJPYJ\P[PZZ[YHPNO[MVY^HYK)V[O
[YHUZK\JLYZHYLR/a[`WLZ[OH[JHUIL
MV\UKPUHU`YL[HPSLYZHUK[OLV[OLYJVTWVULU[ZJV\SKU»[ILTVYLVYKPUHY`/V^L]LYVULWYLJH\[PVUPZULLKLKÔLU^PYPUN\W[OL[YHUZK\JLYZ,]LU[OV\NO[OL`
HYLU»[Z[YPJ[S`ZWLHRPUNWVSHYPZLKHZZ\JO
VULVM[OLPY[LYTPUHSZPZJVTTVU^P[O[OL
TL[HSJHZLHUK[OPZPZ[OLVUL[OH[T\Z[
ILJVUULJ[LK[V[OLJPYJ\P[LHY[OVUIV[O
2
Distance
maximum
de
détection
Obstacle
070236 - 12
LTP[[LYHUKYLJLP]LY
;OLJPYJ\P[ZOV\SK^VYRH[VUJLHUKHSS
`V\ OH]L [V KV PZ HKQ\Z[ 7 [V ZL[ [OL
KL[LJ[PVUKPZ[HUJL`V\^HU[·I\[[OPZPZ
HSZVKLWLUKLU[VU[OLWVZP[PVUPUNVM[OL
[YHUZK\JLYZ-VYVW[PT\TVWLYH[PVU^L
YLJVTTLUK`V\HUNSL[OLTHZZOVÛPU
-PN\YL
(070236-I)
37
Light Sensing with an LED
Andreas Grün
4HU`YVIV[PJHWWSPJH[PVUZYLX\PYLHZLUZVY[VTLHZ\YLSPNO[SL]LSZ;OLJVU]LU[PVUHSHWWYVHJOHZZOVÛPU-PN\YL\ZLZ
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SL]LSZÔPSLHSV^YLZPZ[HUJLPZNVVKPU
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(+JVU]LY[LYHSZVWSH`ZHWHY[PUKL[LYTPUPUN[OLYHUNLVMSPNO[SL]LSZ[OH[JHU
ILTLHZ\YLK
(SP[[SL\ZLKWYVWLY[`VMHZ[HUKHYK3,+
1
VCC
R1
T1
070356 - 11
PZP[ZYL]LYZLIPHZLKWOV[VJ\YYLU[TVKL
(U 3,+ HSZV WYVK\JLZ H SPNO[PUK\JLK
WOV[VJ\YYLU[I\[H[HT\JOYLK\JLK]HS\L
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SL]LS-PN\YL
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SPNO[PU[LUZP[`;OLWYVNYHT[VNNSLZHSS[OL
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TPSSPOLY[aPUHKHYRLULKYVVT\W[VZL]LYHSO\UKYLKRPSVOLY[aÔLUSPNO[ZOPULZ
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ÔPJOJHUHSZVIL\ZLM\SPUZVTLYVIV[PJ
HWWSPJH[PVUZ
(070356-I)
Web link
[1] www.merl.com/publications/TR2003-035/
Example program:
#include <avr/io.h>
#include <avr/interrupt.h>
2
#define LEDPIN 0x40
// LED on PB6
I photo
070356 - 12
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
3
sei();
VCC
while(1)
{
if((PINB & LEDPIN) == 0) // discharge complete
{
PORTB = LEDPIN; // PB6 hi
// multiple times
to get enough charging time
DDRB |= LEDPIN; // PB6 output and
070356 - 13
4
hi,
hi,
hi,
hi,
charges
charges
charges
charges
LED
LED
LED
LED
DDRB &= ~LEDPIN; // PB6 input, still charging w/ pullup
PORTB = 0;
// switch off pullup
PORTA ^= LEDPIN; // toggle PORTA for display LEDs
IN
}
}
return(0);
070356 - 14
38
}
39
MotoBox
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!
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9:PU[LYMHJL;OPZPZHJVTTVUWYV[VJVSMV\UKPUTHU`TPJYVJVU[YVSSLYZ0[JHU
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RLW[[OPZ^H`PUVYKLY[VOH]LH]LY`\ZLY
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oto
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• Curr (stepper m
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TPJYVJVU[YVSSLY[VPU[LYWYL[UVPZLHZKH[H
HUKTH`YLZ\S[PULYYVULV\ZVWLYH[PVU;OL
TVK\SLJHUHSZVILJVU[YVSSLKI`HUV[OLY
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WYV]PKLKI`[OL3 LHJOKYP]PUNHZPUNSL
Vsup
+5V Vsup
C17
C19
100n
100n
3
1
2
470
R14
K1
C1
C2
C5
C20
100n
47u
25V
8
C21
100n
D14
4
4
VCC2
L298KV
10k
D16
IC4
10
2A1
12
2A2
11
2EN
R1
IC6C
100u 100n
63V
VCC1
5
1A1
7
1A2
6
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D3
D2
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6
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2
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3
1Y2
1
1E
5
4
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3
13
2Y1
14
2Y2
15
2E
GND
L78L05CZ
IC2
D1
GND
2
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D5
1
D6
6x 1N5400
8
Vsup
9
GND
R11
330
IC6 = LM358AJG
GND
C12
+5V
R5
220n
R4
10k
5k6
R16
4k7
GND
3
1
1k5
C4
100n
C2-
5
D Connector 9
330
6
7
8
9
10
11
12
13
C6
1u
25V
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GND
9
VCC2
IC5
GND
R2
D9
D8
D10
6
K5
2
1Y1
3
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1
1E
5
4
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3
13
10
2A1 L298KV 2Y1
12
14
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2Y2
15
11
2EN
2E
10k
25V
D7
GND
4
VCC1
5
1A1
7
1A2
6
1EN
C8
GND
100n
100n
GND
D15
2
K9
D11
1
D12
6x 1N5400
K4
K2
D13
GND
C14
GND
4k7
1N4148
C11
C10
100n
100n
R15
R8
220n
R7
10k
4k7
GND
3
11
10
12
9
4
1u
25V
RB0/INT
RA0/AN0
RB1/RX/DT
RA1/AN1
IC1
RB2/TX/CK
RA2/AN2/VREF
RA3/AN3/CMP1 PIC16F628-04/P RB3/CCP1
RB4/PGM
RA4/T0CKI/CMP2
RA5/MCLR/VPP
RB5
RB6/T1OSO/T1CKI/PGC
RA6/OSC2/CLKOUT
RA7/OSC1/CLKIN
RB7/T1OSI/PGD
GND
+5V
5
7
IC6B
6
10k
R6
R10
C15
0R22
MAX232CPE
17
18
1
2
3
4
15
16
C7
8
15
C1T1IN
T2IN
R1OUT
R2OUT
C2+
1
Vsup
C18
GND
T1OUT
7
T2OUT
13
R1IN
8
R2IN
C1+
VSS
IC3
100n 14
VEE
10
10u 25V
VCC
6
11
1
6
2
7
3
8
4
9
5
C3
C16
5
16
C22
VDD
2
25V
GND
+5V Vsup
R13
VDD
GND
14
470
C9
5W
100n
R12
+5V
R9
C13
10k
+5V
+5V
GND
K3
2
R3
100n
1u
IC6A
0R22
R17
C23
5W
100n
070129 - 11
GND
Figure 1. Circuit diagram of Motobox, the ‘one size fits all’ controller for motors typically used in robots.
TV[VY;OL3 PZHK\HSOHSMIYPKNLKYP]LY
JHWHISL VM ( WLY JOHUULS ^P[O ZLWHYH[LLUHISPUNHUKJ\YYLU[ZLUZPUNMVYLHJO
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VMTV[VYZ0U[OPZWYVQLJ[[OL3 PZLUHISLKI`[OLTPJYVJVU[YVSSLYHUK[OL,UHISL
SPULPZW\SSLK3V^VUWV^LY\W[VLUZ\YL
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KLJYLHZLZ^P[OMYLX\LUJ`ÄS[LYZHUÙVPZL
+*TV[VYZNLULYH[LZWPRLZÔLU[OLHYTH[\YLTHRLZJVU[HJ[^P[O[OLJVTT\[H[VY
ÔPJOPZYLÅLJ[LKHZHJ\YYLU[ZWPRLHUK
HWWLHYZ HJYVZZ [OL ZLUZL YLZPZ[VY *\YYLU[ZWPRLZTH`JH\ZL[OLTPJYVJVU[YVSSLY[VKL[LJ[HZOVY[JPYJ\P[HUK[O\ZZ[VW
[OLTV[VY;OLÄS[LY^PSSZTVV[OV\[HU`
]VS[HNLZWPRLZ0UHKKP[PVUHUHSNVYP[OT
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VMM[OLHMMLJ[LKJOHUULS
L_V[PJ JVTWVULU[Z [V ZV\YJL ^P[O [OL
WVZZPISLL_JLW[PVUVM[OLJSPWVUOLH[ZPUR
·I\[[OLU[OH[»ZH]HPSHISLMYVT4V\ZLY
;OYV\NOOVSLJVTWVULU[ZHYL\ZLKPU[OL
WYVQLJ[ [V ZPTWSPM` JVUZ[Y\J[PVU HUK HSS
JVTWVULU[ZHYLLHZ`[VVI[HPUHZ^LSSHZ
*VUZ[Y\J[PVU
.VVK UL^Z! [OL WYVQLJ[ KVLZ UV[ OH]L
Table 1. Driver options chart
Motor header function
Output
Motor 1
μC Pin
Header pin
Motor 2
RB3
RB2
RB1
RB0
RB7
RB6
RB5
RB4
2
3
4
5
2
3
4
5
Mode
Each output
drives a motor phase
Stepper driver
DC motor driver (1)
Servo driver (2)
(3)
P(4)
P(4)
Each
output drives a motor phase
(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
41
C13
R14
C2
K1
IC5
15
D9
C19
D12
D3
1
C1
C17
IC4
C16
15
IC2
C5
D15
R13
R10
R5
R1
C18
R9
D6
1
C20
C14
R2
R11
D14
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ZOV\SK IL [LZ[LK MVY JVYYLJ[ VWLYH[PVU
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VMMHUKPUZLY[[OLWYVNYHTTLKTPJYVJVU[YVSSLYHUK[OLYLZ[VM[OL0*Z;OLTPJYVJVU[YVSSLYJHUILWYVNYHTTLKPUJPYJ\P[
\ZPUNJVUULJ[VY2
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ILJYVZZLKILMVYLILPUNJVUULJ[LK[V[OL
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NVPUN[VIL\ZLK[OLZPNUHSZHYLJYVZZLK
V]LYVU[OLIVHYKP[ZLSM
R7
R8
C23
C8
C21
C4
IC1
IC3
C6
+Y`[LZ[PUN
D16
C15
R6
IC6
R12
R15
D13
C22
C3
C9
C7
R4
R3
C12
C10
5
K3
1
K2
K4
9
C11
6
R16
R17
TV\U[VU[OL7*)VMÔPJO[OLJVTWVULU[V]LYSH`PZZOVÛPU-PN\YL
;OLYL»ZSP[[SL[VZH`VU[OLJVTWVULU[Z
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ZVSKLYLK[V[OL7*)
D10
D8
D7
D4
D2
D1
D11
K9
K10
K5
D5
K8
K7
K6
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;OLILZ[^H`[VM\SS`[LZ[[OLIVHYKPZ[V
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-PN\YLPUVYKLY[V[LZ[[OLIVHYK<ZL[OL
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42
Figure 2. Component mounting plan of the PCB designed for Motobox. The copper track layout is a
free download from the Elektor website.
HULYYVULV\ZJVTTHUK;OLJVTTHUK
I\MMLYPZJSLHYLKHUK[OLIVHYK^HP[ZMVY
HUL^JVTTHUK;OL3,+Z^PSS[\YUSPNO[
\WÔLU[OLZ`Z[LTPZ^VYRPUNJVYYLJ[S`
HUKYLKÔLU[OLTV[VYKYP]LYOHZILLU
[\YULKVMM
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
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TV[VYJVTTHUKZHYLZ\IQLJ[[VHKLSH`
KLMH\S[TZZV[OLJVTTHUK^PSSIL
HJRUV^SLKNLKHM[LY[OLZ[LWWLYTV[VYOHZ
ILLUHJ[\H[LK:LUKPUNHJVTTHUK^P[OPU
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^PSSILUV[L_LJ\[LK;OL[`WLVMTV[VYPU
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6]LYSVHKPUNZWPRLZZ\YNLZ¯
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ZVM[^HYLZLJ[PVU^PSSJVU[PU\V\ZS`TVUP[VY[OLJ\YYLU[JVUZ\TLK;OLIVHYK^PSS
Z^P[JOVMM[OLTV[VYZPM[OLJ\YYLU[JVUZ\TW[PVUL_JLLKZ[OLZWLJPÄJH[PVUZMVY[OL
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:PTWSLÄS[LYPUN[HRLZWSHJLZV[OH[[OL
JVU[YVSSLY^PSSUV[Z^P[JOVMM[OLTV[VYZ
H[ºQ\Z[HU`»J\YYLU[ZWPRL9HWPKVUHUK
COMPONENTS LIST
Resistors
R1-R4,R6,R7 = 10k7
R5,R8,R15 = 4k77
R9,R10 = 0.227 5W
R11,R13 = 3307
R12,R14 = 4707
R16 = 5k76
R17 = 1k75
:[LWWLYTV[VYJVTTHUKZHSSV^[OLZWPUKSL[VIL[\YULKJ^JSVJR^PZLHUKJJ^
JV\U[LYJSVJR^PZLI`HU\TILYVMZ[LWZ
TH_PT\T
Z[LWZ>OLU[OPZJVTTHUK
PZ ZLSLJ[LKHKPNP[U\TILYT\Z[WYV]PKLKMVYL_HTWSL[VTV]LZ[LWZ
Capacitors
C1 = 100μF 40V radial
C2-C5,C10,C11,C13,C15-C19,C21 = 100nF
C6-C9 = 1μF 25V radial
C12,C14 = 220nF
C23 = 100nF
18
DC1OFF
DC motor 1 OFF
19
DCBFOR
DC both motors cw
20
DCBBAK
DC both motors ccw
Semiconductors
21
DCBOFF
DC both motor OFF
22
SV2FOR
Servo 1 cw
Servo 1 ccw
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.
23
SV2BAK
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
43
Power supply
Power supply
Power supply
2
3
2
3
1
Serial
input
2
Serial
input
Motor
Board
Serial
input
Motor
Board
M
Motor
Board
M
4
4
5
5
6
M
3
070129 - 12
Figure 3. How to connect up your motors.
VMM Z^P[JOPUN VM +* TV[VYZ ^PSS JH\ZL
SHYNL J\YYLU[ ZWPRLZ ÔPJO TH` JH\ZL
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YLZ\TLTV[VYVWLYH[PVUZ(NYHJLWLYPVK
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ILZLU[HUK[Y`[VNL[[OLTV[VY\UZ[\JR
MYVTP[ZJ\YYLU[WVZP[PVU
Author’s websites and email address
http://telecomms.no-ip.org
www.mcast.edu.mt
:VM[^HYL
jozamm@gmail.com
;OL ZV\YJL JVKL HUK OL_ JVKL MVY [OL
70*-(PZH]HPSHISLHZHMYLLKVÛSVHKMYVT[OL,SLR[VY,SLJ[YVUPJZ^LIZP[L
;OL MPSL U\TILY PZ aPW 1\S`
(\N\Z[
Web links
www.microchip.com
www.st.com/stonline/products/literature/
ds/1773.pdf
(070129-I)
12 V Bidirectional Motor Control
Stefan Brandstetter
44
TR1
R1
D2
R3
T2
150 7
T1
150 7
D1
R9
1k
C2
D4
D3
1M
4x 1N5401
BC327
1000M
40V
T5
2k2
D5
1W
R5
BC327
T6
D6
2k2
150 7
T3
T4
BAT42
R4
BAT42
T1, T2 = BDW93C; BD901; BD679
T3, T4 = BDW94C; BD902; BD680
;; HUK;;;YHUZPZ[VYZ; HUK;
[VNL[OLY^P[OYLZPZ[VYZ9HUK9WYV]PKL
1W
R6
150 7
R2
P1.B
R8
0747
R7
150 7
P1.A
C1
0747
18V
1A5
150 7
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JVUMPN\YH[PVUPZTHKL\W^P[O[YHUZPZ[VYZ
070104 - 11
[OLJ\YYLU[ZLUZLHUKSPTP[PUNTLJOHUPZT
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HUK[OLTV[VYPZZ[H[PVUHY`(Z[OLWV[PZ
YV[H[LK[OLWV[LU[PHSKPMMLYLUJLHJYVZZ[OL
TV[VYPUJYLHZLZHUKP[Y\UZMHZ[LY;OL]VS[HNLKYVWHJYVZZ+HUK+PZLX\HS[V
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[YHUZPZ[VYZHUKLUZ\YLZ[OH[[OLTV[VYKVLZ
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N\YH[PVU4V[VYZWLLKJVU[YVSHUKKPYLJ[PVUPZJVU[YVSSLKI`H[^PUNHUNLKSPULHY
WV[ 7 ;OL [^V [YHJRZ VM 7 [VNL[OLY
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[OL[YHJRLUKZHYLYL]LYZLKZV[OH[HZ[OL
WV[ PZ [\YULK [OL V\[W\[ ]VS[HNL VM VUL
WV[LU[PHSKP]PKLYPUJYLHZLZÔPSL[OLV[OLY
KLJYLHZLZHUK]PJL]LYZH0U[OLTPK^H`
WVZP[PVUIV[OKP]PKLYZHYLH[[OLZHTL]VS-
(070104-I)
zBot: 10-A Power Stage for DC Motor
HIV\[ T£ VUS` :\JO H MH[HS LYYVY
^V\SK KLZ[YV` [OL 46:-,;Z ;OL SVNPJ
M\UJ[PVUZJVUÄN\YLKOLYLLMMLJ[P]LS`H]VPK
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7>4 [OL ZWLLK HUK :;67 IYHRLZ [OL
TV[VY
;OLZVM[^HYLTVK\SLMVY[OL+*TV[VYPZ
JHSSLKdcm.c
0U JHZL VM H ZVM[^HYL JYHZO P[
JV\SKOHWWLU[OH[[^VVYL
TVYL46:-,;ZHYL
Z^P[JOLKVU
PUJVY-
(070172-I)
Jens
Altenburg
YLJ[S`
MVYL_HTWSL;HUK;0U[OH[JHZL[OL
J\YYLU[[OYV\NO[OL[YHUZPZ[VYZPZSPTP[LK
I`[OLPU[LYUHSYLZPZ[VYZVM[OL46:-,;Z
[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).
U+
C11
IC7
IC8
7
7
R18
RFP30P06
T4
IC7.A
STOP
1
2
3
&
RFP30P06
D2
D1
T5
T3
R15
10k
IC7 = 74HCT00
IC8 = 74HCT125
R17
10k
14
10k
14
IC7.D
T6
1N4001
R18
10k
1N4001
BC337
12
11
&
13
BC337
M
BUK101
IC8
T7
D5
D6
T8
BUK101
3
EN
1
IC8
6
R14
1N4001
1N4001
5
EN
R21
10k
2
10k
0M`V\SVVRH[[OLJOHZZPZVM[OLa)V[]LOPJSL`V\»SSÄUK[^VWHY[ZYLX\PYPUNPU[LSSPNLU[JVU[YVS![OLZ[LLYPUNZLY]VHUK[OL
+*TV[VY
;OLZVJHSSLK/IYPKNLPZ[OLUVYTHSJPYJ\P[
MVYLSLJ[YVUPJJVU[YVSVMYL]VS\[PVUZWLLK
HUKKPYLJ[PVU;OL+*TV[VYVMH;HTP`H
JHYPZWV^LYM\SLUV\NO[VWYVWLSa)V[H[
\W[VTPSLZWLYOV\Y;OLTV[VY[OLU
JVUZ\TLZTVYL[OHU(ZV^LJOVVZL
OPNOJ\YYLU[WV^LY46:-,;ZMVY[OLKYP]LY
Z[HNL;OLYLHYLSV[ZVMKPMMLYLU[KL]PJLZ[V
JOVVZLMYVT
;OL46:-,;^LYLX\PYLOHZ[VZ\WWS`[OL
TH_PT\TTV[VYJ\YYLU[HUKPTWVY[HU[S`
P[OHZ[VILZ^P[JOLK^P[ONH[L]VS[HNLZVM
HIV\[=0U[OPZJHZL[OLTPJYVJVU[YVSSLYZ^P[JOLZ[OLWV^LYZ[HNLºSV^ZPKL»
KPYLJ[S`-VYOPNOZPKLKYP]PUNSL]LSZOPM[LYZ
HYLULJLZZHY`
;OLZJOLTH[PJVM[OL/IYPKNLWV^LYZ[HNL
ZOV^ZHML^PU]LY[LYZ5(5+NH[LZHUK
[^V[YPZ[H[LHISLKYP]LYZ;OLZLSVNPJM\UJ[PVUZHYL]LY`PTWVY[HU[HZ[OLLHZPLY^H`
PLKPYLJ[S`JVU[YVSSPUNHSSMV\Y46:-,;
OHZHMH[HSKPZHK]HU[HNL
4
IC7.C
PWR
9
10
&
8
IC7.B
DIR
4
5
&
6
070172 - 11
45
Complete Stepper Motor Driver
+5V
R6
20
10M
16V
RST
9
IC2
13
14
15
DS
T0/P3.4
P1.7
P1.1/IN–
P1.6
P1.2
P1.5
P1.3
P1.4
19
1
18
2
17
3
16
4
5
AT89C2051
12
P1.0/IN+
RXD/P3.0
TXD/P3.1
9
11
INT0/P3.2
T1/P3.5
INT1/P3.3
P3.7
X1
X0
5
4
10
2
6
3
7
6
I1
O1
I2
O2
IC3
I3
O3
I4
I5
I6
O4
ULN2003
I7
O5
O6
O7
16
15
14
M1
M
13
12
11
10
GND
7
R8
8
M1 = 5V Stepper Motor
R9
Table 1
Step angle
(degrees)
10k
8
10k
1
R7
10k
C5
10k
R5
10k
R4
10k
10k
R3
10k
R2
X1
S2
S3
S4
R1
C4
8k2
S1
IC1
33p
HALF
STEP
FULL
STEP
RIGHT
C3
12MHz
+9V
33p
7805
+5V
LEFT
C1
C2
47M
16V
100n
070228 - 11
Hesam Moshiri
>P[O[OPZJPYJ\P[`V\JHUTHRLHZ[LWWLY
TV[VYKVQ\Z[HIV\[HU`[OPUNP[^PSSULLK
[VKVPUYVIV[PJZHWWSPJH[PVU!YV[H[PVU[V
[OLSLM[VYYPNO[PUM\SSZ[LWVYOHSMZ[LW
TVKL
:[LWWLYTV[VYZJVU]LY[LSLJ[YPJHSW\SZLZ
PU[VTLJOHUPJHSTV]LTLU[0UHWWSPJH[PVUZSPRLOHYKKPZRZWYPU[LYZHUKWOV[VJVWPLYZ [V TLU[PVU I\[ H ML^ Z[LWWLY
TV[VYZHYL\ZLKMVYYV[H[PVUHUKVYHJJ\YH[LWVZP[PVUJVU[YVSVMTLJOHUPJHSHZZLT-
ISPLZ,]LY`Z[LWWLYTV[VYOHZVULWLYTHULU[S`THNUL[PJH_SLJHSSLK[OLrotor;OPZ
PZZ\YYV\UKLKI`HÄ_LKWHY[JHSSLK[OL
stator<Z\HSS`Z[LWWLYTV[VYZOH]LMV\Y
Z[H[VY^PYLZ^P[O[^VVYVULJVTTVU^PYL
ÔPJOPZUVYTHSS`JVUULJ[LK[V[OLWVZP[P]LZ\WWS`]VS[HNL
)` HWWS`PUN H JVU[YVSSLK ZLX\LUJL VM
W\SZLZ[V[OLPUKP]PK\HSZ[H[VY^PUKPUNZ
[OLYV[VY^PSSZ[HY[[VYV[H[L:[LWWLYTV[VYZ
TH`KPMMLYPUZPaLZOHWLWV^LYZ\WWS`
]VS[HNL JVZ[ HJJ\YHJ` HUK ZV VU I\[
Steps per
revolution
0.72
500
1.8
200
2.0
180
2.5
144
5.0
72
7.5
48
15
24
PTWVY[HU[S`PU[OLU\TILYVMZ[LWZ[OH[
THRL\WVULJVTWSL[LZWPUKSLYL]VS\[PVU
;OPZ WYVWLY[` HSZV KL[LYTPULK [OL Z[LW
HUNSLHZZOVÛPU;HISL
-VYL_HTWSLMVYHTV[VYZWLJPÄLKHZOH]PUNHKLNYLLHUNSL$
W\SZLZMVYHJVTWSL[LZWPUKSLYL]VS\[PVU
;^VW\SZPUNZJOLTLZHYLH]HPSHISL[VKYP]L
[OLTV[VY!ºM\SSZ[LW»VYºOHSMZ[LW»;OL[^V
TVKLZ HYL Z\TTHYPaLK PU ;HISL HUK
;HISLYLZWLJ[P]LS`
(WWS`PUNOHSMZ[LWW\SZLZ[V[OLTV[VY^PSS
PUJYLHZL[OLHJJ\YHJ`H[ÔPJO[OLZWPU-
Table 2. Full-step mode.
Rotation to the right
(cw)
§
Step
Winding A
Winding B
Winding C
Winding D
1
1
0
0
0
2
0
1
0
0
3
0
0
1
0
4
0
0
0
1
Step
Winding A
Winding B
Winding C
Winding D
1
1
0
0
0
2
1
1
0
0
3
0
1
0
0
4
0
1
1
0
5
0
0
1
0
6
0
0
1
1
7
0
0
0
1
8
1
0
0
1
Rotation to the left
(ccw)
£
Table 3. Half-step mode.
Rotation to the right
(cw)
§
46
Rotation to the left
(ccw)
£
WPUZVU[OL<35;OL<35JHU
Z\WWS`\W[VT(VULHJOV\[W\[WPU
5V[L[OH[H=Z[LWWLYTV[VYPZ\ZLKPU
[OPZJPYJ\P[
;OLZV\YJLJVKLÄSLHUK[OLÄYT^HYLOL_
MPSL MVY [OL (; TPJYV TH` IL KVÛSVHKLK MYLL VM JOHYNL MYVT [OL ,SLR[VY
^LIZP[LHZHYJOP]L
aPW
(M[LYJVUZ[Y\J[PUN`V\YJPYJ\P[WV^LYP[
\W7YLZZ[OL-\SS:[LWVY/HSM:[LWI\[[VU
;OLUWYLZZ3LM[VY9PNO[HUK`V\^PSSZLL
`V\YTV[VYZ[HY[[VYV[H[L\ZPUN[OLTVKL
ZLSLJ[LK@V\JHUJOHUNLIL[^LLUM\SSHUK
OHSMZ[LWH[HU`[PTL
(SS[OPZPZIHZLKVU[OLHZZ\TW[PVU[OH[
`V\OH]L^PYLK\W`V\YTV[VYJVYYLJ[S`
KSLJHUIL[\YULK0U[OLJHZLVMV\Y
KLNYLLHUNSLTV[VYOHSMZ[LWKYP]PUN[OLU
YLX\PYLZZ[LWZWLYYL]VS\[PVU
(UV[OLYPTWVY[HU[HK]HU[HNLVMOHSMZ[LW
W\SZPUNPZTVYLTV[VYWV^LYÔPJO\Z\HSS`[YHUZSH[LZPUTVYL[VYX\L
;OLJPYJ\P[VM[OLTV[VYKYP]LYPZKLZPNULK
HYV\UK HU ([TLS TPJYVJVU[YVSSLY [`WL
(; *[PJRPUNH[4/aHUKVUL
OPNO]VS[HNLOPNOJ\YYLU[+HYSPUN[VU[YHUZPZ[VYHYYH`[`WL<35
;OLTV[VYKYP]LW\SZLZNLULYH[LKI`[OL
TPJYVJVU[YVSSLY\UKLYÄYT^HYLJVU[YVSHYL
MLK[V[OL<35]PHMV\YWVY[SPULZ7
[OYV\NO7;OLTV[VY»ZZ[H[VY^PUKPUNZ
HYLJVUULJ[LK[V[OLJVYYLZWVUKPUNV\[W\[
;OL(; ZV\YJLJVKLJVU[HPUZHU\TILY
VMKPYLJ[PVUZ[VOLSW`V\ºJOHUNL^PYLZ»
PUZVM[^HYLYH[OLY[OHUI`ZVSKLYPUNHUK
NL[[PUN JVUM\ZLK I` [OL KPMMLYLU[ ^PYL
JVSV\YZ
0UWYHJ[PJL`V\^PSSUV[PJL[OH[M\SSZ[LW
TVKL`PLSKZOPNOLYZWPUKSLZWLLK^P[OSV^
TV[VY[VYX\LÔLYLHZOHSMZ[LWTVKLPZ
NVVKMVYPUJYLHZLK[VYX\LHUKHJJ\YHJ`
H[[OLJVZ[VMZWLLK;OH[PZÔ`Z[LWWLY
TV[VYZWV^LYPUNÔLLSZL[JHYLJVU[YVSSLK
Z\JO[OH[[OL`Z[HY[HUKLUK[OLPYVWLYH[PVU
PUOHSMZ[LWTVKL^P[OM\SSZ[LWTVKLPU
IL[^LLU[VHJOPL]LTH_PT\TZWLLK
(070228-I)
Controlling Servos
Using a PIC
programmed in
Basic, a Basic
Stamp or a Cubloc
>L^VU»[PUZ\S[`V\I`[LSSPUN`V\ÔH[
HZLY]VPZSPRLZPUJLL]LUPM`V\HYLU»[H
YHKPVJVU[YVSLU[O\ZPHZ[`V\»YLIV\UK[V
1
1.5 ms
centred
C. Tavernier
;OYV\NOYVIV[PJZYHKPVJVU[YVSZLY]VZ
HYLJ\YYLU[S`L_WLYPLUJPUNHUL^SLHZL
VMSPML[OHURZ[V[OLPYJOHYHJ[LYPZ[PJZ
ÔPJOHS[OV\NOUV[VYPNPUHSS`KLZPNULK
MVYZ\JOHWWSPJH[PVUZ[\YUV\[PUMHJ[[V
IL^LSSZ\P[LK[VP[
*\YYLU[YHKPVJVU[YVSZLY]VZHYL]LY`
JVTWHJ[ILHYPUNPUTPUK[OL`JVU[HPU
UV[VUS`[OLPYVÛTLJOHUPZTI\[HSZV
KLKPJH[LKKYP]LLSLJ[YVUPJZÔPJOVUS`
ULLKZPTWSL;;3VY*46:SVNPJZPNUHSZ
HZHUPUW\[;OLWV^LY[OL`HYLHISL
[VZ\WWS`JHUILX\P[LJVUZPKLYHISLMVY
[OLTVZ[WV^LYM\SVM[OLTVYPNPUHSS`
PU[LUKLK MVY ºSHYNL» TVKLS WSHULZ VY
IVH[Z"HUKSHZ[S`[OL`HYL\Z\HSS`Z\WWSPLK^P[OHOVZ[VMHJJLZZVYPLZZ\JO
HZJYHURHYTZWLYMVYH[LKÔLLSZL[J
THRPUNP[LHZPLY[VPU[LYMHJL[OLT^P[O
[OLLSLTLU[Z[VILVWLYH[LK
;OLYLHYLJ\YYLU[S`[^VM\UKHTLU[HS
^H`ZVM\ZPUNHZLY]VPUHYVIV[;OL
ÄYZ[KLZJYPILKLSZLÔLYLPU[OPZPZZ\L
JVUZPZ[ZVMJVU]LY[PUN[OLZLY]VPU[VH
WYVW\SZPVUTV[VY ÔPJO HKTP[[LKS`
PZYH[OLY[HRPUNP[H^H`MYVTP[ZVYPNPUHSM\UJ[PVU;OLZLJVUKÔPJO^L»YL
NVPUN[VILSVVRPUNH[OLYLPU]VS]LZ
P[Z\ZLMVYWVZP[PVUPUN>OL[OLYPUHU
HYTVY[V[\YUHWSH[MVYTJHYY`PUNH
JHTLYHH[LSLTL[LYVYHU`V[OLY\UP[
V\YZLY]VPZPKLHSMVY[OPZ
10 ... 20 ms
1 ms
- 45 n
10 ... 20 ms
2 ms
+45 n
10 ... 20 ms
070238 - 11
2
Basic Stamp
or
Cubloc
+5VServo
P0 (Stamp)
red
white, yellow
servo
P5 (Cubloc)
VSS
black
070238- 12
OH]LJVTLHJYVZZ[OLTILMVYL/V^L]LY
OLYLHYLQ\Z[HML^WPLJLZVMPUMVYTH[PVU
[OH[P[»ZPTWVY[HU[[VILH^HYLVMZVHZ[V
ILHISL[VTHRL\ZLVM[OLT
0ULSLJ[YPJHS[LYTZHZLY]VOHZQ\Z[[OYLL
JVSV\YJVKLK^PYLZ;OLYLKHUKISHJR
^PYLZHYLMVYWV^LYPUNP[H[IL[^LLU
HUK=;OL[OPYK^PYL`LSSV^VYÔP[L
VYPUWYHJ[PJLHU`JVSV\YV[OLY[OHUYLK
VYISHJRPZ\ZLK[VJVU]L`JVTTHUKZ
[V[OLZLY]VPU[OLMVYTVMW\SZL^PK[O
TVK\SH[LK7>4ZPNUHSZ
-PN\YL PSS\Z[YH[LZ IV[O [OL JVKPUNWYPUJPWSLVM[OLZLW\SZLZHUK[OL
LMMLJ[[OLÒH]LVU[OLWVZP[PVUVM[OL
ZLY]V5V[LÄYZ[VMHSS[OH[[OL`T\Z[
ILYLWLH[LKH[Z\JOHYH[L[OH[[OLYL
PZUV[TVYL[OHU¶TZZLWHYH[PVU
IL[^LLU[^VZ\JJLZZP]LW\SZLZ
0U[OLVY`[OPZYLWL[P[PVUPZUV[HIZVS\[LS`]P[HS"I\[^P[OP[[OLZLY]V^PSS
IL HISL [V THPU[HPU [OL WVZP[PVU ZL[
I`[OL^PK[OVM[OLW\SZLZYLJLP]LK
0M[OLW\SZLZKVUV[YLWLH[[OLZLY]V
^PSSPUKLLKNV[V[OLWVZP[PVUKPJ[H[LK
I`[OLSHZ[W\SZLYLJLP]LKI\[HZZVVU
HZ[OH[Z[VWZ[OLZSPNO[LZ[MVYJLVUP[Z
ZOHM[^PSSJH\ZLP[[VSVZL[OLWVZP[PVU
H[[HPULK
5V[PJLMYVT[OLÄN\YL!
•HTZW\SZLWSHJLZ[OLZLY]VPUP[Z
WVZP[PVUYLMLYYLK[VHZJLU[YLKVYYLZ["
•HTZW\SZLTHRLZ[OLZLY]V[\YU[V
P[ZTH_PT\THU[PJSVJR^PZLWVZP[PVU
ÔPJO\Z\HSS`YLWYLZLU[ZHUHUNSLVM
^P[OYLZWLJ[[VP[ZYLZ[WVZP[PVU"
•HTZW\SZLTHRLZ[OLZLY]V[\YU[V
P[ZTH_PT\TJSVJR^PZLWVZP[PVUÔPJO
[VV\Z\HSS`YLWYLZLU[ZHUHUNSLVM
^P[OYLZWLJ[[VP[ZYLZ[WVZP[PVU
47
0U[LYTLKPH[L WVZP[PVUZ JHU IL VI[HPULK
I`]HY`PUN[OLW\SZL^PK[OIL[^LLUTZ
HUKTZ-VY\ZLPUYVIV[PJZP[PZL]LU
WVZZPISL[VNVM\Y[OLYHUKHWWS`W\SZLZH
SP[[SLZOVY[LY[OHUTZVYHSP[[SLSVUNLY
[OHUTZ[V[OLZLY]V[OLYLI`HJOPL]PUN
H[V[HSHUNSLVMYV[H[PVUVM)\[^H[JO
V\[([[OPZWVPU[^LOH]LNVULV\[ZPKL
[OLZWLJPÄJH[PVUZMVY[OLZLY]VÔPJOPZPU
KHUNLYVMQHTTPUNPU[OLZLL_[YLTLWVZP[PVUZKLZ[YV`PUNP[ZTV[VYP[ZLSLJ[YVUPJZ
·VYPM`V\»YLS\JRÌV[OH[VUJL
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
*VUULJ[PUNHZLY]V[VHTPJYVJVU[YVSSLY
)HZPJ:[HTW70**\ISVJPZ]LY`ZPTWSL
HZZOVÛPU-PN\YL;OLVUS`WVPU[[V
^H[JOV\[MVYPZ[OLZLY]VWV^LYZ\WWS`
.P]LU[OLYLSH[P]LSÒPNOJ\YYLU[KYHÛI`
[OLZLY]VÔLUP[[\YUZP[»ZILZ[[VZ\WWS`P[VMMHZLWHYH[L]VS[HNLYHPSMYVT[OL
TPJYVJVU[YVSSLY>OLYL[OPZPZUV[WVZZPISL
`V\ULLK[VLUZ\YLL_JLSSLU[KLJV\WSPUN
IL[^LLU[OLT·MVYL_HTWSLI`Z\WWS`PUN[OLZLY]VHUK[OLTPJYVJVU[YVSSLY]PH
[^VZLWHYH[LYLN\SH[VYZ
(ZMHYHZ[OLZVM[^HYLPZJVUJLYULKJVU[YVSSPUNHZLY]V\ZPUNH)HZPJ:[HTWVYH
70*WYVNYHTTLKPU)HZPJYLX\PYLZVUS`H
]LY`ML^SPULZVMWYVNYHT0UMHJ[HSS[OH[»Z
ULLKLKPZ[VJHSS\W[OL[^VPUZ[Y\J[PVUZ
7<3:6<;HUK7(<:,
/LYLI`^H`VMHUL_HTWSLPZHWYVNYHT
[OH[ THRLZ H ZLY]V [\YU ZSV^S` MYVT P[Z
L_[YLTLWVZP[PVUVUVULZPKL[VP[ZL_[YLTL
WVZP[PVUVU[OLV[OLYZPKLHUKZVVU0U
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
[OPZ^H`P[JHUMVYL_HTWSLTV]LHZLUZVYPUVULWSHULV]LYH[V[HSHTWSP[\KLVM
ZLL3PZ[PUN
;OLPUZ[Y\J[PVU7<3:6<;NLULYH[LZW\SZLZ
^P[OH]HYPHISLK\YH[PVUMYVTôZ
[VôZKLWLUKPUNVU[OLJOHUNPUN]HS\LVM[OLSVVW]HYPHISLIÔPSL
[OLZWHJPUNIL[^LLU[OLZLW\SZLZPZZL[H[
TZI`TLHUZVM[OLPUZ[Y\J[PVU7(<:,
;OPZ WYVNYHT PZ ^YP[[LU OLYL PU )HZPJ
:[HTW0SHUN\HNLI\[[YHUZWVZPUNP[MVY
)HZPJ:[HTW00VYMVY\ZL^P[OH70*WYVNYHTTLKPU)HZPJVUS`YLX\PYLZTVKPÄJH[PVUVM[OLLUK]HS\LZHUK[OLSVVW]HYPHISLIPUJYLTLU[;OLYLZVS\[PVUVM[OL
PUZ[Y\J[PVU7<3:6<;PZUV^ZPUZ[LHK
VMZZV[OL]HYPV\Z]HS\LZULLK[VIL
T\S[PWSPLKI`
<ZPUNHZLY]V^P[OH*\ISVJMYVT*VTÄSL
;LJOUVSVN`PZQ\Z[HZZPTWSLI\[\ZLZHU
PUZ[Y\J[PVUJHSSLK7>4HZWLY3PZ[PUN
0U[OPZ[`WLVMHWWSPJH[PVU[OLHK]HU[HNL
VM[OL*\ISVJV]LY[OL)HZPJ:[HTWPZ[OH[
[OL7>4JVTTHUKNLULYH[LZ[OLW\SZLZ
PUKLÄUP[LS`L]LUPM[OLWYVNYHTJVU[PU\LZ
VU[VZVTL[OPUNLSZL0U[OLJHZLVM[OL
)HZPJ :[HTW [OL PUZ[Y\J[PVU 7<3:6<;
NLULYH[LZVUS`VULW\SZLHUKZVOHZ[V
IL JHSSLK MYVT H SVVW PU VYKLY [V WYVK\JL[OLTJVU[PU\V\ZS`WYL]LU[PUN[OL
)HZPJ:[HTWMYVTKVPUNHU`[OPUNLSZL0M
`V\KVU»[^HU[[V\ZLH*\ISVJHUV[OLY
ZVS\[PVUJVUZPZ[ZPU\ZPUNHZWLJPHSPaLK0*
SPRL[OL40*MYVT4PJ[YVUPJZ^^^
TPJ[YVUPJZJVTÔPJOJHUJVU[YVS\W[V
ZLY]VZZPT\S[HULV\ZS`PUHZ[HUKHSVUL
THUULYPMULJLZZHY`YLMLY[V[OL,SLR[VY
:\TTLY*PYJ\P[ZLKP[PVU
(070238-I)
PIC12C508 Stepper Motor Controller
C. Tavernier
1
www.tavernier-c.com
48
IC2
+U
7805
C2
C1
C3
C4
47M
16V
10n
220n
470M
25V
IC1
R1
1
10k
>OLU ^L»YL UV[ \ZPUN H Z[LWWLY
TV[VY[VLUZ\YLWYLJPZLWVZP[PVUPUNVM
HYVIV[LSLTLU[P[JHUIL\ZLKHZH
[YHJ[PVUTV[VYPUWSHJLVM[OLZ[HUKHYKTVKPÄLKZLY]VZWYLZLU[LKLSZLÔLYLPU[OPZPZZ\L<UKLY[OLZLJVUKP[PVUZ[OLYL»ZUVSVUNLYHUÙLLK
[VºJV\U[[OLZ[LWZ»[OLTV[VYOHZ[V
THRLHZHSS^L^HU[PZ[VTHRLP[
YV[H[LJVU[PU\V\ZS`PUVULKPYLJ[PVU
VY[OLV[OLY
:L]LYHSZVS\[PVUZHYLVWLU[V\ZMVY
KYP]PUN[OLTV[VYHU\TILYVMÔPJO
HYL WYLZLU[LK PU [OPZ PZZ\L! \ZPUN
H ZWLJPHSPaLK Z[LWWLY TV[VY KYP]LY
0*\ZPUNVULVYTVYLZ\P[HIS`WYVNYHTTLK TPJYVJVU[YVSSLY WHYHSSLSWVY[ZVYI\PSKPUNHKYP]LYIHZLK
HYV\UKJVU]LU[PVUHSSVNPJ0*Z
GP0
GP1
L
R
5
4
7
GP0
6
GP1
GP2/T0CK
GP3/MCLR
GP4/OSC2
GP5/OSC1
8
3
GP4
2
GP5
12C508
070302 - 11
/V^L]LY[OLZLZVS\[PVUZHYLMHYMYVT
ZH[PZMHJ[VY` ÔLU \ZPUN H Z[LWWLY
TV[VYMVY[YHJ[PVU;OL`HSSYLX\PYL
W\SZLZ[VILNLULYH[LKJVU[PU\V\ZS`
MVYHZSVUNHZ^L^HU[[OLTV[VY[V
Y\U LP[OLY YLX\PYPUN HU HKKP[PVUHS
WYVNYHTTHISL VZJPSSH[VY VY \ZPUN
\WYLZV\YJLZMYVT[OLYVIV[»ZTHPU
TPJYVJVU[YVSSLY
:V^L»]LKLJPKLK[VZ\NNLZ[HUV[OLY
HWWYVHJO ^P[O [OPZ Z[LWWLY TV[VY
KYP]LYZWLJPÄJHSS`KLZPNULKMVYTHRPUN[OLTV[VY[\YUPUVULKPYLJ[PVUVY
HUV[OLY\UKLY[OLJVU[YVSVMHZPTWSLSVNPJSL]LS(UKHZ[OLWYVW\SZPVUTV[VYZPUYVIV[Z\Z\HSS`NVPU
WHPYZ^L»YLL]LUNVPUN[VVMMLYHK\HS
KYP]LYI`KP]LY[PUNH]LY`JVTTVU
HUKPUL_WLUZP]L0*MYVTP[ZVYPNPUHS
M\UJ[PVU
:PUJLHZ[LWWLYTV[VY\ZLKMVYWYVW\SZPVUKVLZU»[ULLK[VILHJJ\YH[L
PU[LYTZVMWVZP[PVUPUNHUKOLUJL
2
+U
PU[OLWYLJPZPVUVM[OLZ[LWZZPTWSL
ZPUNSLWVSL TVKLSZ HYL LTPULU[S`
Z\P[HISL:VV\YJPYJ\P[PZKLZPNULK
D8
MVYTV[VYZVM[OPZ[`WL
BD679
T4
;OPZ SL[Z \Z JVU[YVS [OL TV[VY ]PH
R1
1k
GP0
[^V ;;3 VY *46:JVTWH[PISL
D1
SVNPJPUW\[Z>OLU[OLZL[^VPUW\[Z
SHILSSLK3HUK9HYLSVNPJOPNOVY
D2
R2
1k
GP1
ÅVH[PUN[OLÒH]L[OLPYVÛW\SS\W
D7
T3
YLZPZ[VYZ[OLTV[VYZ[H`ZZ[PSSI\[
BD679
PUIYHRLKTVKLZPUJLP[»ZHZ[LWWLY
TV[VY >OLU [OL 3 PUW\[ PZ [HRLU
L2
L1
[V SVNPJ SV^ [OL TV[VY YV[H[LZ PU
+U M
VULKPYLJ[PVUHYIP[YHYPS`[V[OLSLM[
D1...D8 = 1N4004
M1
M
ÔLUJL[OLSHILS3ÔPSLPM[OL9
L3
L4
PUW\[PZ[HRLUSV^P[[\YUZ[OLV[OLY
^H` 0M IV[O PUW\[Z HYL [HRLU [V
D6
BD679
NYV\UKH[[OLZHTL[PTL[OL9PUW\[
T2
R3
OHZWYPVYP[`HUKZV[OLTV[VY[\YUZ
1k
GP4
PU[OH[KPYLJ[PVU
D3
;OL TV[VY»Z ZWLLK VM YV[H[PVU PZ
D4
R4
Ä_LKI\[ZPUJL^LHYLNP]PUN`V\
1k
GP5
[OL ZV\YJL SPZ[PUN VM [OL ZVM[^HYL
D5
T1
BD679
\ZLK MVY [OPZ HWWSPJH[PVU P[»Z ]LY`
LHZ` MVY `V\ [V TVKPM` [OPZ PM P[
KVLZU»[Z\P[`V\VYPUKLLKL]LU[V
PUJS\KL [OL WVZZPIPSP[` VM L_[LYUHS
070302 - 12
HKQ\Z[TLU[PMULJLZZHY`
;OLJPYJ\P[VM[OLºPU[LSSPNLU[»WHY[VM
V\YJVU[YVSSLYPZZOVÛPU-PN\YLHZ`V\
JHUZLLP[\ZLZH70**TPJYVJVU[YVSTable 1. Programming step duration
SLYMYVT4PJYVJOPW<ZLKOLYLPUPU[LYUHS
by modifying a constant used in the
program.
JSVJRHUKYLZL[JPYJ\P[TVKLP[ULLKZUV
L_[LYUHSJVTWVULU[ZMVY[OLZLM\UJ[PVUZ
Binary Step
duration
ZVHSSP[ZWVY[SPULZHYLH]HPSHISL
constant
7HYHSSLSWVY[Z.7HUK.7HYL\ZLKHZ
10010010
1 ms
PUW\[ZHUKHZ.7KVLZUV[OH]LHUPU[LY10010011
2 ms
UHSW\SS\WYLZPZ[VY[OPZPZWLYMVYTLKI`
9 7HYHSSLS WVY[Z .7 .7 .7 HUK
10010100
4 ms
.7HYL\ZLKHZV\[W\[ZMVYNLULYH[PUN
10010101
8 ms
[OLW\SZLZMVY[OLTV[VY^PUKPUNZ;OLZL
10010110
16 ms
JHUILHTWSPÄLKI`[^V[`WLZVMWV^LY
Z[HNLZKLWLUKPUNVU[OL[`WLHUKU\TILY
10010111
32 ms
VMTV[VYZ[VILKYP]LU"^L»SS[HRLHSVVRH[
[OVZLJPYJ\P[ZPUHTVTLU[
;OL*ULLKZ[VILWV^LYLK
MYVT=KLYP]LKMYVT[OLTV[VY
3
+U
Z\WWSÌ`TLHUZVMHJVU]LU[PVUHS
[LYTPUHS]VS[HNLYLN\SH[VY0*
0M[OLJVU[YVSSLYPZVUS`PU[LUKLK
MVYHZPUNSLTV[VYVYPM[OLTV[VY
L2
L1
[V IL KYP]LU KYH^Z TVYL [OHU
10
T(WLY^PUKPUN[OLWV^LY
MA
M
1
18
Z[HNL ZOVÛ PU -PN\YL JHU IL
I1
O1
GP0A
L3
L4
2
17
I2
O2
GP1A
\ZLK 0[ LTWSV`Z JVU]LU[PVUHS
IC1
3
16
I3
O3
GP4A
+U M
IPWVSHY[YHUZPZ[VYZ[OH[NP]LU[OLPY
4
15
I4
O4
GP5A
5
14
JOHYHJ[LYPZ[PJZHYLHISL[VZ^P[JO
I5
O5
GP0B
ULN2803
6
13
I6
O6
GP1B
J\YYLU[Z VM ( +PVKLZ +¶+
7
12
I7
O7
GP4B
L6
L5
JSPW[OLZW\YPV\ZZWPRLZNLULYH[LK
8
11
I8
O8
GP5B
VEE
I` [OL HIY\W[ Z^P[JOPUN VM [OL
MB
M
9
J\YYLU[PU[OLTV[VY^PUKPUNZHUK
L7
L8
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SLZZ [OHU T( HUK TVYL
PTWVY[HU[S`PM`V\ULLK[VKYP]L
[^VTV[VYZVM[OPZ[`WLHULSLNHU[
070302 - 13
HUKPUNLUPV\ZZVS\[PVUL_PZ[ZHZ
ZOVÛPU-PN\YL;OPZ\ZLZHZ[HUKHYK<35\Z\HSS`\ZLK[VKYP]L
YLSH`Z I\[ ÔPJO PUJS\KLZ LPNO[
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[OL]VS[HNLYLX\PYLKKVLZU»[L_JLLK
=HUK[OLJ\YYLU[WLY^PUKPUNPZ
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PU-PN\YLHUKPU[OPZ^H`KYP]L[^V
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;OL 70** ULLKZ [V IL WYVNYHTTLK^P[O[OLÄSL[OH[`V\»SSÄUK
PUVIQLJ[MVYTHZ^LSSHZPUZV\YJL
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JVUZ[Y\J[PVUP[JHUILJVTTVU[V[OLMV\Y
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\ZL[OLZ[HUKHYKPUZ\SH[PUNHJJLZZVYPLZVM
TPJH^HZOLYZHUKZOV\SKLYLK^HZOLYZHZ
[OLJVSSLJ[VYZVM[OLZL[YHUZPZ[VYZHYLJVUULJ[LK[V[OLTL[HSWHY[ZVM[OLPYJHZLZ
0M`V\JVUZ[Y\J[[OL<35IHZLK]LYZPVU[OLYLHYLUVZWLJPHSWYLJH\[PVUZ[VIL
VIZLY]LKV[OLY[OHU[VUV[L_JLLK[OL0*»Z
TH_PT\TJ\YYLU[JHWHJP[`VMT(
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PU[V[OL*`V\»SSILHISL[VTVKPM`
P[[VZ\P[`V\YULLKZ0M`V\HYL\UMHTPSPHY
^P[O70*TPJYVJVU[YVSSLYHZZLTISLY
OLYLHYL[OLKL[HPSZ`V\»SSULLKMVY
[OL TVZ[ PTWVY[HU[ TVKPMPJH[PVU
`V\TPNO[^HU[[VTHRL!JOHUNPUN
[OLZWLLKVM[OLJVU[YVSW\SZLZ[V
[OLTV[VYZHUK[O\Z[OLPYZWLLK
VMYV[H[PVU;OLJVU[YVS^VYKTH`
ILMV\UKPU;HISL
;V KV [OPZ HSS `V\ OH]L [V KV PZ
TVKPM`[OLIPUHY`JVUZ[HU[VU[OL
SPUL!
MOVLW B’10010101’
Q\Z[ HIV]L [OL SPUL JVU[HPUPUN
67;065PU[OLZV\YJLSPZ[PUN>P[O
[OLVYPNPUHS]HS\L[OLK\YH[PVUVM
VUL Z[LW PZ TZ I\[ [OL [HISL
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\ZLHJJVYKPUN[V[OLZ[LWK\YH[PVU
[OH[`V\TH`^HU[
(070302-I)
49
3 Amp PWM DC Motor Controller
Rajkumar Sharma
VCC2
18k
VREF
K1
100n
6
B
GND
4
7
SD
GND
GND
VCC1
0
100u 63V
C9
100n
100n
18k
R7
K3
C6
S1
0
D1
100u 63V
C7
100n
1k5
C5
330
3
C8
VCC2
R2
2
R5
D2
o
nuou s
PU[LYUHS
VWLUJVSSLJ[VY [YHUZPZ[VY
MVY;;3SL]LS7>4V\[W\[
4V]PUNVU[V[OL34+ZSPKLZ^P[JO
:VUOLHKLY:NV]LYUZ[OL+PYLJ[PVU
JVU[YVSPUW\[WPU[VJOHUNL[OLKPYLJ[PVUVM[OLTV[VYMYVTJ^[VJJ^VY]PJL
]LYZH9PZJVUULJ[LK[V[OLYTHSÅHNWPU
;WPU ÔPJOPZUV[\ZLKOLYL;OLM\UJ[PVUTHÌL\ZLK[VÅHNH^HYUPUNÔLU
IC2
C2
1
C1
C4
11
R4
R2
P2
IC1
P1
060339 - 11
GND
GND
1
K1
R7
C7
K3
R5
S1
GND
R6
C6
D1
D2
R1
C9 C5
K2
1 3 2
ti
KHz
• Moto
p s co n
to 35.1
to 3 a m
.16 kHz
1
p
u
m
o
rs
fr
e
s ta ble
• Deliv
y ad ju
ot
q uenc
e
fr
le by p
b
M
• PW
ad ju s ta
ly
s
u
o
u
conti n
• PWM
%
to 10 0
0
cycle
h
• Duty
y switc
ntrol b
tion co
c
e
ir
n
D
•
ctio
d prote
ed loa
• S hort
tdown
a l s hu
• Therm
ents
m po n
M D co
• No S
r
ntrolle
icroco
• No m
50
2
OUT1
10
OUT2
IC2
C2
1
3
C4
DIR LMD18200
8
11
BS2
CS
R6
100n
IC3
L7805ACV VCC1
K2
ly
r supp
BS1
18n
1
C
es
Featur voltage 12 V to 30 V D utput
GND
VS
9
T
5
PWM
10
C3
100n
11
OUT A
14
OUT B
IN+
INCMPEN
DISC SG3525AN
8
CT
SS
GND
100k
10k
IC1
2
1
9
7
5
P2
13
VC
4
OSC OUT
12
P1
3
SYNC
6
RT
C1
R4
2k7
R3
2k2
VCC2
R1
10k
VCC
15
VCC1
16
;OPZJPYJ\P[PZPU[LUKLKMVYTV[PVUJVU[YVS
HWWSPJH[PVUZ H JVTTVU VJJ\YYLUJL PU
YVIV[PJZ;OPZHMMVYKHISL7>4+*4V[VY
JVU[YVSSLYJHUJVU[YVSHU`74+*TV[VY
ZWLJPÄLKH[=[V=HUK(TWZTH_
4V[VYKPYLJ[PVUPZJVU[YVSSLK^P[OHZSPKL
Z^P[JOHUKTV[VYZWLLK^P[OHUVYKPUHY`
WV[LU[PVTL[LY
;OL JPYJ\P[ KPHNYHT PU -PN\YL ZOV^Z
0*Z[`WL34+HUK:.H[[OL
OLHY[ VM [OL JPYJ\P[ ;OL :. PZ H
W\SZL^PK[OTVK\SH[VYJVU[YVSJPYJ\P[HUK
[OL34+HU/)YPKNL[VLUHISL[OL
TV[VY[VILY\UPUIV[OKPYLJ[PVUZ
;OL :. HMMVYKZ MYLX\LUJ` JVU[YVS
HUKK\[`J`JSLJVU[YVS;OLVZJPSSH[VYMYLX\LUJ`PZKL[LYTPULKI`[OLJVTWVULU[Z
H[[HJOLK[VWPUZHUK7YLZL[7ZLY]LZ
[VHKQ\Z[[OLMYLX\LUJÌL[^LLUR/a
HUKR/a(S[OV\NOP[PZNLULYHSS`YLJVTTLUKLK[VZ[H`HIV]LR/aHZV[OLY^PZL [OL TV[VY ^PSS WYVK\JL H\KPISL
ZV\UKPUZVTLJHZLZ[OH[»ZQ\Z[UV[WVZZPISLKLWLUKPUNVU[OLTV[VY`V\»YL\ZPUN
7V[7KL[LYTPULZ[OLK\[`J`JSLÔPJO
JHU IL HKQ\Z[LK MYVT [V [V
LMMLJ[P]LS`JVU[YVS[OLTV[VYZWLLK»0U[LYUHS[YHUZPZ[VYZHYL\ZLKPUHZ\JOH^H`HZ
[VVI[HPUK\[`J`JSL;OLPU[LYUHS
KYP]LY[YHUZPZ[VYZHYLNYV\UKLKI`WPUZ
HUKMVYHS[LYUH[LVZJPSSH[VYJ`JSLZ7PU
VM[OL0*PZ[OL9,-=[LYTPUHSÔPJONP]LZ
=V\[9LZPZ[VY9MLLKZ[OLZ\WWS`]VS[HNL[VHU
R3
IC3
C8
C3
2
[OL JOPW [LTWLYH[\YL PZ KLNYLLZ
;OL0*PZH\[VTH[PJHSS`ZO\[KVÛÔLU
KLNYLLZ * PZ YLHJOLK 7PU VM [OL
34+PZ[OLJ\YYLU[ZLUZLPUW\[9
JVUULJ[Z [OPZ WPU [V NYV\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`JVUULJ[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[
THÌL^VY[OÔPSL[VZ[YLUN[OLU[OLJVWWLY[YHJRZ[VMYVT22^P[OSLUN[OZVM
TT2ZVSPKJVWWLY^PYL
COMPONENTS LIST
C3 = 18nF
C6,C8 = 100μF 63V
Resistors
Semiconductors
R1 = 10k7
R2,R4 = 18k7
R3 = 2k72
R5 = 3307
R6 = 2k77
R7 = 1k75
P1 = 10k7 potentiometer
P2 = 100k7 preset
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
Capacitors
C1,C2,C4,C5,C7, C9, = 100nF
YLX\PYLHTV[VYVMZVTLRPUK;OLIVHYK
OHZILLUKLZPNULKMVYJVTWHJ[ULZZÔPZ[
\ZPUN SLHKLK JVTWVULU[Z VUS` PL UV
:4+ZPUZPNO[OLYL;OLJVWWLY[YHJRSH`V\[ HUK JVTWVULU[ TV\U[PUN WSHU HYL
JVU[HPULKPUMYLLKVÛSVHKUV aPWMYVTV\Y^LIZP[L
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 ÔPJO ZOV\SK MP[ THU` HWWSPJH[PVUZH[JY\JPHSSVJH[PVUZPUHYVIV[(M[LY
HSSTVZ[MVYTZVMTV[PVUVMHYVIV[^PSS
(060339-I)
Driving Higher Power DC Motors
1
2
control
control
2
1
+VS
OUT 1
OUT 2
2
3
OUT 3
OUT 4
100n
4
13
14
+VSS
9
Vref
A
+U M
B
100n
RE2
1
RE1
2
3
4
IN 1
5
12
IN 2
7
10
IN 3
EN A
6
11
EN B
IN 4
M1
M
1
8
15
SENSE A
070317 - 11
SENSE B
RSA
RSB
070317 - 12
B. Broussas
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\ZLKPUYVIV[PJZKVLZU»[\Z\HSS`WVZLT\JO
VMHWYVISLT:LY]VTV[VYZHJ[\HSSÒH]L
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JHU IL LHZPS` KYP]LU I` JVU]LU[PVUHS
WV^LY[YHUZPZ[VYZVYI`<350*ZHZ
OHZILLUZOVÛLSZLÔLYLPU[OPZPZZ\L
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[YHUZPZ[VYZ^PSSZ\MÄJL\USLZZ`V\WYLMLYMVY
L_HTWSL[OL3)MYVT:HU`V[OV\NO
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6U[OLV[OLYOHUKHZZVVUHZ[OLTV[VY
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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
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WV^LY+*TV[VYPZUVULV[OLY[OHU[OL
NVVKVSKYLSH`VY[VILWYLJPZLWHPYVM
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PU[OLZHTLWVZP[PVU0U[OPZZP[\H[PVU[OL
TV[VYPZZOVY[JPYJ\P[LKHUKPZIYHRLKI`
51
JVUULJ[PVUZ[VLHY[OVY[V[OLZ\WWS`YHPS
HZPUKPJH[LKPU-PN\YL)`Q\NNSPUN^P[O
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[OLºMYLLÔLLS»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[PZULJLZZHY`[V\ZLHIYPKNLVY/JVUULJ[PVUHZ
ZOVÛPU-PN\YL5V[L[OH[P[PZWVZZPISL
[VKYP]L[^VTV[VYZPU[OPZ^H`MYVTVUL
3 ZPUJL[OL0*JVU[HPUZMV\YHTWSPÄLYZ: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[Ì`TVUP[VYPUN[OLJ\YYLU[KYHÛI`[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[KYHÛI`[OLTV[VYJVUULJ[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\
3
+U L
+U M
M2
C2
D2
M
100n
IN2(4)
IN2(4)
+VSS
+VS
1
IN1(3)
/2 L298
IN1(3)
OUT2(4)
C1
ENA(B)
ENA(B)
100n
GND
OUT1(3)
D1, D2 = BY252; 1N5402
M1
D1
M
070317 - 13
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
ÔPJOOLYLHYLHML^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
P[ZVÛIHJRLTMLSLJ[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 [OPZ LSLJ[YVTLJOHUPJHS
ZVS\[PVU^LYLJVTTLUK`V\[V\ZL[OL
IYPKNLWV^LY0*VUL^VY[O`YLWYLZLU[H[P]LVMÔPJOPZ[OL3 MYVT:;4PJYVLSLJ[YVUPJZ(ZP[ZPU[LYUHSISVJRKPHNYHT
6
4
+U L
+U L
+U M
+U M
C2
D3
C2
C1
D4
100n
4
M1
100n
100n
9
+VSS
+VS
L298
M
IN1
D1
OUT1
5
D2
D1 ... D2 =
BY252; 1N5402
2
1
6
IN2
OUT2
7
OUT
1(3)
OUT
2(4)
+VSS
10
+VS
IN1(3)
IN1(3)
/2 L298
13
3
EN
IN2(4)
1
11
C1
12
14
4
ENA(B)
ENA(B)
3
2
100n
GND
GND
8
15
1
IN2(4)
R1
Rs
070317 - 14
070317 - 16
5
Table 1.
D1
R1
10k
EnA(B)
In1(3)
In2(4)
M1
M2
/4 L298
H
H
H
Braked
Running
H
L
L
Running
Braked
L
X
X
Freewheel
stop
Freewheel
stop
1N4148
1
C1
In x
Out x
1n5
070317 - 15
52
HYLYLJVTTLUKLK[VWYV[LJ[[OL0*HNHPUZ[
WVZZPISLZOVY[ZVMP[ZV\[W\[Z[VLHY[OÔPJO
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
ÔLU[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]LSÒLH]`TVIPSL
YVIV[0M[OH[PZU»[LUV\NOMVY`V\P[PZHSZV
WVZZPISL[VJVUULJ[[OLWV^LYHTWSPÄLYZ
JHUIL\ZLKMVYKYP]PUNOPNOLYWV^LY+*
TV[VYZ MVY YVIV[PJZ HWWSPJH[PVUZ 4VYL
YLJLU[HUKVYOPNOLYWLYMVYTHUJLWHJRHNLZKVJ\YYLU[S`L_PZ[)\[[OL3 KVLZ
OH]L[OLHK]HU[HNLVMILPUNYLHKPS`H]HPSHISLPUL_WLUZP]LHUKHISL[VM\SÄSH^PKL
YHUNLVMULLKZÔPJO[VV\YTPUKTVYL
[OHUQ\Z[PÄLZ[OPZWYLZLU[H[PVUVMP[Z]HYPV\ZTVKLZVM\ZL(UKPM`V\HYLL]LYZV
ZSPNO[S`J\YPV\Z`V\»SSÄUKJVWPV\ZHWWSPJH[PVUUV[LZHIV\[P[VU[OL:;4PJYVLSLJ[YVUPJZ^LIZP[L^^^Z[JVTÔPJO^PSS
ILHNVVKZV\YJLVMHKKP[PVUHSPKLHZMVY
PTWSLTLU[PUNP[
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[PJSLKVUV[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[»ZÔLLSZ[\YU
;OPZ0*PZVMJV\YZLUV[[OLVUS`VUL[OH[
(070317-I)
Driving Stepper Motors: KISS
Without using a
specialised IC
B. Broussas
1
+5V
78L05
50mA max
<ZLKHNYLH[KLHSPUYVIV[PJZ
ÔLYLP[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\UDIR
[LYLK PU KYP]PUN P[ <USPRL P[Z
+* LX\P]HSLU[Z ÔPJO YV[H[L
HZZVVUHZWV^LYPZHWWSPLK[OL
Z[LWWLYTV[VYYLX\PYLZHZ\JJLZZPVUVMW\SZLZHWWSPLK[VP[Z]HYPV\Z^PUKPUNZ[VTHRLP[[\YU6U
[OLV[OLYOHUKHUKWYV]PKLKP[Z
TLJOHUPJHSJHWHJP[PLZHYLUV[
STEP
L_JLLKLK[OLU\TILYVMIHZPJ
Z[LWZTV]LKI`[OLTV[VYJVYYLZWVUKZ[V[OLU\TILYVMW\SZLZ
HWWSPLK[VP[Z^PUKPUNZ/LUJL
PU[OPZ^H`^LOH]LH]HPSHISL[V
\Z]PY[\HSS`H\[VTH[PJWVZP[PVUPUNPUMVYTH[PVUPTWVZZPISL[V
VI[HPU^P[OH+*TV[VY
0U THU` YVIV[Z ^L»]L ZLLU
KYP]PUN[OLZ[LWWLYTV[VYZ^HZ
[OLQVIVMHZWLJPHSPaLK0*VUL
VM [OL MYVU[Y\UULYZ ILPUN [OL
3 MYVT :; 4PJYVLSLJ[YVUPJZÔPJOKLZWP[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[PUNOLYLÔPJOQ\Z[\ZLZ[^V
Z[HUKHYK*46:SVNPJ0*Z
(Z `V\ THÌL HSYLHK` RUV^ [OLYL HYL
HJ[\HSS`[^V[`WLZVMZ[LWWLYTV[VY!ZPUNSL
IC3
+5V
C2
C1
C3
C4
10M
16V
10n
220n
1000M
25V
D8
BD679
IC1.A
1
2
=1
R1
4
3
IC1.C
5
6
=1
6
4
5
R
J
3
T4
2k2
1
D1
IC2.A
C
2
K
D2
R2
S
2k2
7
D7
T3
BD679
+5V
L2
IC1 = 4070
IC2 = 4027
14
16
IC1
IC2
7
8
M1
L1
+U motor
M
L3
D1...D8 = 1N4004
L4
D6
BD679
10
9
8
IC1.B
12
13
=1
=1
10
11
11
IC1.D
R
J
13
T2
R3
9
2k2
15
D3
IC2.B
C
K
14
S
D4
R4
2k2
12
T1
D5
BD679
070299 - 11
WVSLTV[VYZHUKWVSLVULZ>OPSL[OL
ÄYZ[VUSÙLLKZPUNSLW\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[PTPUNKPHNYHTMVYÔPJOPZ
NP]LUPU[OL[HISLILSV^
53
9LHKPUN[OLJVS\TUZVM[OPZ[HISLMYVT
[VJVYYLZWVUKZ[VYV[H[PVUVM[OLTV[VY
PUVULKPYLJ[PVUÔPSLNVPUNMYVT[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\[ZWLJPHSPaLK0*ZZOVÛPU-PN\YLPZ]LY`ZPTWSL
ZPUJLP[ZºPU[LSSPNLUJL»PZPUMHJ[JVUÄULK[V
[^VSVNPJ0*Z0*HUK0*ÔPJOHYLZPTWSLL_JS\ZP]L69?69NH[LZHUKHK\HS
12ÅPWÅVWÔPSL[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»[OLZPNUHSHWWSPLK[VPUW\[)HWWLHYZPU]LY[LKH[
[OLV\[W\[NP]LZHUKNP]LZ5V[OPUN]LYÙL^[OLYLI\[^LKPK^HU[[V
\UKLYSPUL[OPZPU[LYWYL[H[PVUVM[OL[Y\[O
[HISLVM[OLL_JS\ZP]L69\ZLKHZHWYVNYHTTHISLPU]LY[LYHZ^LOH]LUV[PJLK
[OH[THU`VM`V\HYLU»[MHTPSPHY^P[OP[VY
OH]LMVYNV[[LU
;OL[Y\S`HJ[P]LWHY[VM[OLJPYJ\P[PZMVYTLK
I`[OL[^V12ÅPWÅVWZ0*(HUK0*)
-PN\YLZ\TZ\W[OL[Y\[O[HISLMVY[OLZL
MSPWMSVWZ ÔPJO PZ THKL ZPTWSLY OLYL
ILJH\ZL1HUK2HYLHS^H`ZIV[OH[[OL
ZHTLSL]LS>OLU[OLZLPUW\[ZHYLº»[OL
ÅPWÅVWZJOHUNLZ[H[LH[LHJOJSVJRW\SZL
PL MVY LHJO W\SZL HWWSPLK [V [OL :;,7
PUW\[0U[OLYL]LYZLZP[\H[PVUPLÔLU
1HUK2HYLIV[Oº»[OLV\[W\[Z8HUK8
YLTHPUPU[OLWYL]PV\ZZ[H[L
0M`V\Z[PSSOH]LKV\I[Z[OH[[OPZ^PSSPUKLLK
NLULYH[L[OL[PTPUNZPU[OL[HISLHIV]L
HYT `V\YZLSM ^P[O ZVTL NYHWO WHWLY H
WLUJPSHUKZVTLWH[PLUJLHUKKYH^V\[
[OL[PTPUNKPHNYHTZVM[OLZPNUHSZZ\WWSPLK
ÔLU+09PZH[ZVTLHYIP[YHY`SL]LSVM`V\Y
JOVPJL
;OLWV^LYZ[HNLPZI\PS[\ZPUNIPWVSHY[YHUZPZ[VYZWYV[LJ[LKMYVT[OL]VS[HNLZWPRLZ
NLULYH[LKI`[OLJ\YYLU[Z^P[JOPUNPU[OL
TV[VY^PUKPUNZI`KPVKLZ+¶+>P[O
[OL[YHUZPZ[VYZ\ZLKP[PZWVZZPISL[VZ^P[JO
J\YYLU[ZVM\W[V(HSSV^PUNWSLU[`VM
ÅL_PIPSP[`PU[OLJOVPJLVMZ[LWWLYTV[VY
;OLSVNPJZPKLVM[OLJPYJ\P[PZWV^LYLK
MYVTHÄ_LK=Z\WWS`Z[HIPSPaLKI`0*
THRPUN[OL:;,7HUK+09PUW\[Z;;3JVTWH[PISL;OPZZ\WWS`TH`HSZVIL\ZLK[V
WV^LY[OLJPYJ\P[WYPVY[V[OPZKYP]LYHZ
SVUNHZ`V\KVU»[L_JLLKHYV\UKT(
^P[O[OLYLN\SH[VYJOVZLU
0M`V\YTV[VYPZWV^LYLKH[=P[PZHK]PZHISL[VYLWSHJL0*I`HU34 AMVY
L_HTWSLÔPJOPZHSV^]VS[ZKYVW=
YLN\SH[VY-VYJVYYLJ[VWLYH[PVU[OL3
VYPNPUHSS`ZWLJPÄLKMVY0*YLX\PYLZHSTVZ[
=IL[^LLUPUW\[HUKV\[W\[·JSLHYS`
PTWVZZPISL[VVI[HPU^P[OHTV[VYZ\WWS`
VMVUS`=
2
J
K
R
J
Q
C
CLK
K
A
Q
S
B
S
XOR
JK FLIP-FLOP
CLK
=1
J
K
Qn
Qn + 1
A
B
S
1
x
0
1
0
0
0
X
0
1
1
0
1
1
0
X
0
0
1
0
1
1
1
0
X
1
1
0
1
1
Qo
Qo
X
X
X
Qn
070299 - 12
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
:[PSSVU[OLZ\IQLJ[VM[OLTV[VYZ\WWS`
]VS[HNLUV[L[OH[P[JHUIL\W[V=PM
ULJLZZHY`(ZSVUNHZ[OLJ\YYLU[KYHÛI`
[OLTV[VYKVLZU»[L_JLLK([OL[YHUZPZ[VYZKVU»[ULLKHOLH[ZPURI\[VULPZHK]PZHISLHIV]L[OH[0[ULLKVUSÌLHML^JT2
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
Robot Footballer
by Julian Straub
@V\ ^PSS KV KV\I[ OH]L ZLLU WPJ[\YLZ
MYVTº9VIV*\W»ZOV^PUNYVIV[ZIVV[PUN
MVV[IHSSZMYVTVULLUKVM[OLWP[JO[V[OL
V[OLY)\PSKPUNHULSLJ[YVTLJOHUPJHSYVIV[
SPRL[OPZPZLU[PYLS`^P[OPU[OLJHWHIPSP[`VM
[OLOVII`PZ[^P[O[OLOLSWVMHML^JOLHW
L]LY`KH`P[LTZ
0UVYKLY[VNP]L[OL
1
IHSS H NVVK RPJR
iron core
[OLYVIV[»ZMLL[HYL
WV^LYLKI`SPULHY
ZVSLUVPKZ(JJLSLYH[PVUPZTVYLPTWVYspring
[HU[ [OHU MVYJL
OV^L]LY HUK ZV
^LLZJOL^YLHKPS`
54
H]HPSHISLZVSLUVPKZÔPJONLULYHSS`VWLYH[L
VU=VY=HUKÔPJOHS[OV\NOWV^LYM\SHYLT\JO[VVZSV^MVYV\YW\YWVZLZ
;OLPU[LNYHSVMMVYJLV]LY[PTLVYPTW\SZL
WYVK\JLKI`HJVPS^P[OHUPYVUHYTH[\YL
KLWLUKZKPZYLNHYKPUNJVUZ[HU[MHJ[VYZZ\JO
HZ[\YUZJV\U[JVPSNLVTL[Y`HUKWLYTL-
a
coil
b
HIPSP[`VU[OLJOHUNLPU[OLJVPSJ\YYLU[
;OLMHZ[LY^L^PZO[VJOHUNL[OLJ\YYLU[
[OLOPNOLY[OL]VS[HNL^L^PSSOH]L[V\ZL
(UKZV^LULLKHOPNO]VS[HNLZ\WWS`
>LJHUNLULYH[LHOPNO]VS[HNL\ZPUN[OL
ÅHZOMYVTHKPZWVZHISLJHTLYHVM[OLZVY[
[OH[JHUZVTL[PTLZILOHKMVYMYLLMYVT
WOV[VNYHWO`ZOVWZ
;OL JHTLYH LSLJ[YVUPJZPUJS\KLZH
OPNO]VS[HNL JHZABS rod
JHKL JPYJ\P[ ^P[O
HZ[VYHNLJHWHJP[VY
MVY[OLÅHZO;OLZL
JVTWVULU[Z HYL
PKLHS MVY WYLZZPUN
070316 - 12
PU[VZLY]PJLHZWHY[
THY1
TIC126D
2k2
R1
BT1
charger circuit
from
disposable
camera
1V5
330V
VMHYVIV[PJMVV[IHSSLY
2
6WLU[OLJHTLYHJHYLM\SS`-PYZ[
YLTV]L [OL IH[[LY` THRPUN Z\YL
UV[[VI\YU`V\YÄUNLYI`[V\JOPUN
[OLJHWHJP[VYJVU[HJ[Z-VYZHML[`»ZZHRLKPZJOHYNL[OLJHWHJP[VY
\ZPUNHYLZPZ[VYVMHML^RPSVVOTZ
ILMVYLYLTV]PUN[OLWYPU[LKJPYJ\P[
IVHYK)LJH\ZL^L^PSSSH[LY^HU[
[OLJHWHJP[VY[VILJOHYNLKJVU[PU\V\ZSÌYPKNL[OLWV^LYZ\WWS`
Z^P[JOJVUULJ[PVUZ;OLJPYJ\P[PU
[OL JHTLYH [LZ[LK I` [OL H\[OVY
THKLI`2VKHRJOHYNLZH-
OPNO]VS[HNLJHWHJP[VY[V=PU
ZMYVTH=IH[[LY`
5L_[^L[\YU[V[OLZL^PUNIV_MVYPUZWPYH[PVU>LULLK[^VJV[[VUYLLSZMYVTÔPJO
^L^PSSMHZOPVUPUK\J[VYZ\ZPUNLUHTLSSLK
JVWWLY^PYL6U[OLVULOHUKP[PZHK]HU[HNLV\Z[V\ZL^PYL[OH[PZ]LY`[OPUZV[OH[
^L JHU OH]L HZ THU` [\YUZ HZ WVZZPISL
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(070316-I)
PIC Indicator Relay
Herbert Musser
1k
1k
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1k
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100k
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1k
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100n
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5
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(070090-I)
55
Catapult for Robots ...or Other Uses
Pascal Liégeois
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P1
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7
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re1B
fire button
1N4148
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IC1
electromagnet
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CV
1
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R4
3
THR
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68k
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070210 - 11
Figure 1. The catapult electronics.
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070210 - 12
Figure 2. Operating diagram of the catapult.
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square stock
sectional
steel/iron
electromagnet
spring
connecting
rod
catch
Figure 3. Mechanical construction details.
Sw2
070210 - 13
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(070210-I)
57
Servo to Motor Conversion
Paul Goossens
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2
3
4
5
(070358-I)
Driving Stepper Motors
Using a Basic Stamp
or a PIC programmed
in Basic
+U motor
(50V max)
+5V Stamp / Cubloc
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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
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Basic Stamp
or
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C. Tavernier
9
DS
1
P0
2
P1
R4
1k
1k
R3
3
4
5
6
7
I1
O1
I2
I3
O2
IC1
I4
I5
I6
O3
O4
ULN2003
I7
O5
O6
O7
16
L3
L1
M1
15
M
14
13
12
L2
L4
11
10
GND
8
070237 - 11
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‘ Control of a unipolar stepper motor
‘ The step number is put in w1
‘ The rotation direction is defined by b0
‘ Variable’s definition
Symbol
Symbol
Symbol
Symbol
direction = b0
incr = w1
index = w2
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
59
respectively seven-way or eight-way integrated power Darlingtons normally used to
drive relay coils. The required software is
very simple, thanks to a couple of tips suggested by Parallax (the manufacturer of the
Basic Stamp).
The first is to note that the status of windings 1 and 2 on the one hand, and windings 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 amplification
by the ULN2003 (or 2803). Windings 2
and 4 receive these signals after inversion,
performed using two of the spare amplifiers 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
amplifiers in the ULN2003 (or 2803), as
the Darlingtons are only open-collector.
The second tip suggested by Parallax consists 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
60
needed
is a simple XOR logic function, as shown in the program
listing.
This short example of code may be
included as is into a more complete application. As can be seen, it makes the stepper motor connected as shown in the
figure 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 define
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
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 transposable, 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 language. It can likewise be easily migrated
to a PicBasic or a Cubloc from Comfile
Technology.
(070237-I)
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61
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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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
SOUT
1
Programming output (PC serial port)
S IN
2
Programming input (PC serial port)
ATN
3
Programming input (PC serial port)
VSS
4 et 23
Ground
P0 à P15
5 à 20
Input/output ports
VDD
21
5 V stabilized output (input if VIN is too low)
RST
22
Manual external reset input (if required)
VIN
24
Unstabilized positive supply from 5–15 V
(12 V for 2E, 2SX, and 2P24)
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;OL)::?HUKP[ZYLSH[P]LS`SHYNLWYVNYHT
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.
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)HZPJ:[HTW\ZLYZ^HU[PUN[VILULÄ[MYVT
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Photo 1. Though it’s been a bit left behind now, here’s the father of all the Basic Stamps,
the Basic Stamp 1.
63
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)
2K
8x2K
8x2K
8x2K
8x2K
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
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Photo 2. The Basic Stamp’s offspring.
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Figure 2. Internal architecture of the Cubloc CB220.
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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).
Figure 3. Internal architecture of the Propeller – impressive, and allowing true multitasking.
66
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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
4K
4K
4K
4K
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
5V
5V
5V
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
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Photo 4. The Cubloc CB220 (right) is directly interchangeable with the Basic Stamp 2 (left).
67
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.
HZPTWSLJHISLJVUULJ[LK[V[OLWHYHSSLS
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Addresses
URL
Company
Comments
*VUJS\ZPVU
www.atmel.com
Atmel
Manufacturer of AVR
microcontrollers
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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
(070319-I)
Servo Control from a PC
Bas Lijten
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(070373-I)
Manufacturer of the controller:
http://www.lynxmotion.com
Propeller Prototyping Board
for BoeBot
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\ZLKPULK\JH[PVU;OH[^HZ[OLVYPNPUHS
W\YWVZLVM[OPZYVIV[ZPUJLº)VL»Z[HUKZMVY
º)VHYKVM,K\JH[PVU»
<WNYHKL
;OL7YVWLSSLYJOPWTHKLI`7HYHSSH_0UJ
PZHIP[VMHZ[YHUNLHUPTHSPU[OL^VYSKVM
TPJYVJVU[YVSSLYZ;OPZ0*JVUZPZ[ZVMLPNO[
IP[WYVJLZZVYJVYLZ[OH[HYLNP]LUHJJLZZ
VULI`VUL[V[OLWLYPWOLYHSZHUKWYVJLZZVYTLTVY`;OPZTHRLZ[OL7YVWLSSLY
0[^HZVUS`HTH[[LYVM[PTLILMVYL[OPZ
YVIV[ ^HZ \WNYHKLK ^P[O H WYVJLZZVY
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69
IC1
LM2937ES-5.0
S1
IC2
LM2937ES-3.3
5V
3
1
1
+5V
3V3
[PTLJVUZ\TPUN[OHUZPTWS`PUZLY[PUN[OLT
PU[VHIYLHKIVHYKI\[P[KVLZTHRL[OL
YVIV[TVYLYLSPHISL+LZWP[LILPUNJHYLM\SS`JVUZ[Y\J[LKHUKOH]PUN^LSS[OV\NO[
V\[ZVM[^HYLHYVIV[JHUZ[PSSI\TWPU[V
ZVTL[OPUNVYILJVTLH]PJ[PTVMHWHZZPUN
WL[ÔVZ\KKLUS`KPZJV]LYZHUL^WSH`TH[L>OLUHIYLHKIVHYKPZ\ZLKZVTL
JVTWVULU[Z JV\SK ILJVTL KPZSVKNLK"
^P[OHWYV[V[`WPUNIVHYK[OLJOHUJLZVM
Z\Y]P]HSHYLNYLH[LY
3V3
3
2
4
2
4
270
R1
K1
C3
C2
C1
100n
10u
16V
10u
16V
D1
GND
GND
3V3
C4
R2
K3
RX
TX
RESn
S2
IC4
P8X32A-D40
X1
10k
100n
VCC
8
GND
1
5
SDA
NC
2
6
SCL 24LC256 NC
3
7
NC
WC
GND
P31
P30
P29
P28
P27
P26
P25
P24
P23
P22
P21
P20
P19
P18
P17
P16
IC3
40
39
38
37
36
35
34
33
28
27
26
25
24
23
22
21
4
12
VDD
VDD
RES
P0
P1
P2
P3
P4
P5
P6
P7
P8
P9
P10
P11
P12
P13
P14
P15
;OLWYV[V[`WPUNIVHYKPZ^LSSSHPKV\[OHZ
L]LY`[OPUN `V\ ULLK HUK PZ YLHZVUHIS`
WYPJLKI\[^LKPKZLLHWV[LU[PHSKPZHK]HU[HNLLZWLJPHSS`PULK\JH[PVU!IV[O[OL
WYVJLZZVYHZ^LSSHZ[OL,,7964HYL:4+
]LYZPVUZ0MZVTL[OPUNPZ^YVUNS`JVUULJ[LK
P[JV\SKTLHU[OLLUKVM[OLWYVJLZZVYHUK
PUTHU`JHZLZHSZV[OLLUKVM[OLIVHYK
5V[L]LYÌVK`^PSSOH]L[OLYPNO[ZVSKLYPUN
LX\PWTLU[[VYLWSHJLZ\JOWHY[Z
7HYHSSH_OHKUVVIQLJ[PVUZÔLU^LHZRLK
PM^LJV\SKKLZPNUH]LYZPVUVM[OLIVHYK
MVY\ZL^P[OJSHZZPJ+030*Z:OV\SKZVTL[OPUNNV^YVUN^P[OVULVM[OL0*ZVU[OPZ
IVHYKP[»ZQ\Z[HX\LZ[PVUVMZPTWS`WSHJPUN H UL^ JOPW PU[V H ZVJRL[ HM[LY MPYZ[
ÄUKPUNV\[ÔH[JH\ZLK[OLWYVISLTZVM
JV\YZL
;OLZLJVTWVULU[ZVI]PV\ZS`[HRL\WTVYL
YVVTVM[OL)VL)V[MYHTL[OHU[OLPYZ\YMHJL TV\U[ JV\U[LYWHY[Z ;OL +03 ]LYZPVUVM[OLWYVJLZZVYPUWHY[PJ\SHYPZT\JO
SHYNLY[OHUP[ZSP[[SLIYV[OLYPUH38-7WHJRHNL)LJH\ZLVM[OPZ^LOH]LSLM[V\[HML^
MLH[\YLZ[OH[^LYLWYLZLU[VU[OL7HYHSSH_
IVHYKZ\JOHZ[OLJVTIPULK=.(RLÌVHYK HUK TV\ZL JVUULJ[VY ZPUJL ^L
MLS[[OH[[OL`»YL\USPRLS`[VILTPZZLKPUH
C5
GND
30
XI
9
VSS
29
VSS
RX
TX
RESn
10
BOE
31
XO
1
2
3
4
5
6
7
8
13
14
15
16
17
18
19
20
32
11
100n
K2
3V3
GND
5MHz
+5V
+5V
GND
GND
+5V
+5V
GND
GND
070275 - 11
GND
Figure 1: The circuit diagram of the Propeller prototyping board.
[OH[PZTHKL[VTLHZ\YLMVY[OL)VL)V[
MYHTL 0[ PZ UV[PJLHISL [OH[ WHY[ VM [OPZ
IVHYKUVÔHZHUVYKPUHY`WYV[V[`WPUN
HYLHMVY[OLHKKP[PVUVML_[YHLSLJ[YVUPJZ
ÔLYLHZ[OLºVSK»)HZPJ:[HTWIVHYKJHTL
LX\PWWLK^P[OHTPUPIYLHKIVHYK6U[OL
7YVWLSSLYIVHYK^L[OLYLMVYLOH]L[VZVSKLY
HU`L_[YHJVTWVULU[ZÔPJOPZHIP[TVYL
Components list
Resistors
K1
R1 = 2707
R2 = 10k7
P16
P17
P18
P19
P20
P21
P22
P23
Capacitors
Semiconductors
IC1 = LM2937ES-5.0
IC2 = LM2937ES-3.3
IC3 = 24LC256
IC4 = Propeller chip P8X32A-D40
(Parallax)
Miscelllaneous
X1 = 5MHz quartz crystal
S1 = on/off switch
S2 = 1 make contact
4 pcs 3-way SIL pinheader
PCB, order code 070275-1 from Elektor
SHOP
70
IC4
X1
C1,C2 = 10MF 16V radial
C3,C4,C5 = 100nF
P15
P14
P13
P12
P11
P10
P9
P8
S2
C4
P7
P6
P5
P4
P3
P2
P1
P0
P24
P25
P26
P27
P28
P29
P30
P31
IC3
R2
K3
K2
S1
C3
C2
C1
R1
D1
C5
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.
TVIPSLYVIV[
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;OL JPYJ\P[ KPHNYHT ZOVÛ PU -PN\YL
PZJVUZWPJ\V\ZI`P[ZZPTWSPJP[`;^VSV^
KYVWV\[]VS[HNLYLN\SH[VYZWYV]PKL=MVY
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MVYWLYPWOLYHSKL]PJLZ[OH[YLX\PYLHOPNOLY
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[OH[ WYVWLS [OL )VL)V[ 9LTLTILY [OH[
[OLPUW\[WPUZVM[OL7YVWLSSLYJHU»[^P[OZ[HUK=5L_[[V:[OLWV^LYZ^P[JOPZH
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[OLJVUULJ[PVUVMZLY]VZHUKV[OLYWLYPWOLYHSZ[OH[YLX\PYLH=Z\WWS`
(WV^LYZV\YJL^P[OH]VS[HNLIL[^LLU=
[V=ZOV\SKILJVUULJ[LK[V2I\[^L
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ILJH\ZLVM[OLOLH[KPZZPWH[PVUPU0*
;OLYLHYL[^VKPMMLYLU[^H`ZVMPTWSLTLU[PUN[OLWYVNYHTTPUNPU[LYMHJL[VH7*!2
PZ[OLJVUULJ[VYMVY\ZL^P[O[OL7YVWLSSLY
7S\NI`7HYHSSH_ÔPJO\ZLZH<:)SPUR
2PZ\ZLKMVY[OLZPTWSLZLYPHSPU[LYMHJL
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+ PUKPJH[LZ [OH[ [OL Z\WWS` ]VS[HNL PZ
WYLZLU[HUK:PZ[OLYLZL[Z^P[JO
7YHJ[PJHSZPKL
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-PN\YL>LOH]LPU[LU[PVUHSS`JOVZLU
HZPUNSLZPKLKSH`V\[ILJH\ZL[OPZTHRLZ
P[LHZPLY[VL[JOP[`V\YZLSM)V[O]VS[HNL
YLN\SH[VYZHYLZVSKLYLKVU[OLIV[[VTVM
[OLIVHYK
0* PZU»[ Z[YPJ[S` YLX\PYLK [V Z[HY[ \ZPUN
[OL7YVWLSSLY>OLU[OLWYVJLZZVYZ[HY[Z
P[Y\UZP[ZIVV[SVHKLYYV\[PULÔPJOÄYZ[
JOLJRZPM[OLYLPZHJVTT\UPJH[PVUZSPUR[V
[OLOVZ[7*HUK[OLU^HP[ZMVYHWYVNYHT
[VILKVÛSVHKLK;OL\ZLY[OLUOHZ[OL
JOVPJLVMLP[OLYSVHKPUN[OLWYVNYHTPU[V
[OLPU[LYUHSWYVNYHTTLTVY`VM[OL7YVWLSSLYVYPU[V[OLL_[LYUHS,,7964
Figure 3: This message confirms that the Propeller Tool has made a connection
and the fun can begin!
0MUVJVTT\UPJH[PVUZ^P[OH7*HYLWVZZPISL[OLIVV[SVHKLY^PSSH[[LTW[[VSVHK
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;OLJY`Z[HSJHUILSLM[V\[HZ^LSSZPUJL
[OL7YVWLSSLYPUP[PHSS`\ZLZP[ZPU[LYUHS9*
VZJPSSH[VY[OH[Y\UZH[HZWLLKVM4/a
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HUK [OL JPYJ\P[ PZ JVUULJ[LK [V [OL 7*
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JOVVZL[OL0KLU[PM`/HYK^HYLVW[PVU;OL
ZLYPHSWVY[ZVM[OL7*HYL[OLUZJHUULKVUL
I`VULMVY[OLWYLZLUJLVMHJVUULJ[PVU[V
[OL7YVWLSSLYIVHYKHUKPML]LY`[OPUNPZPU
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ZOVÛPU-PN\YL;OL*64WVY[U\TILY
^PSSVI]PV\ZS`KLWLUKVUÔPJOWVY[[OL
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6UJL[OPZTLZZHNLOHZHWWLHYLK^LJHU
NL[[V^VYR^P[O[OL7YVWLSSLYHUKL_WSVYL
[OLL_P[PUN^VYSKVM[OPZTPJYVJVU[YVSSLY
(070275-I)
Web Link:
^^^WHYHSSH_JVTWYVWLSSLY
‘TEAclipper’
Postage-stamp Programmer
Richard Hoptroff
;OLHY[VMKPZJYL[LLSLJ[YVUPJZOHZV]LY[OL
WHZ[KLJHKLVYZVILJVTLZ\IZ\TLKI`
THJOPULJVKLPUZPKLTPJYVJVU[YVSSLYZ;OL
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71
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PZYLX\PYLKHZVJRL[PZUV[ULJLZZHYPSÙLLKLK;OLWPUZJHUILWYLZZLK
HNHPUZ[ WSH[LK[OYV\NO OVSLZ PU [OL
7*)MVY[OLML^ZLJVUKZYLX\PYLKMVY
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ZVM[^HYL:VM[^HYLPZZVLHZ`[VKLSP]LY
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WYVÄ[HISLPUK\Z[YPLZPU[OL^VYSK
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^^^MSL_PWHULSJVT ZLLTZ H Z[LW
PU[OLYPNO[KPYLJ[PVU;OPZTPJYVJVU[YVSSLYWYVNYHTTLYPZHULHZ`YLSPHISL
ÄYT^HYLKLSP]LY`TLJOHUPZT0[JHUIL
WYLSVHKLK^P[OÄYT^HYLHUKTHPSLK[VH
J\Z[VTLYVY[OLJ\Z[VTLYJHUKVÛSVHK
ÄYT^HYLV]LY[OLPU[LYUL[HUKZLUKP[[V
[OL ;,(JSPWWLY ]PH H <:) HKHW[LY ;OL
;,(JSPWWLYPZ[OLUPUZLY[LKPU[V[OL[HYNL[
7*)HUKNLULYH[LZHSS[OLZPNUHSZULJLZZHY`[VWYVNYHT[OLTPJYVJVU[YVSSLY
*VUULJ[PVUPZ]PHHWPUOLHKLYÔPJO
HSZV WYV]PKLZ WV^LY [V [OL ;,(JSPWWLY
;OLU\TILYVMWYVNYHTTPUNJ`JSLZJHU
ILZWLJPÄLKHM[LYÔPJO[OLTLTVY`
ZLSMLYHZLZ;OPZHSSV^ZÄYT^HYL[VIL
IV\NO[HUKZVSKPUÄ_LKX\HU[P[PLZ
;,(JSPWWLYZHYLJ\YYLU[S`H]HPSHISLMVY
WYVNYHTTPUN7HYHSSH_»Z)(:0*:[HTWZHUK
4PJYVJOPW»Z70*4PJYVJVU[YVSSLYZI\[Z\WWVY[MVYM\Y[OLYTPJYVJVU[YVSSLYWSH[MVYTZ
PZWSHUULK
(070117-I)
LPC900 programmer
Jürgen Wickenhäuser
;OL37* MHTPS`PZ[OL:^PZZ(YT`RUPML
VMJVTWH[PISLTPJYVJVU[YVSSLYZ;OL
º37*»PU[OLWHY[U\TILYZ[HUKZMVYºSV^
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HUJVYLP[PZLHZ`[VSLHYUOV^[V\ZL
[OLKL]PJLZ/V^L]LY[OL37* PZTVYL
[OHUQ\Z[HZSPNO[S`ZWY\JLK\W]LYZPVUVM
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COMPONENTS LIST
uH TPUPT\T Z`Z[LT YLX\PYLZ H ZPUNSL JHWHJP[VY HZ [OL VUS` L_[LYUHS
JVTWVULU["
R1 = 2407 SMD (0805)
R2 = 3907 SMD (0805)
R3,R4,R7,R9,R11,R12,R13 = 1k7 SMD (0805)
R5,R6,R8,R10 = 220k7 SMD (0805)
T1 = BC857 SMD (SOT23)
LED1,LED2 = LED, red, SMD (0805)
IC1 = LM317 SMD (SO8)
IC2 = 74HCT00 SMD (SO14)
IC3 = MAX3232 (SO16)
Capacitors
Miscellaneous
u^ PKL YHUNL VM VUJOPW WLYPWOLYHSZ!
IYVÛV\[ KL[LJ[VY ^H[JOKVN [PTLY
JVTWHYH[VYZ(+JVU]LY[LY"
uVWLYH[PUN]VS[HNL=[V=
;OLVUS`ZPNUPÄJHU[KPMMLYLUJLMYVT[OL
Z[HUKHYKPZ[OLPTWYV]LK06Z[Y\J[\YL![OL`JHUUV^HSZV^VYRPUH*46:
72
Resistors
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
K1 = mains adaptor socket for PCB
mounting
K2 = 9-way sub-D socket, angled, PCB
mount
PCB, ref. 070084-1, from www.thepcbshop.
com
[YVSSLYWYVJLLKZ^P[OHTPUPT\TVMM\ZZ
>OLU[OL*7<YLJLP]LZHZLYPLZVM[OYLL
W\SZLZVUP[ZYLZL[WPU^P[OPUHZWLJPÄLK
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WYVJLLKZ[VJVTT\UPJH[L\ZPUN[OL9?+
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[OLZL[OYLLZPNUHSZHYLVMJV\YZLH]HPSHISL
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PKLHS MVY \ZL ^P[O H [LYTPUHS WYVNYHT
;OLWYPU[LKJPYJ\P[IVHYKMVY[OLKLZPNUPZ
ZOVÛPU-PN\YL
R5
K2
V-
R8
K1
1u
11
T1IN
12
R1OUT
7
T2OUT
8
R2IN
10
T2IN
9
R2OUT
IC2 = 74HCT00
K1
1
GND
+3V3_ISP
R11
1k
4
5
1
2
IC2B
&
&
9
10
6
IC2A
3
IC2C
&
C1
R13
4u7
25V
R2
390R
IC1
CPU_VCC
CPU_RXD
CPU_TXD
CPU_RES
CPU_GND
R12
1k
8
ISP connector
R4
1k
T1
+3V3
+3V3_ISP
3V3 switched
2
IN
OUT
3
IC1
6
LM317
7
ADJ
R1
240R
K3
R9
1k
BC857
R3
R7
14
4
C2
C3
C7
14
T1OUT
13
R1IN
R10
220k
1N4001
T1 R 3
IC3
LED2
1u
4
C2+
5
C2-
IC3
MAX3232
1u
C6
1
C1+
3
C1-
VCC
15
11
1
6
2
7
3
8
4
9
5
V+
IC2
C2
10u
6V
LED1
7
C3
R13
LED2
1k
2
C8
R1
R2
LED1
R7
R9
R 11
R12
K3
1u
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070084-1
5
C5
C8
&
C4
R6
220k
R5
1
11
9
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K2
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1k
12
13
1k
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10
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the LPC900 microcontroller very straightforward.
220k
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100n
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070084 - 11
Figure 3. Layout and component mounting
plan for the printed circuit board.
Figure 2. Circuit of the LPC900 programmer.
73
ILJH\ZL[OLJVTWPSLYWYVK\JLZ]LY`JVTWHJ[JVKL0UWHY[PJ\SHY[OLJVTWPSLYPZ
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Figure 4. Initialisation specific to the LPC900 requires just five instructions.
-VYKLTVUZ[YH[PVUW\YWVZLZ^L\ZLKHU
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(070084-I)
References and links
[1] http://www.standardics.nxp.com/products/lpc900 (NXP, manufacturer of the
LPC900 family).
Figure 5. The μC/51 compiler uses a well-structured classical ‘make’ system.
[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 (geotechnical research and development).
Figure 6. Flash Magic is a free tool for programming LPC microcontrollers.
74
Figure 7. Settings for the RTS and DTR signals
in the Flash Magic terminal program.
C your way
through USB
VDD
R6
100n
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100n
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Slick graphics, reading
analogue values and making
them appear in graphs,
cockpit-style meters and dials,
all on USB… How do they do it?
R7
330 7
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10k
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060342 - 11
Figure 1. Schematic of the USB demo board.
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75
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Figure 4. Demo Mode of the Pdfsusb tool.
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76
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Figure 5. Two ADC Channels and USB of the PIC in action.
Listing 1.
0M`V\^HU[[VTHRLHUL^)\PSKLYWYVQLJ[
`V\VUSÒH]L[VSVVRHM[LY[^V[OPUNZ!
/** 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
(KK[OLOPKSPIÄSLI`KVPUN!
7YVQLJ[(KK[VWYVQLJ[OPKSPI
/* Parameter definitions are defined in usbdrv.h */
#define MODE_PP
_PPBM0
#define UCFG_VAL
_PUEN|_TRINT|_FS|MODE_PP
*OHUNL[OL+H[HHSPNUTLU[MYVT8\HK
^VYK[VI`[LI`KVPUN!
7YVQLJ[6W[PVUZ(K]HUJLK
6W[PVUZ+H[HHSPNUTLU[
//#define USE_SELF_POWER_SENSE_IO
//#define USE_USB_BUS_SENSE_IO
(060342-I)
Optimised STK200/300 Programmer
for AVR Micros
26
1
20
14
IC1
2
10
C1
100n
15
27
GND
3
16
4
17
5
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19
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1
6
19
7
20
8
21
22
10
23
2
4
16
6
14
8
12
11
CLK
18
1D1
MOSI
RST
9
1D2
13
7
15
5
17
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3
74HC244
11
24
12
25
13
SUB D25
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100k
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060374 - 11
>P[O ZVTL [PURLYPUN [OL JVTWSL[L
JPYJ\P[JHUILÄ[[LKPU[OLZ\I+JVUULJ[VYOV\ZPUN(ZOVY[SLUN[OVMÅH[JHISLHUKH^H`0+*ZVJRL[H[[OL
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(060374-I)
77
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 I2C bus.
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WYPU[LKJPYJ\P[IVHYK"PMVU[OLV[OLYOHUK
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How to program track points
You should see a welcome message (which indicates how to get
help) and a prompt on the terminal.
Before attempting any autonomous journeys we must program a
series of set coordinates (‘track points’) into the navigation system.
The following commands are also available: ‘Data’ lists the stored
The first step is to replace the GPS mouse with a (null modem) data
GPS data; ‘Input’ allows the GPS data to be edited; and ‘Reset’
cable, connected to a PC. On the PC, start up a terminal emula-
restarts the navigation system.
tor program such as Hyperterminal. A terminal emulator is also
included in the BASCOM package.
The coordinates of the track points can be determined using a separate GPS system; alternatively, the robot can be moved manually
The interface parameters must be set as for the mouse (i.e., to
to each track point in turn and the coordinates read off the LCD.
4800 baud). When connection has been set up, press the reset and
78
programming buttons simultaneously. Then first release the reset
With the track point data programmed in, the robot can be left to
button and then the programming button around a second later.
its own devices!
R13
R12
R11
I 2C - Bus
to main controller
trackpoint assignment
+5V
4k7
4k7
R6
R10
4k7
4k7
R7
4k7
R9
30
AVCC
4k7
10
VCC
4k7
32
AREF
9
4k7
R24
10k
10k
R23
R8
+5V
16
K4
RST
IC1
1
K1
2
10
9
MISO
3
8
7
SCK
4
6
5
RST
5
4
3
2
1
6
MOSI
7
8
ISP
+5V
PB0(XCK/T0)
(ADC0)PA0
PB1(T1)
(ADC1)PA1
PB2(INT2/AIN0)
(ADC2)PA2
PB3(OC0/AIN1)
(ADC3)PA3
PB4(SS)
(ADC4)PA4
PB5(MOSI)
(ADC5)PA5
PB6(MISO)
(ADC6)PA6
PB7(SCK)
(ADC7)PA7
40
4
39
5
38
6
37
7
36
9
35
10
34
11
33
12
P1
SCL
IC2
P2
P3
INT
15
SDA
14
SCL
13
GND
+5V
PCF8574
P4
P5
A0
P6
A1
P7
A2
R5
1
10k
2
R4
10k
3
R3
10k
able
19
20
21
R22
(TOSC1)PC6
PD2(INT0)
(TDI)PC5
PD3(INT1)
(TDO)PC4
PD4(OC1B)
(TMS)PC3
PD5(OC1A)
(TCK)PC2
PD6(ICP1)
(SDA)PC1
PD7(OC2)
(SCL)PC0
GND
470 7
R18
470 7
470 7
R17
(TOSC2)PC7
PD1(TXD)
XTAL1
11
XTAL2
GND
12
31
13
29
28
8
27
25
K5
I 2C - Bus
24
+5V
23
SDA
22
SCL
S2
D6
D5
R1
2k2
RESET
PRG
DRIVE SIGNAL
SYSTEM
RUN
R2
GND
compass
I 2C LCD 16 x 4
IC3
D1
+5V
7805
R19
D3
10k
10k
R16 S3
K6
2k2
X1
R15
ADR
+5V
26
C2
C1
22p
22p
16MHz
K7
1N4001
C4
C5
C6
C7
47M
100n
100n
1M
+8V ... +15V
READOUT
470 7
18
PD0(RXD)
JP3
15
JP2
14
TXD
JP1
RXD
17
10k
SDA
ATmega32
16
R14
P0
D2
POWER
I 2C
Figure 1. The ATmega32 communicates with the compass and the LCD over an
bus; the GPS mouse is connected via RS-232.
The PCF8574 I2C interface chip takes on the task of accepting a control byte and making it available on pins 33 to 40 of the ATmega.
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Figure 2. Prototype navigation system printed circuit board for autonomous robots.
JVTWHZZ
[V THRL P[Z
79
GND
SCL
SDA
+5V
I 2C
compass
K8
I 2C
LEFT
track point
assignment
RIGHT
3
2
1
A1
A0
A2
13
14
INT
SDA
7
14
P3
6
13
P2
5
P1
4
12
P0
8
11
12
9
P7
P6
11
8
P5
9
P4
IC4
PCF8574
10
RS232
16
7
GPS
go left
go right
target OK
PRG
6
GPS-BOT-DRIVE
SCL
15
+5V
RST
10k
D7
D6
D5
5
4
3
2
10
D4
D3
D2
D1
D0
E
R/W
RS
VO
VDD
VSS
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.
1
070350 - 13
LC DISPLAY
16 x 4
^H`[VV\YKLZPYLKKLZ[PUH[PVU0UKVPUN
[OPZ[OLUH]PNH[PVUZ`Z[LTV\[W\[ZKPYLJ[PVU
JVU[YVSPUMVYTH[PVUVU[^VWPUZ6\[W\[
WPUZ4V[VYFSHUK4V[VYFYJVTIPULKNP]L
[OLKLZPYLKKPYLJ[PVUVM[YH]LSHZMVSSV^Z!
Motor_l
Motor_r
0
0
Function
STOP
1
1
straight on
1
0
turn left
0
1
turn right
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KPZWLUZL^P[O[OLPU[LYMHJLJOPWHUKKYP]L
[OLWVY[WPUZVM[OL(;TLNHOPNOHUK
SV^KPYLJ[S`HUKPUWHYHSSLS
;VZLSLJ[MVYL_HTWSL[YHJRWVPU[\ZPUN
[OL02*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[LYTPULZ [OL KPYLJ[PVU [V [OL KLZ[PUH[PVU
;OPZ JHSJ\SH[LK KPYLJ[PVU PZ [OLU JVTWHYLK [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
070350 - 12
Figure 4. The LCD is driven over an I2C bus,
the PCF8574 interface chip making a second
appearance in the circuit (see Figure 1).
UH]PNH[PVUZ`Z[LTZ^PUNZPU[VHJ[PVUHUK
IYPUNZP[IHJRVUJV\YZL0M[OLX\HSP[`VM
[OL.7:ZPNUHSPZ[VVWVVYVY[VVML^ZH[LSSP[LZHYL]PZPISL[OLYVIV[^PSS^HP[\U[PSHU
HKLX\H[LZPNUHSPZH]HPSHISL[VYLJHSJ\SH[L
[OLKLZPYLKJV\YZL
>OLU[OLKLZ[PUH[PVUPZYLHJOLK[OLYVIV[
Z[VWZHUK[HRLZ[OLWPU+LZ[FVROPNO;OPZ
ZPNUHS JHU IL \ZLK I` [OL YVIV[»Z THPU
WYVJLZZVYMVYL_HTWSL[VSVHK\W[OLUL_[
[YHJRWVPU[ZV[OH[[OLTHJOPUL[YHJLZV\[
HWYLKL[LYTPULKJV\YZL
(070350-I)
Web links
[1] http://www.mcselec.com
[2] http://www.elektor-electronics.co.uk
[3] http://www.kanda.com
0M[OLKLZPYLKHUKHJ[\HSKPYLJ[PVUZHYLPU
HNYLLTLU[[OLYVIV[HK]HUJLZPUHZ[YHPNO[
SPUL0MHZP[TV]LZ[OLYVIV[ZOV\SKKL]PH[LMYVT[OLSPUL[V[OLKLZ[PUH[PVU[OL
[4] http://www.robot-electronics.co.uk
[5] http://www.nxp.
com/cgi-bin/pldb/pip/pcf8574
GPS mouse data
A typical data packet received from a GPS mouse using the simple $GPGGA protocol
might appear as follows.
$GPGGA,191410,5212.9324,N,00007.5930,E,1,04,4.4,11.5,M,48.0,M,,*73
Protocol
Latitude
Time
Longitude
no. of visible satellites
measurement quality (0=insufficient, 1=ok)
Here ‘$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 approximately 1 s. The settings are made using the software provided with the GPS mouse.
80
Serial Interface for the Propeller
Simple and
inexpensive
Luc Lemmens
3V3
4k7
R3
T2
10k
R5
10k
K2
R6
1k
+3V3
RX (P31)
TX (P30)
RESn
GND
BC560B
10k
1
6
2
7
3
8
4
9
5
R4
C1
T1
R1
10k
R2
10n
10k
10
BC547
T3
K1
11
R7
BC547
D Connector 9
070276 - 11
GND
Semiconductors
T1
T1,T2 = BC547
T3 = BC557
5
R2
Resistors
(070276-I)
9
R4
R5
1
K1
R3
C1 = 10nF
K1 = 9-way sub-D socket (female), angled
pins, PCB mount
K2 = 5-way SIL socket
PCB, ref. 070276-1 from www.thepcbshop.
com
R7
Capacitors
Miscellaneous
6
R1,R2,R4,R5,R7 = 10k£
R3 = 4k£7
R6 = 1k£
K2
R1
R6
C1
T2
COMPONENTS LIST
`V\KVU»[OH]L[V^VYY`HIV\[JVUÄN\YPUNHSSZVY[ZVMZL[[PUNZIH\KYH[LU\TILY
VMIP[ZHUKZVVU·[OL7YVWLSSLY;VVS
KL]LSVWTLU[ZVM[^HYLKVLZHSS[OPZMVY`V\
<ZLH[VJHISLMVY[OLZLYPHSSPURUV[H
JYVZZV]LYJHISLVYU\SSTVKLTJHISL
>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
LU[PYLJPYJ\P[Ä[ZPUHWS\NOV\ZPUNMVYH ^H`9:JVUULJ[VY
-VY[\UH[LS`ÔLU`V\\ZL[OPZPU[LYMHJL
T3
;OL7YVWLSSLYWYV[V[`WPUNIVHYKKLZJYPILK
LSZLÔLYLPU[OPZPZZ\LULLKZHWYVNYHTTPUNPU[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*ÔPJOOHZ
HWWLHYLKX\P[LYLN\SHYS`PU[OLTHNHaPUL
;OLKPMMLYLUJLIL[^LLU[OL7S\NHUK[OL
*SPWPZPUOV^[OL`JVUULJ[[V[OLWYVJLZZVYIVHYK;OL7S\NJVUULJ[Z[VH^H`:03
OLHKLYÔPSL[OL*SPWJVUULJ[Z[VMV\YZVSKLYWHKZH[[OLLKNLVM[OLIVHYK;OLSH[[LY[`WLVMJVUULJ[PVU^HZ\ZLKPU[OLÄYZ[
]LYZPVUVM[OL7YVWLSSLYKLTVIVHYKHUKP[
PZHJ[\HSSÙVSVUNLYYLSL]HU[;OL7YVWLSSLY
7S\NPZ[OLYPNO[<:)PU[LYMHJLMVY[OLWYV[V[`WPUNIVHYKMYVT7HYHSSH_HUKV\YWYV[V[`WPUNIVHYK;OPZSP[[SLIVHYKJVZ[ZHYV\UK
[^LU[`L\YVZI\[PM`V\^HU[[VZH]LHIP[
VMTVUL`HUKWYLMLY[V\ZL[OLVSKMHP[OM\S
9:PU[LYMHJLHUK`V\Y7*OHZHZLYPHS
WVY[`V\JHUI\PSK[OLZPTWSLZLYPHSPU[LYMHJLKLZJYPILKOLYL
;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[LYZÔPJOLUHISL[OL
7YVWLSSLYIVHYKÔPJOPZWV^LYLKMYVTH
=Z\WWS`[V[HSR[V[OL*64WVY[VMH
7*ÔPJOVWLYH[LZ^P[Oo=ZPNUHSZ
*VUULJ[VY 2 ÔPJO 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[WVZZPISL[V\ZL[OLPU[LYMHJLIVHYK^P[O[OL
7HYHSSH_IVHYKHZ^LSS/V^L]LYPU[OH[
JHZLHZTHSSTVKPÄJH[PVUPZULJLZZHY`MVY
[OLZ\WWS`]VS[HNLJVUULJ[PVU
81
USB Converter
Jörg Schnyder
82
1
PU[OLJPYJ\P[IVHYKMVY[OPZW\YWVZL
(Z^LOH]LU»[ILLUHISL[VPU]LU[HKL]PJL
[OH[WYVK\JLZTVYLLULYN`[OHUP[JVUZ\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\[
R5 and R6 for other
output voltages:
L2
L1
47MH
820MH
6V:
R5 = 47k,
R6 = 9,1k
12V:
R5 = 110k,
R6 = 10k
15V:
R5 = 130k,
R6 = 9,1k
8
+5V
D–
D+
GND
R4
1
2
1
C3
3
C2
4
22p
2n2
C
6
IC1
2
3
USB
D1
UIN
-IN
I LIM
+IN
LM3578AM
E
OSC
R5
SK34SMD
7
K1
82k
K2
220k
5
4
C5
100n
47M
16V
47M
16V
1n5
R2
R3
R6
C11
C8
C7
C6
C4
68M
20V
68M
20V
68M
20V
68M
20V
100n
10k
C10
17
C9
17
R1
C1
17
+VLZ[OPZZV\UKMHTPSPHY!`V\I\`HZTHSS
WPLJLVMLX\PWTLU[Z\JOHZHWYVNYHTTPUN
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070119 - 11
2
elektor elector - 7-8/2007
components list
3
]VS[HNLHUKKP]PKLKHNHPUI`:WLJPÄJHSS`^P[OHUV\[W\[J\YYLU[VMT(H[
=[OLPUW\[J\YYLU[VU[OL<:)I\ZPZ
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L_JLW[[OLJVUULJ[VYHUK[OL[LYTPUHSZ[YPW
HYL:4+Z
(070119-I)
Web link
Author’s homepage: www.systech-gmbh-de
C10 = 47μF 16V
(for UO = 9 V)
C11 = 68μF 20V
Resistors
Inductors
R1,R2,R3 = 17
R4 = 220k7
R5 = 82k7
R6 = 10k7
L1 = 820μH (SMD CD105)
L2 = 47μH (SMD 2220)
Semiconductors
Capacitors
D1 = SK34SMD (Schottky)
(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
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
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-
POWER
D7
Solar Panel
T9
IC5
RFP30P06
7805
+5V
1N4001
JP6
POWER
ON
10k
R30
T10
R31
C13
C14
10M
25V
10M
25V
47k
BC337
GND
R26
071
F1
R24
071
10A T
R27
82k
2k
R22
2k
R29
BATT
7
VCC
V BATT
1N5408
7-8/2007 - elektor elector
1
RG2
RG1
IC6
N.C.
SIGN
MAX472
SHDN
OUT
GND
R28
18k
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\_PSPHYÌH[[LY`;OLTHPUWV^LYZV\YJL
^HZYLHSPZLK^P[OH5P*KVY5P4/IH[[LY`WHJR0[ZZPaL^HZHKHW[LK[VÄ[[OL
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2
C12
4
6
SIGN
5
8
V CHARGE
R23
51k
3
D8
100n
070171 - 11
IH[[LYPLZPZMVY[OLWV^LYZ\WWS`VM[OL
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PSPHY`Z`Z[LTa)V[JVTT\UPJH[LZ^P[O[OL
VWLYH[VY^PYLSLZZS`0U[OPZ^H`[OLPUKLWLUKLU[WV^LYZV\YJLPUJYLHZLZ[OLZLJ\YP[`VM[OLZ`Z[LT
[OYV\NO99HZHWYVWVY[PVUHS]VS[HNL
H[WPUHUK[OLJ\YYLU[KPYLJ[PVU[OYV\NO
[OLYLZPZ[VYZ:0.5)V[O]HS\LZHSSV^JHSJ\SH[PVUVM[OLJOHYNPUNZVSHYWHULSVYKPZJOHYNPUNVM[OLIH[[LY`WHJR
;OLH\_PSSPHY`WV^LYPZZOVÛPU[OL*7<
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UH]PNH[PVUZ`Z[LTJVTWHZZVUS`
;OLYLHZVUMVY[OLKP]PZPVUVM[OLWV^LY
Z\WWS`PZZPTWSL>P[O[OLOLSWVM[OLH\_-
(070171-I)
070172-11.zip (July/August 2007).
3-A Wide-input
Adjustable Switching Regulator
Luc Lemmens
;OL 7;5 PZ H ZLYPLZ VM OPNOLMMPJPLUJÌ\JRIVVZ[PU[LNYH[LKZ^P[JOPUN
YLN\SH[VYZ0:9MYVTNVVKVSK;L_HZ0UZ[Y\TLU[Z;0
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Device
Vin
Vout
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
5V[L[OH[[OL¶(]LYZPVUZ\WWSPLZHULNH[P]LV\[W\[]VS[HNL
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9:,;$ R£ô==6 ¶=405¶9p
84
GND
2
VI
GND
7
VO
6
PTN78060
UI
VO VO
INH ADJ SNS
3
4
UO
5
UO Sense
INH
C1
R SET
C2
0W05
1%
100 M
RL
070115 - 11
Device
PTN780x0W
PTN780x0H
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^PKL]HYPL[`VMNLULYHSW\YWVZLHWWSPJH[PVUZ[OH[VWLYH[LVMM==VY[PNO[S`
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MYVTHULSLJ[YPJÔLLSJOHPYHUKTPNYH[LK
PU[VHYVIV[
1
VO (desired)
(V)
RSET (standard value)
(k7)
VO (actual)
(V)
VI range
(V)
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
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
0M WPU PZ SLM[ VWLU [OL V\[W\[ ]VS[HNL
KLMH\S[Z[V[OLSV^LZ[]HS\L3PTP[PUNV\YZLS]LZ[V[OL[^VWVZP[P]LV\[W\[YLN\SH[VYZMVY[OL>]LYZPVU=405HUK9pHYL
=HUK R£YLZWLJ[P]LS`"MVY[OL/
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;OLTVK\SLZHYLWYV[LJ[LKHNHPUZ[SVHK
MH\S[Z^P[OHJVU[PU\V\ZJ\YYLU[SPTP[JOHYHJ[LYPZ[PJ<UKLYHSVHKMH\S[JVUKP[PVU[OL
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V\[W\[]VS[HNLVMM
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[OLYLPZHYLX\PYLTLU[MVY[OLV\[W\[]VS[HNL[VIL[\YULKVMM;OLWV^LYTVK\SL
Z^P[JOLZVMM[OLV\[W\[]VS[HNLÔLU[OL
0UOPIP[JVU[YVSWPUPZW\SSLK[VNYV\UK
MVYL_HTWSLI`HZ^P[JOPUN-,;
-PUHSS`NVVKH[[LU[PVUZOV\SKILWHPK[V
[OLX\HSP[`VM[OLJHWHJP[VYZVU=0HUK=6
HZ[OL`KL[LYTPUL[OLYLN\SH[VYZ[HIPSP[`
HUKV]LYHSSWLYMVYTHUJL[VHZ\IZ[HU[PHS
KLNYLL:\TTHYPaPUN[OLL_[LUZP]LPUMVYTH[PVUVUJHWHJP[VYZLSLJ[PVUMV\UKPU[OL
KH[HZOLL[Z[OLTPUPT\TYLX\PYLTLU[MVY
*PZ-^VY[OVMJLYHTPJJHWHJP[VYZ MVY [OL ¶> KL]PJL HUK - MVY[OL/KL]PJL;HU[HS\TJHWZHYLUV[
YLJVTTLUKLK
:PTPSHYS` H[ [OL YLN\SH[VY V\[W\[ *
ZOV\SKILH[SLHZ[-^VY[OVMSV^
,:9LSLJ[YVS`[PJZ
(070115-I)
Datasheets
http://focus.ti.com/docs/prod/folders/print/
ptn78060h.html
ptn78060w.html
ptn78060a.html
Paralleling LiPo Batteries
Paul
Goossens
3P7V3P[OP\T7VS`TLYIH[[LYPLZOH]LHU\TILYVMHK]HU[HNLZJVTWHYLK[V5P*KHUK5P4/
IH[[LYPLZ0UHKKP[PVU[VOH]PUNHSV^LY
^LPNO[MVY[OLZHTLJHWHJP[`3P7VIH[[LYPLZJHUHSZVILTHKLPU]HYPV\ZZOHWLZ
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ZVSKLYHYLZPZ[VYIL[^LLU[OL[^VWVZP[P]L
[LYTPUHSZ;OL]HS\LVM[OPZYLZPZ[VYOHZ[V
ILH[SLHZ[[OLKPMMLYLUJL]VS[HNLKP]PKLK
I`[OLTH_PT\TJOHYNPUNJ\YYLU[
;OLIH[[LY`^P[O[OLNYLH[LZ[HTV\U[VM
JOHYNL^PSSUV^JOHYNL[OLV[OLYIH[[LY`
85
H[HSPTP[LKYH[L;OLSH[[LY^PSS[OLYLMVYL
JOHYNL ZSV^S` (M[LY H ÔPSL [OL KPMMLYLUJL]VS[HNL^PSSYLK\JLHUK[OLYLMVYL[OL
JOHYNPUNJ\YYLU[HZ^LSS
0M[OPZWYVJLZZKVLZU»[NVX\PJRS`LUV\NO
MVY`V\YSPRPUN[OLU`V\JHUHKQ\Z[[OLYLZPZ[VY]HS\LMYVT[PTL[V[PTL[VPUJYLHZL[OL
JOHYNPUNJ\YYLU[HNHPU)V[OWVZP[P]L[LYTPUHSZTHÌLKPYLJ[S`JVUULJ[LK[VNL[OLY
VUJL[OLKPMMLYLUJL]VS[HNLOHZKYVWWLK
ZVSV^[OH[HYLZPZ[VYVMTæ^V\SKOH]L
ILLULUV\NO(UL^HUKTVYLWV^LYM\S
3P7VIH[[LY`PZUV^HMHJ[
(070274-I)
Switch-Mode 555 Supply
Martijn Geel
+12V
R2
L1
47k
33MH
D1
8
18k
R = 0.6 / I
R
7
DIS
T2
T1
2
C7
THR
OUT
R4
CV
470M
BC557
BUZ11
TR
1
220n
1k
3
NE555
C6
R7
R5
IC1
6
C1
C2
5
T3
1k
R1
+U OUT
R6
4
220n
470M
D2
4k7
C5
C4
47n
470M
r14V
R3
C3
BC547
220p
470 7
;OPZZ^P[JOTVKLWV^LYZ\WWS`PZI\PS[
HYV\UKH[PTLY0*0[WYV]PKLZHTH_PT\TV\[W\[]VS[HNLVM=^P[OH=
PUW\[]VS[HNL;OL]VS[HNLJHULHZPSÌLZL[
\ZPUNHALULYKPVKLHUKP[T\Z[ILOPNOLY
[OHU[OLPUW\[]VS[HNL[OLTPUPT\TV\[W\[]VS[HNLPZHS^H`Z=
;OL5,PZ\ZLKPUHU\UJVU]LU[PVUHS
^HÒLYL0U[OLUVYTHSJVUÄN\YH[PVU[OL
V\[W\[VM[OLVZJPSSH[VY0*PZSV^SVUNLY
[OHUP[PZOPNO>P[O[OLJVUÄN\YH[PVU\ZLK
OLYL[OLV\[W\[JHUILOPNOMVYHZOVY[LY
[PTL[OHUP[PZSV^
;OL5,Z^P[JOLZ-,;;VUHUKVMM
>OLU;PZJVUK\J[PUNLULYN`PZZ[VYLKPU
3>OLU;Z[VWZJVUK\J[PUN[OPZLULYN`
PZ[YHUZMLYYLK[V*HUK*]PH:JOV[[R`
KPVKL+ZV[OL]VS[HNLVU[OLZLJHWHJP[VYZYPZLZ
;OL]VS[HNLPZSPTP[LKIÀLULYKPVKL+
0M[OL]VS[HNLYPZLZHIV]L[OLALULY]VS[HNL
[OLJ\YYLU[[OYV\NO[OLALULYKPVKLJH\ZLZ
;[VJVUK\J[;OPZYLK\JLZ[OL]VS[HNLVU
WPUVM[OL5,ÔPJOPU[\YUKLJYLHZLZ[OLYLSH[P]LK\YH[PVUVM[OLOPNOSL]LS
VUWPU;[O\ZJVUK\J[ZMVYHZOVY[LY
PU[LY]HSZVSLZZLULYN`PZZ[VYLKPU3HUK
[OLV\[W\[]VS[HNLPZZ[HIPSPZLK
*\YYLU[SPTP[PUNPZWYV]PKLKI`99HUK
;0M[OL]VS[HNLHJYVZZ9PZTVYL[OHU
= ; Z[HY[Z [V JVUK\J[ ;OPZ KYP]LZ
;PU[VJVUK\J[PVUJH\ZPUN[OL]VS[HNL
[VKLJYLHZLPUVYKLY[VSPTP[[OLJ\YYLU[
070023 - 11
*HUK9WYV]PKLHZVM[Z[HY[LMMLJ[;OL
]HS\LVM9JHUYHUNLMYVTRæMVYHU
V\[W\[]VS[HNLVM=[VRæMVYHUV\[W\[]VS[HNLVM=
-VY[OLZHRLVMZHML[`SPTP[[OLALULY]VS[HNL[VHTH_PT\TVM=;HUK;
JHUILYH[LKMVYHTH_PT\TVM=;OL
-,;PZUV[JYP[PJHS"`V\TH`HSYLHKÒH]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[\ZLHUVYKPUHY`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` ZOVÛ OLYL JHU KLSP]LY
HWWYV_PTH[LS` > ;OL PUW\[ Z\WWS`]VS[HNLJHUYHUNLMYVT=[V=
+VU»[MVYNL[[OH[[OLTH_PT\T]VS[HNL[OL
5,JHUOHUKSLPZ=
-PUHSS`[OPZWV^LYZ\WWS`PZUV[ZOVY[JPYJ\P[WYVVM(ZSVÎSV^M\ZLVU[OL=
ZPKLPZYLJVTTLUKLK
(070023-I)
Voltage Stabiliser
,SLJ[YPJTV[VYZ\ZLKPUYVIV[HWWSPJH[PVUZ
VM[LUTHRLZ\KKLUHUKOLH]`KLTHUKZ
VU[OLPYWV^LYZ\WWS`(S[OV\NO[OLIH[[LYPLZUVYTHSS`\ZLKOH]LHSV^PU[LYUHS
86
YLZPZ[HUJL[OLÙL]LY[OLSLZZZVTL[PTLZ
OH]L KPMMPJ\S[` THPU[HPUPUN [OLPY V\[W\[
\UKLYSVHKHUKJHUILKHTHNLKI`J\YYLU[ZWPRLZ5V[HSS[OLLSLJ[YVUPJZPU[OL
YVIV[JHUJVWL^P[O[OLZLLMMLJ[Z[OL]VS[HNLYLN\SH[PVUWYV]PKLKI`VYKPUHY`[OYLL
[LYTPUHSKL]PJLZUV[HS^H`ZILPUN\W[V
[OLQVI;OPZLSLJ[YVUPJ]VS[HNLZ[HIPSPZLYPZ
HZVS\[PVU[V[OH[WYVISLT
;OL JPYJ\P[ PZ IHZLK HYV\UK H JVTWHJ[
Z^P[JOPUNYLN\SH[VYÔPJOPZJHWHISLVM
Uin = 13V ...25V
TR1
CTX50-4
1
C1
C4
47M
16V
100n
STI
4
1
FB = 1V25
P
S
2
3
2
D1
MBRA130LT3
C6
Uout = 12V
750mA
3
10M
50V
WYVK\JPUNHZ[LHK`+*]VS[HNLVM=H[
P[ZV\[W\[V]LYPUW\[]HYPH[PVUZMYVT=
[V=H[SVHKZVM\W[VT(0[Z[OYLL
5
5
6
7
FB
SYNC/SHDN
8
T1
8
EXT
4
R2
4
LDO
2
FREQ
PGND
C3
1M
220n
3
R1
7
R4
100k
C2
3
6
CS+
MAX668
REF
2
0705
1
1
5k6
FDS6680
IC1
R3
C5
560p
1k
10
3k0
R5
9
C8
C9
47M
16V
47M
16V
070280 - 11
WPUMVYTMHJ[VYTHRLZP[HZPTWSLYLWSHJLTLU[MVYJVU]LU[PVUHS[OYLL[LYTPUHS]VS[HNLYLN\SH[VY0*Z;OLI\JRIVVZ[Z^P[JOPUNJPYJ\P[\ZLZHU:4+WV^LY-,;MVY;
HUK[VHJOPL]LOPNOLMÄJPLUJ`HWWYV_PTH[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[OLMLLKIHJRPUW\[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]HPSHISLMVYMYLLKVÛSVHKMYVT
[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)
Mini Power Inverter
Alexander
Wiedekind-Klein
+5V
R1
C4
07
,]LUYVIV[Z`Z[LTZVJJHZPVUHSS` ULLK H ULNH[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 ULJLZZHY` PU [LYTZ VM J\YYLU[
VYZWHJL0MHSV^J\YYLU[
=Z\WWS`PZULLKLKHUK
VUS` = PZ H]HPSHISL H
UH[\YHS THU\MHJ[\YLY [V
[\YU [V PZ 4H_PT HUK
PUKLLK PU [OPZ JHZL [OL`
KVUV[SL[\ZKVÛ
100n
8
1
2
LV
FC
IC1
OSC
C+
6
7
C2
MAX660
100M
16V
4
C–
OUT
STI
5
1
3
2
C1
C3
100n
4M7
25V
3
C5
100M
16V
L1
10MH
–5V
070279 - 11
;OLILZ[RUVÛ
PU[L NYH[L K JPYJ\P[
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
LMÄJPLUJ`PZ[OL4(?;OLKL]PJL
JHUºTPYYVY»HU`PUW\[]VS[HNLIL[^LLU
=HUK=>P[OH=PUW\[[OL
V\[W\[PZ[`WPJHSS`¶=^P[OHSVHKVM
T(,MÄJPLUJ`H[T(PZHYV\UK
87
HUKH[T(PZHYV\UK>P[O
HUVWLUJPYJ\P[V\[W\[[OL0*KYH^ZHX\PLZJLU[J\YYLU[VMQ\Z[(
;OL JVTIPUH[PVU VM 3 HUK * ZSPNO[S`
YLK\JLZYPWWSLVU[OLV\[W\[]VS[HNL"[OL
JOVPJLVMPUK\J[VYPZUV[HZJYP[PJHSHZP[
^V\SKILPMP[MVYTLKWHY[VM[OLZ^P[JOPUNJPYJ\P[
;OLYLPZSP[[SL[VZH`HIV\[[OLJPYJ\P[P[ZLSM
;OL7YLZPZ[VYVUWPUZLSLJ[Z[OLVWLYH[PUNMYLX\LUJ`>P[O9Ä[[LK[OLJPYJ\P[
VWLYH[LZH[R/a"^P[OV\[P[H[R/a
.LYILYÄSLZMVY[OLWYPU[LKJPYJ\P[IVHYK
ÔPJO\ZLZZVTL:4+JVTWVULU[ZHYL
H]HPSHISLMVYKVÛSVHKMYVT[OL,SLR[VY
^LIZP[LYLM aPW9*HUK*
HYL:4+ZHUK*PZHU:4+[HU[HS\TLSLJ[YVS`[PJJHWHJP[VY,P[OLY[OL4(?*:(VY[OL4(?4JHUIL\ZLK"
IV[OJVTLPU:6WHJRHNLZ3PZH/
:4+PUK\J[VYYH[LKH[T(
(070279-I)
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[LYÔPJOYLZ\S[ZPUHSV^LY
TLJOHUPJHSZ[YHPUVU[OLJOHZZPZ;OLH]HPS-
C2
C1
BAT54
10u
10u
R3
100k
K1
1%
DHI
18
19
LX
17
DLO
15
CS
14
BATT
C3
GND
GND
T1A
100n 2
T1 = FDS6911
D2, D3 = MBRS540T3G
L1
6 1
5
IC1
MAX745
20
7
8
2
VL
DCIN
BST
D3
4
T1B
180m
100k
1%
250mW
1%
K2
C4
C5
C6
100n
100n
47n
Accu
070273 - 11
GND
HIPSP[`PZNVVKHZ^LSSHUK[OL`HYLTHU\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
[OH[`V\HS^H`Z\ZLHWYVWLYJOHYNLY>P[O
[OL\ZLVMH4(?Z\JOHJOHYNLYJHU
LHZPSÌLJVUZ[Y\J[LKH[OVTL
+\YPUN[OLJOHYNPUNWYVJLZZ[OLJOHYNL
J\YYLU[ ZOV\SK UV[ YPZL HIV]L * ;OPZ
TLHUZ[OH[MVYHT(OIH[[LY`P[TH`
UV[ IL JOHYNLK ^P[O H J\YYLU[ VM TVYL
[OHU ( -\Y[OLYTVYL [OL [LYTPUHS
]VS[HNLMVY[OPZ[`WLVMIH[[LY`THÙL]LY
YPZLHIV]L=WLYJLSS0UWYPUJPWSLH
88
R5
R6
10k
R4
R2
10k
10k
R1
9$T=I*/(9.,
( WHPY VM Q\TWLYZ PZ \ZLK [V ZLSLJ[ [OL
U\TILYVMJLSSZPU[OLIH[[LY`;OLMV\Y
WVZZPISL ZL[[PUNZ HYL ZOVÛ PU ;HISL
22u
D2
4
5
10
1
16
0V
CELL1
CELL0
THM/SHDN
REF
SETI
VADJ
STATUS
3
POWER IN
11
12
6
7
9
8
13
CCV
CCI
GND
IBAT
PGND
CEL1
CEL0
D1
JP2
3
JP1
L_HTWSL^L»]L
\ZLKHYLZPZ[VYVM
T7 ;OL JOHYNPUN J\YYLU[ PZ [OLYLMVYL!
T=T7$(0M
`V\^HU[[V\ZLHKPMMLYLU[JOHYNPUN J\YYLU[ `V\ JHU JHSJ\SH[L [OL
]HS\LMVY9\ZPUN[OLMVYT\SH!
SP[OP\TJOHYNLYPZUV[OPUNTVYL[OHUHJ\YYLU[ZV\YJL^P[OHWYLJPZPVUTH_PT\T
V\[W\[]VS[HNL
*OHYNLJVU[YVSSLY
0UV\YJHZL[OLJOHYNLY\ZLZHZ[LWKVÛ
JVU]LY[LY0U[OPZ^H`]LY`SP[[SLWV^LYPZ
^HZ[LKPU[OLJOHYNLYHUKP[JHUVWLYH[L
^P[OV\[[OL\ZLVMHOLH[ZPUR;OLJVTWSL[LJOHYNLJVU[YVSSLYPZPUZPKL0*(ML^
L_[LYUHSJVTWVULU[ZHYLYLX\PYLKMVY[OL
Z[LWKVÛJVU]LY[LY;OLZLHYL-,;;
HUKP[ZZ\YYV\UKPUNJVTWVULU[Z
;OLIH[[LY`]VS[HNLPZTLHZ\YLK]PHWPU
)(;; ;OL ]VS[HNL KPMMLYLUJL IL[^LLU
)(;;HUK*:PZTLHZ\YLKI`[OL0*[VJVU[YVS[OLJOHYNPUNJ\YYLU[;OL0*[YPLZ[VRLLW
[OPZWV[LU[PHSKPMMLYLUJL[VT=0UV\Y
Table 1.
JP1
JP2
Number of
cells
Closed
Closed
1
Open
Closed
2
Closed
Open
3
Open
Open
4
;OLZLQ\TWLYZ[LSS[OLJPYJ\P[OV^THU`
JLSSZHYLJVUULJ[LKPUZLYPLZPUZPKL[OLIH[[LY`;OPZPZ]LY`PTWVY[HU[ZPUJLP[KL[LYTPULZÔH[[OLTH_PT\T]VS[HNLTHÌL
HJYVZZ[OLIH[[LY`
;OLTH_PT\T]VS[HNLWLYJLSSPZHKQ\Z[LK
]PH=HKQHUKJHUILZL[IL[^LLU =HUK
=9LZPZ[VYZ9HUK9ZL[[OL[LYTPUHS]VS[HNL[V=PU[OPZJHZL)LJH\ZL
=HKQOHZHUHYYV^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`ZPTWSL(SSJVTWVULU[ZHYLTV\U[LKVU[OL
[VWZPKLVM[OLIVHYK>OLUZVSKLYPUN[OL
COMPONENTS LIST
Semiconductors
D1 = BAT54 (SOT-23)
D2,D3 = MBRS540T3G (SMC), e.g. Digikey
MBRS540T3GOSCT-ND
IC1 = MAX745
T1 = FDS6911 (SOIC12), e.g. Digikey
FDS6911CT-ND
Resistors
R1,R2,R6 = 10k7 (SMD 0805)
R3,R4 = 100k7 1% (SMD 0805)
R5 = 0.187 0.25W (SMD 1210), e.g. Digikey
P.18SCT-ND
Miscellaneous
Capacitors
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)
C1,C2 = 10MF 25V (SMD 12010)
C3,C4.C5 = 100nF (SMD 0805)
C6 = 47nF (SMD 0805)
JVPSP[THÌLULJLZZHY`[VSL[[OLZVSKLYPUNPYVUOLH[\WHIP[TVYLÄYZ[;OLJVUULJ[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)
PWM Voltage Dropper
Von Stefan Brandstetter
24V DC
C4
R5
1k5
220M
63V
D2
R1
1k
P1
R4
2x
1N4148
50k
14
20k
IC1
D3
R2
IC1 = 4093
7
STP20NE06FP
IC1.C
1k
8
D1
IC1.A
C1
1
2
16V
10M
25V
&
9
IC1.B
3
5
6
&
&
10
T2
D5
4
IC1.D
12
13
&
D4
75V
11
16V
C2
C3
10n
50V
3M3
25V
T1
R7
BC547B
R3
07047
47 7
R6
4k7
;OPZJPYJ\P[^HZKL]LSVWLK[VHSSV^HJHY
[YHPSLY KLZPNULK MVY = VWLYH[PVU [V
IL\ZLKHZH[YHPSLYMVYH]HU^P[OH=
Z\WWS`(U\TILYVMJVWPLZVM[OLJPYJ\P[
^L THKL MVY [OL SLM[ HUK YPNO[ PUKPJH[VYZIYHRLSPNO[ZU\TILYWSH[LSPNO[HUK
YL]LYZPUNSPNO[ZHUK[OLZLOH]LILLUPU
[YV\ISLMYLLVWLYH[PVUMVYZL]LYHS`LHYZ
;OLHK]HU[HNLVM[OPZJVTWHJ[JPYJ\P[PZ
[OH[P[KPZZPWH[LZ]LY`SP[[SLWV^LYILJH\ZL
P[\ZLZW\SZL^PK[OTVK\SH[PVU0UHKKP[PVUP[ZX\PLZJLU[J\YYLU[JVUZ\TW[PVUPZ
WYHJ[PJHSSàLYV
(ZPTWSLW\SZLNLULYH[VYPZJVUZ[Y\J[LK
\ZPUN 0*( * 9 HUK 9 5VYTHSS`
ÔLU;PZUV[JVUK\J[PUN9*JVTIPUH[PVU 9* LUZ\YLZ [OH[ 0*) WHZZLZ
[OLZX\HYL^H]LZPNUHS[V-,;Z^P[JO;
:O\U[YLZPZ[VY9TLHZ\YLZ[OLV\[W\[J\YYLU[0M[OLTH_PT\TZHMLV\[W\[J\YYLU[PZ
L_JLLKLK;[\YUZVUHUKZOVY[JPYJ\P[Z
*" 0*) UV SVUNLY WHZZLZ [OL ZX\HYL
^H]LZPNUHS[V[OLZ^P[JOPUN[YHUZPZ[VY;OL
V\[W\[J\YYLU[MHSSZ[VaLYV;[\YUZVMM
HUK*PZYLJOHYNLK]PH9(ZZVVUHZ[OL
PUW\[[OYLZOVSKVM0*)OHSM[OLZ\WWS`
]VS[HNLPZL_JLLKLK[OL7>4ZPNUHSVUJL
HNHPUZ[HY[Z[VKYP]L;;O\ZL]LUPM[OLYL
PZHJVU[PU\V\ZZOVY[JPYJ\P[VU[OLV\[W\[
[OLYL^PSSILVJJHZPVUHSW\SZLZVMV\[W\[
J\YYLU[9+HUK*YLK\JL[OLPUW\[
]VS[HNLVM=[VH]HS\LVM=TVYL
Z\P[HISL MVY WV^LYPUN [OL *46: :JOTP[[[YPNNLY0*+HUK+WYV[LJ[;
MYVT]VS[HNLZWPRLZÔPJOHYLWYHJ[PJHSS`
4W
070127 - 11
typ. 12V
\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\LZZOVÛ[OLJPYJ\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[HUJLÔLU]VS[HNLPZÄYZ[
HWWSPLK;OLTHYRZWHJLYH[PVPZZL[[V
HWWYV_PTH[LS`!VU[PTL\ZPUN
7;OLJPYJ\P[JHUILTVKPÄLKMVY\ZLH[
OPNOLYJ\YYLU[ZHUKP[JHUHSZVIL\ZLKHZ
[OLIHZPZVMHZPTWSLHUKLMÄJPLU[ZWLLK
JVU[YVSSLYVYSPNO[KPTTLY
(070127-I)
89
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[
[OLTVZ[PUVWWVY[\ULTVTLU[(ZH\ZLY
`V\HYL\UL_WLJ[LKS`JVUMYVU[LK^P[O[OL
MHJ[[OH[[OLJPYJ\P[Z\KKLUS`KVLZU»[^VYR
HU`TVYL:VTL[PTLZ[OPZPZVUS`HTPUVY
PUJVU]LUPLUJLI\[H[V[OLY[PTLZP[JHU
ILHJH[HZ[YVWOL-VYPUZ[HUJLQ\Z[PTHNPULÔH[OHWWLUZ[VHTVKLSHPYWSHULPM
[OLYHKPVYLJLP]LYZ[VWZ^VYRPUNPUÅPNO[
K\L[VHULTW[ÌH[[LY`>LJHUHZZ\YL
`V\[OH[[OLJVUZLX\LUJLZHYLHU`[OPUN
I\[WSLHZHU[
JHYLVML]LY`[OPUNMVY\Z
;OLKLZPNUWYLZLU[LKOLYLPZPU[LUKLK[V
IL\ZLK^P[OJPYJ\P[ZZ\JOHZYLJLP]LYZ
\ZLKPUTVKLSZ[OH[\ZL5P*KIH[[LYPLZ
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[
:VS\[PVU
;OLZVS\[PVU[V[OPZWYVISLTPZHJ[\HSS`
X\P[LZPTWSL!\ZL[^VIH[[LYPLZ>OLUVUL
VM[OLIH[[LYPLZILJVTLZKPZJOHYNLK[OL
ZLJVUKVULJHU[HRLV]LYHUKJVU[PU\L
Z\WWS`PUNWV^LY
6MJV\YZLHSS[OPZT\Z[OHWWLUH\[VTH[PJHSS`ZV^LULLKHOHUK`JPYJ\P[[OH[[HRLZ
0*KVLZ[OLZHTL[OPUNI\[MVYIH[[LY`
)
)V[OZPNUHSZNV[VHÅPWÅVWJVUZPZ[PUNVM
0*HHUK0*KÔPJOKL[LYTPULZÔPJOVM
[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
: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
Vbat
D1
IN BAT A
T3
C1
*
100n
FDV301N
T2B
T4
D3
BAT54
R3
ENABLE_A
IC1D
11
&
13
12
IC1B
4
&
IC1A
5
6
3
&
1
2
Aok
Vcc
2
RST
GND
R8
10k
GND
C3
100n
GND
IC2
3
LM809M3-4.38
R2
100k
FDV301N
1M
Vbat
3
1
2
100k
1k
D5
6
5
4
1
R1
R10
K2
8
7
T1A
BAT54
K1
GND
D2
POWER OUT
T2A
C2
*
100n
FDV301N
2
10
T6
R6
100k
IC3D
8
9
D4
FDV301N
R7
1M
ENABLE_B
IC1C
10
&
3
&
IC3B
1
2
R9
10k
4
GND
&
GND
5
6
GND
&
Vcc
13
12
2
RST
Bok
GND
GND
Vbat
8
9
C4
100n
IC3A
11
LM809M3-4.38
BAT54
GND
90
&
Vbat
S1
ON
T1, T2 = IRF7329
IC1, IC3 = 4093
C5
GND
GND
1
IC3C
R5
T5
IC4
3
1
10k
D6
8
7
4
R11
100k
1k
3
IN BAT B
K3
6
5
T1B
BAT54
R4
100n
GND
14
14
IC1E
IC3E
7
7
C7
100n
070343 - 11
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`
]PH [OL KPVKL ( ZPTWSL ZVS\[PVU ^V\SK
IL [V ^PYL H KPVKL PU ZLYPLZ [V WYL]LU[
[OPZ<UMVY[\UH[LS`HKPVKLHS^H`ZOHZH
]VS[HNLKYVWHWWYV_PTH[LS`=^P[OH
:JOV[[R`KPVKL
;VZVS]L[OPZWYVISLT^L\ZLHZLJVUK
46:-,;^PYLKPU[OLVWWVZP[LKPYLJ[PVU
;OL\UKLYS`PUN[YPJROLYLPZ[OH[[OLJOHUULSVMH-,;JVUK\J[ZPUIV[OKPYLJ[PVUZ
ÔLUP[PZZ^P[JOLKVU;OPZLSPTPUH[LZ[OL
LMMLJ[VM[OLMVY^HYK]VS[HNLVM[OLPU[LYUHSKPVKL
3,+Z+HUK+PUKPJH[LÔPJOIH[[LY`
PZPU\ZL
H Z^P[JOVU KLSH` [OH[ JH\ZLZ IH[[LY`
Z^P[JOVU[VILKLSH`LKZVTLÔH[;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
;OLILZ[JOVPJLMVY[OLZ^P[JOPUNKL]PJL
PZH-,;PUZ[LHKVMHIPWVSHY[YHUZPZ[VY;OPZ
ZH]LZLULYN`ZPUJLUVIHZLJ\YYLU[PZULJ-
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
<ZL
;OLJPYJ\P[PZ]LY`LHZ`[V\ZL*VUULJ[H
MV\YJLSS5P*KIH[[LY`[VLHJOVM[OLIH[[LY`PUW\[Z2HUK2;OLUJVUULJ[V\[W\[2[V[OLJPYJ\P[[VILWV^LYLK
:^P[JOVU[OLZ\WWS`]VS[HNL^P[OZ^P[JO
:;OL3,+ZUV^PUKPJH[LÔPJOIH[[LY`
PZ PU \ZL 0M [OPUNZ L]LY` NL[ ZV MHY [OH[
IV[OIH[[LYPLZILJVTLKLLWS`KPZJOHYNLK
/LH]LUMVYIPK[OPZJHUILYLJVNUPZLKI`
[OLMHJ[[OH[IV[O3,+ZHYLSP[
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.elektorelectronics.co.uk)
(070343-I)
Multi-purpose NiCd & NiMH Charger
C. Tavernier
www.tavernier-c.com
<USLZZ`V\YYVIV[PZMY\NHSLUV\NO[VTHRL
KV^P[OWYPTHY`JLSSZ^P[OV\[IYLHRPUN[OL
IHURVYPZLU]PYVUTLU[HSS`MYPLUKS`HUK
Y\UZVMMZVSHYWHULSZP[^PSSWYVIHISÙLLK
[V\ZLYLJOHYNLHISLIH[[LYPLZHZP[ZLULYN`
ZV\YJL
(S[OV\NO ]LY` THU` JOHYNLYZ HYL J\YYLU[S`H]HPSHISL[OL`»YLUV[HS^H`ZZ\P[HISLMVYV\YULLKZPU[LYTZVM[OL[`WLZ
HUKU\TILYVMIH[[LYPLZ[OL`JHUOHUKSL
>OH[»ZTVYLJLY[HPUVM[OLTKVUV[[HRL
]LY`NVVKJHYLVM[OLIH[[LYPLZLU[Y\Z[LK
[V[OLTÔPJOJHUZLYPV\ZS`ZOVY[LU[OLPY
SPML
:V[OPZHY[PJSLWYVWVZLZI\PSKPUN`V\YVÛ
[HPSVYTHKL JOHYNLY \ZPUN HU 0* [OH[»Z
HSYLHK`VSKI\[Z[PSS]LY`T\JOJ\YYLU[!
[OL4(?MYVT4H_PT(ZHSSYVIV[Z
HYLKPMMLYLU[^L»YLUV[NVPUN[VZ\NNLZ[H
JVTWSL[LS`ÄUPZOLKJPYJ\P[I\[^PSSPUZ[LHK
L_WSHPUOV^[VHKHW[P[[VZ\P[[OLJOHYHJ[LYPZ[PJZVM[OLIH[[LYPLZ`V\»SSIL^HU[PUN
[VYLJOHYNL
;OL4(?»ZIHZPJHWWSPJH[PVUJPYJ\P[PZ
ZOVÛPU[OLÄN\YLI\[HZ`V\JHUZLL
JLY[HPULSLTLU[ZOH]LUV]HS\LZZOVÛ
0UHKKP[PVU[OLYLHYL]HYPV\ZJVUÄN\YH[PVU SPURZ =PH [OLZL ]HYPV\Z LSLTLU[Z
[OL4(?SL[Z`V\JOHYNLMYVTVUL[V
JLSSZHJLSSPZHIHZPJ=LSLTLU[
KLMPUL [OL JOHYNPUN J\YYLU[ KLMPUL [OL
LUKVMJOHYNL MSVH[ J\YYLU[ HUK SHZ[S`
ZLSLJ[ [OL TVKL MVY KL[LJ[PUN LUK VM
JOHYNL(ZMHYHZ[OLSH[[LYPZJVUJLYULK
HUKZVHZ[VILJVTWH[PISL^P[OHUÌH[[LYPLZ`V\HYLSPRLS`[V\ZLPU`V\YYVIV[
^L»]LSLM[V\[[OL[LTWLYH[\YLKL[LJ[PVU
TL[OVKÔPJOYLX\PYLZH[OLYTHSZLUZVY
5;*VYLX\P]HSLU[PUZPKL[OLIH[[LY`:V
YLZPZ[VYZ9HUK9PUJVUQ\UJ[PVU^P[O
[OL OHYK^PYLK SPURZ [V PUW\[Z ;/0 HUK
;36WYVNYHT[OL4(?PU[V[OLTVKL
[OH[ KL[LJ[Z LUK VM JOHYNL I` ]VS[HNL
]HYPH[PVU
:V UV^ SL[»Z ZLL OV^ [V KL[LYTPUL [OL
V[OLYLSLTLU[Z[OH[HYLZ[PSSVWLU[V`V\
ZV`V\»SSILHISL[VI\PSKHJOHYNLY[OH[»Z
Q\Z[YPNO[MVY`V\YULLKZ5V[LYPNO[H^H`
[OH[ [OL JVUMPN\YH[PVU SPURZ JHU LP[OLY
ILOHYK^PYLKVU[OL7*)[OH[`V\»SSIL
KLZPNUPUNMVY`V\YJOHYNLYVYLSZLJVUULJ[LK[VT\S[P^H`Z^P[JOLZ[VJYLH[LH
T\S[PW\YWVZLJOHYNLY
@V\ÄYZ[ULLK[VKLJPKL0MHZ[[OLJOHYNPUN
J\YYLU[MVY`V\YIH[[LYPLZÔVZLJHWHJP[`
CPZL_WYLZZLKPUHTWuYLOV\YZ(O;OPZ
JHUILJHSJ\SH[LKMYVT!IMHZ[$CtÔLYLtPZ
[OLKLZPYLKJOHYNPUN[PTLPUOV\YZ>H[JO
V\[;OL4(?KVLZUV[OHUKSL[PTLZ
V]LYOV\YZ(UK[HRLJHYLUV[[VWPJR
H]HS\LMVYIMHZ[HIV]LCÔPJOPZJ\YYLU[S`[OLTH_PT\TJ\YYLU[WLYTP[[LKMVY
91
T1
TIP32A
+VA
LED1
* see text
R3
R2
680 7
*
C1
10n
150 7
R1
D1
1N4002
V+
5
K1
THI
3
K2
4
9
K3
10
8
FCHG
PGM0
15
V+
DRV
14
PGM1
PGM2
BAT+
+BATT
2
PGM3
IC1
K4
1
BATT-
16
REF
BATT
VLIM
REF
R4
68k
MAX713
BAT–
7
TEMP
CC
12
-BATT
11
R5
C5
10M
25V
C2
22k
MHZ[JOHYNPUN5P*HKHUK5P4/IH[[LYPLZ
0M`V\HYLHISL[VJOVVZLHSV^LYJ\YYLU[
ZVT\JO[OLIL[[LYP[^PSSWYVSVUNIH[[LY`
SPML7YVNYHT[OPZJOHYNPUN[PTLI`^PYPUN
WPUZ7.4HUK7.4VM[OL4(?HZ
WLY;HISL
;OLU JOVVZL [OL U\TILY VM JLSSZ [V IL
JOHYNLKH[[OLZHTL[PTL-VYISVJRIH[[LYPLZ`V\JHUÄUK[OLU\TILYVMJLSSZI`
KP]PKPUN[OLUVTPUHS]VS[HNLVM[OLIH[[LY`
I`=:VH =IH[[LY`^PSSJVU[HPU
LPNO[JLSSZ0M[OLU\TILYVMJLSSZPZVY
TVYL[OLJPYJ\P[JHU»[IL\ZLKHZPZHUKPU
[OH[JHZLP[»ZIL[[LY[VJOHYNL`V\YIH[[LYPLZ
PU[^VNVLZ7YVNYHT[OPZU\TILYI`^PYPUNWPUZ7.4HUK7.4VM[OL4(?
HZWLY;HISL
;OLUJOVVZL[OL\UZ[HIPSPaLK+*Z\WWS`
]VS[HNL MVY `V\Y JOHYNLY =( PU [OL MPN\YLZV[OH[P[PZH[SLHZ[=OPNOLY[OHU
[OLTH_PT\T]VS[HNLVM[OLIH[[LY`[VIL
JOHYNLK0M`V\YIH[[LYÒHZSLZZ[OHUMV\Y
JLSSZ[OPZY\SLUVSVUNLYHWWSPLZHZ[OL
4(?Z\WWSÒHZ[VILHTPUPT\TVM
=
;OLUKL[LYTPUL[OLTH_PT\TWV^LYKPZZPWH[LKPU;\ZPUN[OLMVSSV^PUNLX\H[PVU!
TLO
GND
6
13
1M
25V
C3
C4
10n
10M
25V
R6
*
070301 - 11
PD$V(¶=)(;;TPUôIMHZ[
ÔLYL V)(;;TPU PZ [OL TPUPT\T ]VS[HNL
VM[OLIH[[LY`[VILJOHYNLK*OVVZL;
HJJVYKPUNS`PMULJLZZHY`Ä[[PUNP[^P[OHU
HWWYVWYPH[LOLH[ZPUR
;OLUKL[LYTPUL[OL]HS\LVMYLZPZ[VY9
ZV [OL J\YYLU[ KYHÛ I` [OL 4(?
^PSSIL[VT(\ZPUN[OLLX\H[PVU!
9$V(¶IÔLYLIPZIL[^LLUHUK
T(
3HZ[S`KL[LYTPUL[OL]HS\LVMYLZPZ[VY9
I`\ZPUN[OLLX\H[PVU!9$IMHZ[HUK
P[ZWV^LYI`\ZPUNP9$IMHZ[[OLVYL[PJHSSÌMHZ[PUMHJ[I\[P[»ZILZ[[V\ZL
HZHML[`MHJ[VYVMOLUJL[OLTVKPÄLK
LX\H[PVU
@V\YJOHYNLYPZUV^VWLYH[PVUHSHUKPZ
L_[YLTLS`ZPTWSL[V\ZL"I\[ILJH\ZLVM[OL
WYVJLZZVYZPUZPKL[OL4(?P[PZLZZLU[PHS[VTHRL[OLJVUULJ[PVUZ[V7.4[V
7.4ILMVYLHWWS`PUNWV^LY[V[OLJPYJ\P[V[OLY^PZL[OL`THÙV[IL[HRLUPU[V
HJJV\U[JVYYLJ[S`;OPZPZUVWYVISLTMVY
HOHYK^PYLKJPYJ\P[I\[PM`V\YJOHYNLY
\ZLZJVUÄN\YH[PVUZ^P[JOLZH[[OPZWVPU[
`V\»SSULLK[VWV^LYKVÛHUKWV^LY\W
HNHPU[VJVUÄYTHU`JVUÄN\YH[PVUJOHUNLZ
THKL]PH[OLZLZ^P[JOLZ
;OL3,+SPNO[ZÔLU[OLJOHYNLYPZPUMHZ[
JOHYNLTVKLH[[OLJ\YYLU[IMHZ[KL[LYTPULK
HIV]L0[NVLZV\[ÔLUMHZ[JOHYNPUNPZ
V]LYHUK[OLJOHYNLYNVLZPU[VÅVH[JOHYNL
TVKL;OLJ\YYLU[NLULYH[LKPU[OPZTVKL
PZZ\MÄJPLU[S`SV^[OH[[OLIH[[LY`THÌL
SLM[JVUULJ[LK[V[OLJOHYNLYPUKLÄUP[LS`
PMULJLZZHY`
;VTHRLZ\YLV\YL_WSHUH[PVUPZJY`Z[HS
JSLHYOLYLI`^H`VML_HTWSLHYL[OLJHSJ\SH[PVUZMVYHJOHYNLYMVYHWHJRVMMV\Y
=5P4/IH[[LYPLZ^P[OHJHWHJP[`VM
Table 2. Programming number of cells via PGM0 & PGM1.
Number
of cells
Table 1. Programming charge time via PGM2 & PGM3.
Maximum charge
time (min)
PGM2
22
V+
REF
33
V+
BATT–
45
92
PGM3
O/C
REF
66
O/C
BATT–
90
REF
REF
132
REF
BATT–
180
BATT–
REF
264
BATT–
BATT–
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–
T(O[OH[^L^HU[[VYLJOHYNLPU
[^VOV\YZ
•*HSJ\SH[L I MHZ[ ! I MHZ[ $ Ct PL $
(VY T(
•7.4HUK7.4JVUULJ[PVUZ!
7.4[PLK[V)(;;¶HUK7.4[PLK[V
9,-HZ^L^HU[HJOHYNL[PTLVMOV\YZ
PLTPU\[LZPUMHJ[^L»SSNL[HTH_PT\TVMTPU\[LZ
•7.4HUK7.4JVUULJ[PVUZ!
7.4[V=HUK7.4[V)(;;¶ZPUJL
V\YIH[[LY`JVTWYPZLZMV\YJLSSZ
•+L[LYTPUL V( ! V( $ = TPUPT\T
>L»SSJOVVZL =[VVI]PH[LHU`WYVISLTZ
^P[OWVZZPISLZ\WWS`]VS[HNL]HYPH[PVUZ
•7V^LYKPZZPWH[LKPU;!PD$ ¶ PL>:V^L»SSJOVVZLMVYL_HTWSLH
;07(NP]PUN\ZHUL_JLSSLU[ZHML[`THYNPUP+TH_$>
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H[=
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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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[VWV^LY[OL4(?+LUZ\YLZ[OH[[OL
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93
C7
10u
63V
10u
63V
BF245C
D1
16
1
MAX712
C1 = 220pF
C2 = 100nF
C3,C4,C6,C7 = 10MF 63V radial
BAT-
VLIM
100n
CC
PBYR745 D2
K5
BC557B
12
C3
C4
+BATT.
10u
63V
10u
63V
-BATT.
11
C1
13
6
7
TEMP
R3
TLO
220p
R1
BAT-
V+
PGMx
BAT-
REF
070213 - 11
GND
Semiconductors
Capacitors
T4
REF
Components list
R1 = 0.227 5W
R2 = 68k7
R3 = 22k7
R4 = 1k7
R5 = 4k77
PBYR745
0R22
K4
V+
PGM3
REF
PGM3
BAT-
15
5
REF
R2
68k
1u
25V
THI
8
3
PGM0
FCHG
4
14
DRV
PGM1
9
PGM2 IC1
10
2
PGM3
BAT+
PGM0
PGM1
PGM2
PGM3
C2
D3
R4
K2
V+
PGM2
REF
PGM2
BAT-
BC547B
C5
V+
K3
T3
220uH
GND
V+
PGM1
REF
PGM1
BAT-
T2
L1
PGMx
V+
PGM0
REF
PGM0
BAT-
BC547B
(070213-I)
Resistors
R5
T1
C6
K1
4k7
+8V...+15V
1A3
T5
IRF9520
3
1
2
1k
K6
22k
VUOLH[ZPURPMULJLZZHY`;OLJOHYHJ[LYPZ[PJZVMJVPS3HYLUV[JYP[PJHS"H[YHKP[PVUHS
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+HUK[OL46:-,;[YHUZPZ[VY;"[OL`[VV
HYLUV[JYP[PJHSPU[OPZHWWSPJH[PVU@V\JHU
\ZLHU`:JOV[[R`KPVKL[OH[JHU^P[OZ[HUK
HTWZHUKPUJS\KLHU`46:-,;^P[OH
SV^LYKYHPUYLZPZ[HUJL
(JVTWHJ[7*)^HZKLZPNULKMVY[OLJPYJ\P[4V\U[PUN[OLJVTWVULU[ZZOV\SKIL
HSSWSHPUZHPSPUNI\[KVUV[MVYNL[[OL[^V
^PYLSPURZVU[OLIVHYK0UK\J[VY3PZH
[VYVPKºZ\WWYLZZVYJOVRL»^P[OHNVVKZPaL
*VUULJ[VYZ22HSSV^KPMMLYLU[JOHYNPUN
WHYHTL[LYZ[VILZL[\W
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HZMVY[OL5P*KJOHYNLYPU[OL4(?PU
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ZHTL[HISLZ[VZL[[OLWHYHTL[LYZVM[OPZ
JPYJ\P[HZ[OLVULZNP]LUPU[OH[HY[PJSL
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
Inductor
L1 = 220MH suppressor choke
Deep Discharge Protection for Rechargeable Cells
Tilman Küpper
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8
2
BT1
5
820k
R2
100k
R4
100k
R1
HYST1
RL1
HYST2
OUT1
IC1
ICL7665
3
6
1
(070087-I)
OUT2
SET1
7
Links
SET2
Data sheet IRL7665: www.intersil.com/
data/fn/fn3182.pdf
R3
130k
;OLZ^P[JOPUN[OYLZOVSKSL]LSZHUK
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T1
IRLML6402
4
Data sheet IRLML6402: www.irf.
com/product-info/datasheets/data/
irlml6402.pdf
070087 - 11
LDO Regulator
with Soft Start or Tracking
Dirk Gehrke
U IN
;OLKL]PJLZKLZJYPILKOLYLHYL[HPSVYLK[V
Ä[[OLULLKZVMTVKLYU+:7ZWYVJLZZVYZ
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7
U BIAS
1
OUT
EN
R1
BIAS
TPS74201
TPS74401
SS
FB
2
C3
C4
1M
4M7
*
R2
4
4k99
C1
U OUT
3
GND
C2
1M
* see text
5
7
U BIAS
6
R3
1
4k99
IN
R4
C1
C3
1M
4M7
*
IC1
IN
OUT
U OUT
3
EN
R1
2k49
U IN
TRACK
-PN\YLZOV^ZHZPTWSPÄLKJVUULJ[PVU
KPHNYHTMVY[OL[OYLLKL]PJLZ;OLZLYLN\SH[VYZYLX\PYLHSV^WV^LYIPHZ]VS[HNL
=)0(:HUKHWV^LYPUW\[]VS[HNL=05MYVT
ÔPJO=V\[^PSSILKLYP]LK(SS[OYLLYLN\SH[VYZHYLJHWHISLVMWYV]PKPUNV\[W\[]VS[HNLZKVÛ[V=HUK[OLKL]PJLPU[OL
8-5WHJRHNLHSZVPUJS\KLZHUPU[LNYH[LK
Z\WLY]PZVY`JPYJ\P[^P[OVWLUKYHPUV\[W\[[OH[NVLZ[VOPNOPTWLKHUJLÔLU[OL
V\[W\[]VS[HNLYLHJOLZYLN\SH[PVUºWV^LY
NVVK» VY 7. ;OL ;7: JHU WYV]PKL\W[V(V\[W\[J\YYLU[HUKOHZ
H ;9(*2 WPU ÔPJO HSSV^Z [OL \ZLY [V
PUW\[HYHTWZPNUHSMVY[OLV\[W\[]VS[HNL
[VMVSSV^LMMLJ[P]LS`PTWSLTLU[PUNLP[OLY
ZPT\S[HULV\ZVYYH[PVTL[YPJZLX\LUJPUN
6
IC1
IN
BIAS
TPS74301
FB
TRACK
GND
4
2
R2
4k99
([[OL[PTLVM^YP[PUN[OLMHTPS`JVUZPZ[Z
VM[OYLLWHY[ZJHSSLK;7:(^P[O
ZVM[Z[HY[;7:(^P[O[YHJRPUN
HUK;7:(^P[OZVM[Z[HY[;OL
MHTPS`PZL_WLJ[LK[VNYV^ZVVU
5
2k49
(Texas Instruments Germany)
C2
1M
070231 - 11
Figure 1. Schematic of TPS74201, TPS74301 and TPS74401
(see text for values of R4 and C4).
;OLYLSL]HU[JVUULJ[PVUZHYLZOVÛZLWHYH[LS`;OL;7:HUK;7:JHU
WYV]PKL\W[V(HUK(+*J\YYLU[
YLZWLJ[P]LS` HUK OH]L HU :: WPU ÔPJO
HSSV^Z[OL\ZLY[VZL[[OLSPULHYYHTWYH[L
VM[OLV\[W\[]VS[HNL
-VY [OL ;7: [OL ]HS\L VM 9 PU
H ]VS[HNL KP]PKLY HSSV^Z [OL \ZLY [V
ZLSLJ[LP[OLYZPT\S[HULV\ZVYYH[PVTL[YPJ
ZLX\LUJPUN9»Z]HS\LPZJHSJ\SH[LKMYVT
[OLLX\H[PVUZPU[OLKH[HZOLL[HZZ\TPUN
HUL_[LYUHS=YHTWZPNUHSPZHWWSPLK
95
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 different rates of rise, they will have the same
soft-start time.
Figure 2. Tracking LDO TPS74301 with
simultaneous startup (R4 = 10k).
Timebase: 2 mV/div.
Figure 4. Soft-Start LDO TPS74201 and TPS74401
with 1ms soft startup (C4 = 1nF).
Timebase: 2 mV/div.
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 realize 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.
Figure 3. Tracking LDO TPS74301with
ratiometric startup (R4 = 1.78k).
Timebase: 2 mV/div.
(070231-I)
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 Simultaneous Sequencing (Figure 2). The TPS74301
output voltage will have the same rate of
rise (dv/dt) as the external ramp signal but
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 5. Soft-Start LDO TPS74201 and TPS74401
with 10ms soft startup (C4 = 10nF).
Timebase: 2 mV/div.
TPS74201 1.5A LDO with Programmable SoftStart, Texas Instruments Literature # SBVS064C
TPS74x01EVM-118 User’s Guide, Texas Instruments Literature # SLVU143.
Sequencing Power Supplies in Multiple Voltage Rail Environments by David Daniels, Dirk
Gehrke and Mike Segal, Texas Instruments
Literature # SLUP228 or http://focus.ti.com/lit/
ml/slup228/slup228.pdf
NEW
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Quasar Electronics Limited
PO Box 6935, Bishops Stortford
CM23 4WP, United Kingdom
Tel: 0870 246 1826
Fax: 0870 460 1045
E-mail: sales@quasarelectronics.com
Web: www.QuasarElectronics.com
Postage & Packing Options (Up to 0.5Kg gross weight): UK Standard
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projects, modules and publications. Discounts for bulk quantities.
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Motor Drivers/Controllers
Controllers & Loggers
Here are just a few of our controller and
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stepper motors and servo motors. See
website for full details.
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
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unipolar stepper motor
rated up to 6 Amps max.
Provides speed and direction control. Operates in stand-alone or PCcontrolled 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
Serial Isolated I/O Relay Module
Computer controlled 8channel 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 Windows interface, terminal emulator or batch
files). Includes plastic case 130x100x30mm.
Power Supply: 12Vdc/500mA.
NEW! Bi-Polar Stepper Motor Driver
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motor using externally supplied 5V levels for stepping
and direction control. These
usually come from software
running on a computer.
Supply: 8-30Vdc. PCB: 75x85mm.
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 controlled using a single potentiometer. Screw
terminal block for connections.
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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Most items are available in kit form (KT suffix)
or assembled and ready for use (AS prefix).
Computer Temperature Data Logger
4-channel temperature logger for serial port. °C or °F.
Continuously logs up to 4
separate sensors located
200m+ from board. Wide
range of free software applications for storing/using data. PCB just
38x38mm. Powered by PC. Includes one
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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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Call your phone number
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proved. 130x110x30mm. Power: 12Vdc.
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PIC & ATMEL Programmers
We have a wide range of low cost PIC and
$70(/3URJUDPPHUV&RPSOHWHUDQJHDQG
documentation available from our web site.
Programmer Accessories:
40-pin Wide ZIF socket (ZIF40W) £15.00
18Vdc Power supply (PSU010) £19.95
Leads: Parallel (LDC136) £4.95 / Serial
(LDC441) £4.95 / USB (LDC644) £2.95
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
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power supply making it truly
portable. Supplied with box and
Windows Software. ZIF Socket
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ATMEL 89xxxx Programmer
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Secure Online Ordering Facilities Ɣ Full Product Listing, Descriptions & Photos Ɣ Kit Documentation & Software Downloads
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[1] www.geocities.com/dinceraydin/8051/
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Het programma voor Bolo is gratis te
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Antieu-robot
Abraham Vreugdenhil
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Video clip of the walking mini robot:
http://www.xj3.nl/_dreijer/backsite/willem/
babybot.avi
Torque is Cheap
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HUK H T\S[PWSLZ[HNL
WSHUL[HY` KYP]L ;OL
JSHZZPÄJH[PVUVMTV[VYZ
HZº»º»HUKZVVU
MVSSV^Z[OLWHY[U\TILYZ
PU [OL YHUNL WYVK\JLK
I` 4HI\JOP 4V[VYZ
1
( º» TV[VY JVYYL
ZWVUKZ[V[OL4HI\JOP
9:HUKOHZHKPHTL[LYVM TTHUKH
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35
20,3
15
8
11
30
>P[O[OLNLHYIV_YLTV]LK[OL[^VISHJR
OHS]LZ VM [OL JHZL JHU LHZPS` IL ZLWH
YL]LYZPUNZ^P[JO
;OL [^V OHS]LZ VM [OL
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[OH[[OLTV[VYTV\U[PUN
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OVSLH[[OLSV^LZ[WVPU[
VM [OL SV^LY OHSM MVY H
Ä_PUNZJYL^-PUHSS`^L
ULLKHILHYPUNTV\U[[V
Z\WWVY[ [OL ÔLLS MVY
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ô TT ô TT IHSS
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2
10
10
M3 x 10
070347 - 11
UHS]VS[HNLPZ=^P[OHTH_PT\TJ\Y
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VM IL[^LLU > HUK
>KLWLUKPUNVU[OL
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5
3
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4
KPHTL[LYMYVT[OLLKNLOLYLTT
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TV[VY HUK NLHYIV_
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TTH_SLOVSLJHUIL
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JHUILNS\LK[VHZJYL^
KYP]LYIP[ÔPJOPZ[OLU
Ä[[LK[V[OLTV[VY
(070347-I)
101
Minimalist Motor
ÔLLSZOH]LZTHSSLYÔLLSZYVSSLYZH[YPNO[
HUNSLZ[V[OLYPTYLK\JPUN[OLWLYWLUKPJ\
SHYYLZPZ[HUJL[VHSTVZ[aLYV;OPZ^PSS^VYR
T\JOIL[[LY[OHUHWSHPUY\IILYÔLLS
Sensor
Abraham Vreugdenhil
,LU]V\KPNHWHY[LU[VJOLLUKVLSKH[
;OLKLZPNUIYPLMMVY[OPZYVIV[^HZ[OH[
P[ OHK [V IL ZPTWSL `L[ \U\Z\HS HUK
HSZVOH]LHZWLJPMPJW\YWVZL)\[ZOV\SK
^LYLHSS`JHSS[OPZHYVIV[&0[JVUZPZ[Z
VM VUL TV[VY VUL ÔLLS ZLUZVYZ H
TPJYVJVU[YVSSLY 3,+Z IH[[LYPLZ HUK
ºSLNZ»0M[OLTV[VYZSV^S`[\YUZVULYL]
VS\[PVU[V[OLSLM[HUK[OLUVUL[V[OL
YPNO[HUK[OLºSLNZ»VMMLYTVYLYLZPZ[
HUJL PU VUL KPYLJ[PVU [OHU [OL V[OLY
[OLYVIV[^PSSTV]LZSPNO[S`MVY^HYK0M
P[HSZVRLLWZ[\YUPUN[V^HYKZ[OLSPNO[
P[ILJVTLZH[Y\LSPNO[ZLLRLY
IC2
3
R3
R4
( UVYTHS Y\IILY ÔLLS PZ \ZLK MVY [OPZ
YVIV[ ;OPZ NP]LZ Z\MMPJPLU[ NYPW VU [OL
ÅVVYZVTL[PTLZHIP[[VVT\JO7HY[PJ\
SHYS`PU[OLYVSSKPYLJ[PVUI\[HSZVWLYWLU
KPJ\SHY[V[OLYVSSKPYLJ[PVU[OLYLPZHSV[VM
NYPWHUKVYYLZPZ[HUJL)\[HU`YLZPZ[HUJL
WLYWLUKPJ\SHY [V [OL YVSS KPYLJ[PVU ^PSS
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20
K1
MOSI
V+
12
10
9
2
4
13
CNY70
14
8
SCK
GND
MISO
GND
7
16
6
MOSI
17
5
MISO
18
4
SCK
19
2
1
IC3
IC1
PB1
PD0
PB2
PD1
PB3
PD2
PB4
PD3
PB5
PD4
PB6
PD5
PB7
PD6
1
2
3
3
XTAL1
5
7
8
9
11
XTAL2
4
10
X1
2
CNY70
4
R2
M1
6
AT90S2313
1
Kanda Dongle
RST
PB0
3
R6
21k
GND
15
560 7
GND
+4V8
R5
21k
D2
>OLLS
560 7
560 7
1
D1
560 7
R1
+4V8
(KL[HPSLKKLZJYPW[PVUVMZVTLVM[OLWHY[Z
MVSSV^Z
8MHz
070284 - 11
M
-VY[OLSPNO[ZZLUZVYZHUVSKMH]V\YP[LPZ
\ZLK[OL*5@;OPZZLUZVYJVUZPZ[ZVM
HU093,+HUKHU09WOV[VKPVKLHUKPZ
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^LJVUULJ[[^VVM[OLZLPUZLYPLZ^P[OH
YLZPZ[VYH[LHJOLUK[VSPTP[[OLJ\YYLU[H[
OPNOIYPNO[ULZZSL]LSZ^LLUK\W^P[OH
ULH[ZLUZVY[OH[WYV]PKLZH]VS[HNLH[[OL
Q\UJ[PVUVM[OL[^VZLUZVYZ[OH[PZWYVWVY
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VULVM[OLPUW\[ZVM[OLJVTWHYH[VYPU[OL
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ULJ[LK[VOHSM[OLZ\WWS`]VS[HNLWYV]PKLK
I`HWV[LU[PHSKP]PKLYMVYTLKI`[^VYLZPZ
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IP[;OPZ^H`^LRUV^H[ÔPJOZPKLVM
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4PJYVJVU[YVSSLYHUKTV[VY
driver
4VZ[TPJYVJVU[YVSSLYZHYLJHWHISLVMZV\YJ
PUNHMHPYHTV\U[VMJ\YYLU[0U[OPZJPYJ\P[
^L\ZL[OPZWYVWLY[`[VKPYLJ[S`KYP]L[OL
TV[VY]PH[OLTPJYVWYVJLZZVY>OLU^L
ULLK[VZ\WWS`SHYNLYJ\YYLU[Z^LQ\Z[JVU
ULJ[HML^V\[W\[ZPUWHYHSSLS
(TPJYVJVU[YVSSLYPZVMJV\YZLHULJLZZP[`
PUL]LY`YVIV[;OPZ[PTLV\YJOVPJL^HZ
MVYHU(; :;OPZJHUILLHZPS`WYV
NYHTTLKPU)(:0*^P[O[OLOLSWVM)(:
*64(=90[OHZHJVTWHYH[VYVUJOPW
Z\MÄJPLU[06WPUZ[VSPUR[VNL[OLYMVYWHYHS
SLSV\[W\[ZL[J(U0:7JVUULJ[PVUPZHSZV
THKLH]HPSHISLZVP[JHUILLHZPS`YLWYV
NYHTTLKK\YPUN[LZ[PUNVYH[HSH[LYZ[HNL
PM`V\»KSPRL[V[Y`V\[HKPMMLYLU[WYVNYHT
PU[OLYVIV[
(WHPYVMTT3,+ZPZTV\U[LKHIV]L
[OLL`LZMVYZOV^;OL3,+ZHYLJVUULJ[LK
MYVT[OLWVZP[P]LZ\WWS`[V[OLWYVJLZZVY
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JPYJ\P[[OLYLPZHSZVHIH[[LYÒVSKLYMVYMV\Y
((JLSSZHUKHUVUVMMZ^P[JO
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4V[VYJHUILKVÛSVHKLKMYVT[OL,SLR[VY
^LIZP[LHZÄSLU\TILYaPW
(070284-I)
102
TriBot
Connections to the 89C2051
Abraham Vreugdenhil
WYPJLÔPJOOHZHRWYVNYHTTLTVY`
0[PZHSZVWVZZPISL[V\ZLHKPMMLYLU[WYVJLZ
ZVYHZSVUNHZP[OHZH[SLHZ[UPUL06WPUZ!
[OYLLMVY[OL3+9Z[OYLLMVY[OLHU[LUUHL
[OYLLMVY[OLTV[VYZHUKPM[OL`»YLH]HPS
HISL[OYLLMVY[OL3,+Z
;OLTLHZ\YLTLU[VM[OLSPNO[PU[LUZP[`]PH
3+9ZPZPTWSLTLU[LK\ZPUN[OL3+9ZPU
ZLYPLZ^P[OHU-JHWHJP[VYHUKJHSJ\SH[
PUN[OL9*[PTLJVUZ[HU[;OL]HS\LVM[OL
3+9ÔPJOPZHMMLJ[LKI`[OLSPNO[PU[LU
ZP[`JOHUNLZ[OL9*[PTLJVUZ[HU[VM[OPZ
;OPZPZH[YPHUN\SHYYVIV[^P[O[OYLLÔLLSZ
[OH[ JHU VUS` YV[H[L PU VUL KPYLJ[PVU
+LZWP[L[OPZP[JHUTHRLP[Z^H`[V^HYKZH
SPNO[;OH[»Z;YP)V[
;OL YVIV[ OHZ [OYLL 3+9 SPNO[ ZLUZVYZ
ÔPJOHYL\ZLK[VKL[LYTPULÔPJOZPKL
MHJLZ[OLIYPNO[LZ[SPNO[0[HSZVOHZ[OYLL
HU[LUUHL[OH[HYL\ZLK[VKL[LJ[ÔLUP[PZ
HIV\[[VI\TWPU[VZVTL[OPUN
-VY[OLWYVJLZZVY^L\ZLK[OL *
I`([TLSHUPJLWYVJLZZVYH[HYLHZVUHISL
Pin
Function
1
RST
Connects to
2
RxD
3
TxD
4
Xtal2
5
Xtal1
6
P3.2
7
P3.3
Motor 2
8
P3.4
Motor 3
9
P3.5
Motor 1
10
GND
(RC5 expansion)
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
UL[^VYRPM`V\YLMLY[V[OLWYVNYHTP[^PSS
THRL[OL^VYRPUNJSLHYLY
;OL JVTWPSLY \ZLK OLYL )(:*643;
VY )(:*64 OHZ H M\UJ[PVU [OH[
KVLZHSS[OLOHYK^VYRMVY\Z!.,;9*WPU
U\TILY
;OLHU[LUUHLHYLTHKLVMJVWWLYWPWLZ
^P[OHWPLJLVMZWYPUNZ[LLS^PYL[OYV\NO
[OLJLU[YL;OL`HYLZLWHYH[LKMYVTLHJO
V[OLY^P[OHSLUN[OVMPZVSH[LK^PYL>OLU
[OLZWYPUNZ[LLS^PYLPZTV]LKP[THRLZ
JVU[HJ[ ^P[O [OL JVWWLY WPWL ÔPJO PZ
S4
R1
R2
R3
LDR1
LDR2
LDR3
D1
D2
D3
R5
R6
R7
1k
1k
1k
C4
10M
16V
M1
20
1
RST
P1.7
P1.6
12
BT1
13
14
IC1
P1.0
P3.7
M
19
P3.0
P3.2
S1
S2
P3.5
P1.4
P3.3
P1.5
C1
C2
C3
10M
35V
10M
35V
10M
35V
P3.4
X1
X2
5
4
X1
3
6
22p
12MHz
LDR 1
9
9
1
7
2
8
3
4
10
5
7
C5
LDR 2
2
6
10k
R4
motor 3
DS
P1.3
S3
antenna 1
LDR 3
P1.2
P3.1
17
M
18
AT89C2051
16
M
antenna 3
M3
11
P1.1
4V8
4x 1V2
15
M2
I1
O1
I2
O2
I3
IC2
I4
I5
I6
O3
O4
ULN2003
I7
O5
O6
O7
16
motor 1
motor 2
15
14
13
antenna 2
12
11
10
070289 - 12
GND
C6
8
22p
070289 - 11
S1 ... S3 = antenna
103
KL[LJ[LKI`[OLWYVJLZZVY
;OL TV[VYZ HYL VSK ZLY]VZ ^P[O HSS [OL
PU[LYUHSLSLJ[YVUPJZYLTV]LK;OLTV[VYZ
HYLKYP]LUKPYLJ[S`]PHH[YHUZPZ[VY;OL`
JHUVUSÌL[\YULKVUVYVMMHUKJHUYV[H[L
PUVUS`VULKPYLJ[PVU
>OLUHSS[OYLLTV[VYZHYL[\YULKVUH[
[OLZHTL[PTL[OLYVIV[^PSSYV[H[LHYV\UK
P[ZH_PZ0M^L[OLU[\YUVULVM[OL[OYLL
TV[VYZ VMM ;YP)V[ ^PSS YV[H[L HIV\[ [OL
Z[H[PVUHY`ÔLLS;\YUPUNVU[OLZ[H[PVU
HY` TV[VY HUK [\YUPUN VMM HUV[OLY VUL
^PSSJH\ZL[OLYVIV[[VºZ[HNNLY»PUHMHPYS`
Z[YHPNO[SPUL[V^HYKZP[ZKLZ[PUH[PVU
;VHKKZVTL]PZ\HSHWWLHS^L»]LHKKLK
[OYLLTT3,+Z>OLU;YP)V[PZWV^LYLK
\W[OL`ZOV^HTV]PUNWH[[LYUHUK[OL
TV[VYZHSS[\YUVUTVTLU[HYPS`HZHZLSM
[LZ[;OL3,+ZHYLJVUULJ[LKPUZ\JOH
^H`[OH[[OL3,+SPNO[Z\WULHY[OLTV[VY
[OH[PZ[\YULKVMM
<ZPUN [OYLL TV[VYZ [V WYVWLS [OL YVIV[
PUJPYJ\SHYTV[PVUZPZU»[L_HJ[S`[OLTVZ[
LMÄJPLU[TL[OVKVM[YH]LS0U[OH[JHZL^L
ZOV\SKOH]L\ZLKVTUPKPYLJ[PVUHSÔLLSZ
PUZ[LHKVMUVYTHSY\IILYVULZ)\[[OH[
^HZU»[HYLX\PYLTLU[MVY[OLKLZPNUVM[OPZ
YVIV[0[Q\Z[OHK[VSVVRUPJLHUKILOH]L
PUHUHT\ZPUN^H`
;OLWYVNYHTMVY;YP)V[JHUILKVÛSVHKLK
MYVT[OL,SLR[VY^LIZP[LHZÄSLU\TILY
070289-11.zip
(070289-I)
Trembly
Abraham Vreugdenhil
HSPNULK[V[OLSVUNP[\KPUHSH_PZVM
[OLSVUNMYVU[SLNZ0UV[OLY^VYKZ
[OL KPYLJ[PVU VM ]PIYH[PVU VM [OL
LJJLU[YPJ^LPNO[PZ[V^HYK[OLZOVY[
SLNZ>OLU[OLTV[VYPZZ^P[JOLK
VU[OLLJJLU[YPJ^LPNO[JH\ZLZ[OL
YVIV[ [V Z[HY[ ]PIYH[PUN ^P[O [OL
YLZ\S[[OH[P[TV]LZMVY^HYK
;OPZYVIV[JHUILI\PS[X\PJRS`^P[O
HSSZVY[ZVMIP[ZHUKWPLJLZMYVT`V\Y
Q\URIV_HUKRPKZQ\Z[SV]LP[
;OLH\[OVYTHKL[OPZºJVUZ[Y\J[PVU»
MVY OPZ KH\NO[LY ÔV NH]L P[ [OL
UHTLº;YLTIS`»ILJH\ZL[OPZYVIV[
TV]LZ^P[OZ\JOHJ\[L[YLTISPUN
TV[PVU
0[ JVUZPZ[Z VM H SP[[SL TV[VY MP[[LK
^P[OHULJJLU[YPJ^LPNO[HZPUNSL
[LYTPUHSISVJR[^VZOVY[SLNZH[[OL
YLHYHUK[^VSVUNSLNZH[[OLMYVU[
HSSTHKLMYVTLSLJ[YPJHS^PYL;OL
YLHYSLNZHYLÄ[[LK^P[OZTHSSY\I
ILYMLL[VYJHWZ;OLTV[VYZOHM[PZ
(070288-I)
Hunter
Abraham Vreugdenhil
-V\YMVV[LK^HSRPUNYVIV[ZVJJ\W`HZWL
JPHS WSHJL PU [OL NHT\[ VM +0@ YVIV[Z
>HSRPUNVUMV\YSLNZOHZHS^H`ZILLUH
JOHSSLUNL)\PSKPUN[OLZLYVIV[Z[O\ZJYL
H[LZHZ[YVUNMLLSPUNVMZH[PZMHJ[PVU
)LKZPKLZ[OLJOVPJLVM[OPZMVYTVMSVJV
TV[PVU`V\OH]L[VZLSLJ[[OLZLUZVYZ`V\
^HU[[VÄ[[V`V\YYVIV[ZVP[JHUL_WSVYL
P[ZZ\YYV\UKPUNZ0U[OPZJHZL^LZLSLJ[LK
MLLSLYZMVYZOVY[KPZ[HUJLZLUZPUNPUVYKLY[V
H]VPKVIQLJ[Z0UHKKP[PVU[OLYVIV[^PSSIL
HISL[VKL[LJ[TV]PUN^HYTVIQLJ[ZZ\JO
HZWLVWSLHUKHUPTHSZH[HNYLH[LYKPZ[HUJL
\ZPUNHWHZZP]LPUMYHYLK709ZLUZVY
;OL JOVPJL VM TPJYVJVU[YVSSLY PZ HSZV
PTWVY[HU[PUKLZPNUPUNHYVIV[0[T\Z[OH]L
HUHKLX\H[LU\TILYVM06SPULZHUKZ\M
ÄJPLU[TLTVY`JHWHJP[`0UHKKP[PVU`V\
OH]L[V^LPNO[OLJVZ[HNHPUZ[[OLKLZPYLK
M\UJ[PVUZÔPJOTLHUZILOH]PV\Y
)LOH]PV\YPZVULVM[OLTVZ[PTWVY[HU[
WHYHTL[LYZ0[KL[LYTPULZOV^[OLYVIV[
^PSSYLZWVUK[V[OLPUMVYTH[PVUP[YLJLP]LZ
MYVT[OL]HYPV\ZZLUZVYZ
104
:LY]VSLNZ
+L]LSVWPUN H UPJL TLJOHUPJHS KLZPNU
MVY[OLSLNZPZHKPMÄJ\S[[HZR;OLYLHYL
THU`JVUJLP]HISLWVZZPIPSP[PLZ\ZPUNYVKZ
HUKSL]LYZLHJOVMÔPJOOHZP[ZZWLJPÄJ
HK]HU[HNLZHUKKPZHK]HU[HNLZ0U[OPZJHZL
^LKLJPKLK[V\ZLH]LY`ZPTWSLKLZPNU
;^VZLY]VZHYLZ[YHWWLK[VNL[OLY\ZPUN
JHISL [PLZ ;OL OV\ZPUN VM VUL ZLY]V PZ
ZLJ\YLK[VH7SL_PNSHZIHZLWSH[LHUKHU
HS\TPUP\TYVK^P[OHKPHTL[LYVMTTPZ
Ä[[LK[V[OLZOHM[VM[OLV[OLYZLY]V;OL
ÄYZ[ZLY]VHJ[ZHZHOPWQVPU[ÔPSL[OL
V[OLYVULHJ[ZHZHRULLQVPU[(SSMV\YSLNZ
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0M `V\ SVVR H[ [OL ^HSRPUN TV[PVU VM H
O\THUSLN`V\ZLL[OHU[OLRULLQVPU[
JHUUV[ILUKHU`M\Y[OLYMVY^HYK[OHU[OL
M\SS`L_[LUKLKZ[H[L;OLRULLJHUILUK
IHJR^HYKT\JOM\Y[OLY\W[VULHYS`
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MVY^HYKHZ^LSSHZIHJR^HYK;OLZLY]VZ
HYLÄ[[LKZ\JO[OH[[OLSLNZVM[OLYVIV[
OH]L[OLZHTLMYLLKVTVMTV[PVU
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PU[VZ[LWZ;OLSLNTV]LZIHJR^HYK
ZSV^S` PU Z[LWZ HUK [OLU MVY^HYK
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VCC
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S3
1
RST
PD6
IC1
17
M
19
R
PB4
PB6
PD0
PB7
PD1
AT90S2313
PD2
PD3
PB0
PB1
MOSI MISO SCK
8
9
PD4
PB2
PD5
PB3
XTAL1
S1
D5
D7
R4
R5
S2
11
Servo1
16
Servo2
PB5
18
L
D6
470 7
20
L
PIR sensors
RST
470 7
R2
470 7
470 7
R1
D4
D3
470 7
D1
5
R
2
3
7
4
Servo4
12
13
Servo5
14
15
XTAL2
X1
Servo3
6
Servo6
Servo7
10
Servo8
GND
8MHz
070283 - 11
GND
2
4
6
8 10
1
3
5
7
9
RST
SCK
MISO
VCC
ISP connector
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Pin
Function
Connection
2
PD0
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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
105
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(070283-I)
Web Links
[1] http://avrhelp.mcselec.com/Sample_
Electronics_cable_programmer.html
[2] www.mcselec.com
Robot MOPS
Markus Bindhammer
467: PZ H ZTHSS YVIV[ ÔPJO
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2
S1
+4V5
100k
R3
T1
D3
T3
D4
D1
RE1
BC557
R9
1807
1k8
C1
R5
4k7
R6
1807
R1
1N4148
M1
R2
M
1k8
1M
16V
D2
T4
BC547
BC547
10k
T5
R8
2k2
R7
1k
560k
D3
1N4148
P1
R4
T3
T2
C2
plastic tube
protects against
ambient light
M
M2
BC547
070143 - 12
470M
16V
070143 - 11
107
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,
sufficient 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 connections. D2 now becomes reverse biased
and no current can flow through motor
M2 while M1 goes into reverse. This gives
MOPS the reverse and turn response to
obstacles. A few seconds after the obstacle is no longer detected the relay switches
back and MOPS carries on as before but in
a different direction.
NEW
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
3
UM1
UM2
070143 - 13
sources. With this set-up it was possible
to detect obstacles at a distance of 10 cm.
The range depends largely on the reflective
properties of the obstacle so darker objects
will only be seen at shorter ranges. The circuit can be modified to read microswitches
connected to contact feelers mounted on
the front of MOPS this will help avoid col-
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
ISBN 978-0-905705-69-9
Approx. 432 pages
£19.95 / US$ 39.95
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,//.2.1-/0
108
109
2.4 GHz Antenna
for Robotics Vehicles
Ragnar Jensen
4
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Using the pointed tool, carefully unweave the braid strands.
5
/LYLNVLZ
1
The raw material: a short piece of 50-7 coax cable.
2
Until your hairdressing looks something like this…
6
Cut off about 40 mm of the outer insulation. This will expose the braid
that forms the cable shield.
3
Push down the braid to expose the inner insulation.
110
Distribute the strands into four equally sized and likewise spaced
bundles (wow, tresses!)
7
8
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.
9
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.
10
Done soldering!
Apply a few drops of hot glue…
12
11
… will help keep the proper shape.
Cut the radials and the radiator to a length of 30 mm
(yes that’s 0.25 lambda).
13
And we are done!
(070142-I)
(reproduced with modifications and extensions from CQ-TV issue 217)
111
Receiver for RC5 Remote Controls
D30
1N4148
+5V
IC4
+8V
78L05
R2
DATA
47k
100 7
R1
RESET
CLK
100n
220n
IC1.A
14 1
R
7
6
R
1D
C1/
1D
2
15
IC2.A
14 1
R
1D
7
6
R
1D
9
SRG4
10k
2
SRG4
11 12 13
10 3
4
SRG4
5
2
C3
100n
SRG4
11 12 13
10 3
4
5
BC557B
IC8.D
D2
D1
D3
D4
D6
D7
D8
D9
D10
D11
R18
D12
D13
R16
D14
11
R19
1k
R17
1k
R15
1k
R14
1k
R13
1k
R12
1k
R11
1k
1k
D5
R10
1k
R9
1k
R8
1k
R7
1k
10k
R5
1k
R6
1k
R4
1k
R20
1k
1
TSOP1736
D15
R21
&
12
D16
100k
R3
3
2
IC2.B
9
T1
IC3
1
15
C1/
IC1.B
1000M
C2
100n
C1
C1/
C6
C1/
C7
C4
C5
47M
470M
13
3
1
2
3
4
5
6
7
8
9
10
11
12
13
14
IC8.C
9
DATA
&
8
10
+5V
1
4
C11
2
D18
4
16
0
100k
4
180k
7
CTR12
11
8
3
IC7
39k
IC5
CT
R27
P1
2
TR
6 THR
10k
1
2
CT=0
R
DIS
7555
OUT
3
10
18kHz
+
4
5
6
7
8
CV
5
C9
C10
150p
100n
IC8.A
2
1
4040
9
10
1
11
&
3
IC9.C
9
7
5
6
8
8
5
D19
3
D20
2
D21
9
4
13
D22
12
D23
D
S
C
R
:VM[^HYL KLJVKPUN VM YLTV[L JVU[YVS
ZPNUHSZ\ZPUN[OL9*WYV[VJVSKVLZUV[
WYLZLU[HZPNUPÄJHU[JOHSSLUNL[VHTVKLYU
TPJYVJVU[YVSSLYÔPSLMVYHW\YLOHYK^HYL
ZVS\[PVUZWLJPHSPZLK9*KLJVKLY0*ZHYL
H]HPSHISL5L]LY[OLSLZZP[PZPU[LYLZ[PUN[V
SVVRH[OV^^LTPNO[WYVJLZZ9*ZPN
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UV[VUS`KV^LSLHYUHIV\[OV^[OLJVKL
^VYRZI\[HSZV[OLYLZ\S[PUNJPYJ\P[PZLHZ
PLY[VHKHW[[VKPMMLYLU[HWWSPJH[PVUZ
(S[OV\NO[OLJPYJ\P[^HZVYPNPUHSS`KLZPNULK
Q\Z[[VKPZWSH`[OLHKKYLZZHUKJVTTHUK
LTP[[LK I` H º\UP]LYZHS YLTV[L JVU[YVS»
ÔLULHJOI\[[VU^HZWYLZZLKP[JV\SKIL
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MHJPSP[`[VHUH\KPVHTWSPÄLY\ZPUNHZ[HUK
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IC9.D
5
4
10
&
6
11
12
&
13
+5V
IC9.A
D26
3
1
&
2
D27
D24
R29
1
D25
8
Reset 01
Thomas Möll
9
IC9.B
12
14
15
&
13
IC6.B
11
IC1, IC2 = CD4015
IC6 = CD4013
IC8, IC9 = CD4093
D17...D29 = 1N4148
8
10
8
6
Reset 02
112
16
IC2
IC8.B
&
R28
R26
16
IC1
100p
R30
D28
HUÒV\ZLOVSKHWWSPHUJLJV\SKILJVU[YVS
SLKPU[OPZ^H`!Q\Z[JOVVZLHUHKKYLZZ[OH[
PZUV[`L[HSSVJH[LKHUKKLÄUL`V\YVÛ
JVTTHUKZ
;OL;:67PUMYHYLKYLJLP]LYPU]LY[Z[OL
IP[ZPU[OLYLJLP]LKZ[YLHT;PU]LY[Z[OLT
HNHPUZV[OH[[OL`HYLUV^H]HPSHISL^P[O
[OLJVYYLJ[WVSHYP[`;OL3,+JVUULJ[LK[V
P[ZJVSSLJ[VYPUKPJH[LZÔLUKH[HIP[ZHYL
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[OLZ[HY[IP[HUKOPNO=MVY[OLZLJVUK
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TLU[HY`V\[W\[VM[OPZÅPWÅVW^PSS[OLYL
MVYLILSV^LUHISPUN[OL*+KP]PKLY
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KP]PKLYPZNLULYH[LKI`V\YVSKMYPLUK[OL
5,([[OLZHTL[PTL[OLKPMMLYLU[PH[VY
MVYTLKI`*HUK9NLULYH[LZHSV^
100k
C
R
C8
47M
IC6.A
3
R25
100k
S
D
1M
33k
5
R24
D17
100k
R23
6
100k
R22
14
14
14
IC6
IC8
IC9
7
7
7
D29
070089 - 11
NVPUNW\SZLÔPJOPZPU]LY[LKI`:JOTP[[
[YPNNLYPU]LY[LY:;;OLYLZ\S[PUNOPNO
NVPUNW\SZLPZ\ZLK[VJSLHY[OL*+
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PZKLSP]LYLK[V[OL*+ZOPM[YLNPZ[LY
JH\ZPUNP[[V[HRLVULZHTWSLVM[OLPUJVT
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VYL_HJ[S`[OYLLX\HY[LYZVM[OL^H`PU[V
LHJOIP[;OPZPZ[OLRL`[V[OLJPYJ\P[![OL
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NP]LZ[OLLUJVKLKKH[HIP[
(M[LYIP[Z[OL9*WHJRL[PZJVTWSL[L
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[OLJV\U[LY;OLKH[HIP[ZH[[OLV\[W\[Z^PSS
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;OLZ[VWW\SZLVUWPUVM[OL*+
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5,ZV[OH[[OLR/aJSVJRJHUILZL[
HJJ\YH[LS`(SSVM[OL[PTPUNPU[OLJPYJ\P[
KLWLUKZVU[OPZZPNUHS
(070089-I)
IR Remote Control with the R8C
G. van Zeijts
+5V
max. 15mA
1 2 3 4 5 6 7
R8C/13
8
1
K2
RXD1
2
31
P0.1
3
RESET
4
30
P0.2
29
P0.3
5
VSS
6
28
MODE
27
P0.4
7
8
9
10
VCC
P0.5
P1.7
P0.6
P1.6
P0.7
26
25
24
23
P1.5
11
P1.4
12
P1.2
14
21
20
P3.1
19
P1.1
15
16
TSOP1736
22
P3.0
P1.3
13
K1
8x 1k
32
P0.0
P1.0
P3.2
P4.5
P3.3
18
17
1k
T1
BC638
JP1
2k2
8x 1k
1k
+5V
10k
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;OLJVKLMVY[OLTVZ[YLJLU[I\[[VU[OH[
^HZWYLZZLKPZVUWVY[7)P[Z[OYV\NO
[VHYL\ZLKMVY[OPZ)P[PZ\ZLK[VPUKP
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KPYLJ[S`KYP]LUOPNOVYSV^^P[OI\[[VUZ
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[OLI\[[VUPZWYLZZLKMVY[OLÄYZ[[PTL[OL
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HKPZ[HUJL;OLZ[H[LVMHSS[OLIP[ZVUWVY[
7HYLUV[HMMLJ[LKI`WYLZZPUNHU`VM[OL
2
3
green
1
red
TSOP1736
070191 - 11
V[OLYI\[[VUZVU[OLYLTV[LJVU[YVS^P[O
L_JLW[PVUVM[OLMVSSV^PUN[OYLL
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JHU IL KPYLJ[S` JVUULJ[LK [V HUV[OLY
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113
MHJLJPYJ\P[[OH[`V\OH]L[VI\PSK`V\Y
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VM[OLLPNO[IP[ZVMWVY[7
;OLNYLLU3,+VUWPUM\UJ[PVUZHZVU
VMMPUKPJH[VYMVY[OLJPYJ\P[
0[PZVMJV\YZLHSZVWVZZPISL[V\ZLHWPLaV
I\aaLYMVY[OLHJV\Z[PJHSHYTVU77
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KVÛSVHKMYVT[OL,SLR[VY^LIZP[L·ZLL
HYJOP]LÄSL070191-11.zip
(070191-I)
zBot:Wireless Link
Jens Altenburg
;OLYLL_PZ[HSV[VM^PYLSLZZJVTT\UP
JH[PVUTVK\SLZHSSHWWYV]LKMVY\ZL
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WV^LYVMT>JV\WSLK^P[OHYLJLP]LY
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<(9;OHZ[VILWYVNYHTTLK[VNP]L
HIH\KYH[LVMRIP[ZZ;OLIH\K
YH[LULLKZ[VILHJJ\YH[LPMUV[`V\»SS
Z\MMLYHULMMLJ[[OH[THUPMLZ[ZP[ZLSMHZ
SV^YLJLP]LYZLUZP[P]P[`
;OLZVM[^HYLTVK\SLMVY[OL^PYLSLZZ
YHKPVPZHÄSLJHSSLKrf433.c
(070173-I)
070172-11.zip (July/August 2007).
Removed Pulse Detector
Hesam Moshiri
1
VCC
R
10k
R1
8
4
R
7
DIS
IC1
2
6
T1
OUT
TR
3
LM555CN
THR
CV
C
1
5
BC558
070099 - 11
114
2
(KL[LJ[VY[VÅHNTPZZ
INPUT
PUNW\SZLZPZHTVUN[OL
TVYLPTWVY[HU[JPYJ\P[Z
OUTPUT
PUYVIV[PJZ>OLUW\SZLZ
HYLHWWSPLK[V[OLJPYJ\P[
ZOVÛ PU -PN\YL [OL
V\[W\[ ZPNUHS ^PSS IL
T$9*
JVU[PU\V\ZS` /PNO PL ULHYS`
=JJHZPSS\Z[YH[LKPU-PN\YL
[HRPUNPU[VHJJV\U[[OH[
-VY[OLKL[LJ[VY[VVWLYH[LJLY
[HPUJVUKP[PVUZPUYLZWLJ[
VM W\SZL [PTPUN T\Z[
3
N
ILTL[>P[OYLMLYLUJL
[V [OL [PTPUN KPHNYHT
INPUT
Deleted Pulse
ZOVÛ PU -PN\YL [OL
M
]HS\LZVMJVTWVULU[ZR
OUTPUT
HUKCPU[OLJPYJ\P[TH`
ILJHSJ\SH[LKMYVT
070099 - 12
070099 - 13
R£#R#4£HUKM#T#N
>OLUHJVYYLJ[ZPNUHSPZILPUNHWWSPLK[V
[OLPUW\[-PN\YL[OLJPYJ\P[^PSSIL[YPN
NLYLKI`HUV[OLYW\SZLILMVYL[OLJVUZ[HU[
[PTLTL_WPYLZ;OLYLMVYL[OLV\[W\[ZPN
UHSYLTHPUZ/PNO0MVULVYTVYLW\SZLZ
HYLTPZZPUNMVYL_HTWSLV^PUN[VHMH\S[
HIHZOVU[OLOLHKMYVTYLMIV[4H[OPSKH
VY ZPTWS` IHK YLJLW[PVU VU [OL YLTV[L
JVU[YVSJOHUULS[OLV\[W\[ZPNUHSKYVWZ
3VÎYPLÅ`;OLYLZ\S[HU[ÅHNZPNUHSJHU
ILZLUZLKI`HUV[OLYJPYJ\P[MVYL_HT
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
VCC
PC5(ADC5/SCL)
PC3(ADC3)
PC2(ADC2)
C5
26
25
10M
IC
PD0(RXD)
PD1(TXD)
PD2(INT0)
PD3(INT1)
PD4(XCK/TO)
PD5(T1)
PD6(AIN0)
PD7(AIN1)
ATmega8
PB0(ICP)
PB1(OC1A)
PB2(SS/OC1B)
(UL_HTWSLVMHZ\P[HISLYLJLP]LYPZ[OL
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28
PB3(MOSI/OC2)
PB4(MISO)
PB5(SCK)
2
3
16V
R3
T2
10k
4
5
BC448
6
R1
1007
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11
12
13
D1
14
15
16
R4
T1
10k
17
BC447
18
JVTWHYL YLNPZ[LYZ 6*9( HUK 6*9)
JVU[YVS[OLMYLX\LUJ`HUKW\SZL^PK[OVM
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19
070170 - 11
IL\ZLK[VWYV]PKLTVK\SH[PVUVYHS[LY
UH[P]LS`HUL_[LYUHS5,JHUIL\ZLK
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TP[[LYJPYJ\P[H[LHJOLUKVM[OLSPUR0[PZ
^VY[OILHYPUNPUTPUK[OH[ILJH\ZLVM[OL
LMMLJ[VMYLÅLJ[PVUZZJVWLMVYM\SSK\WSL_
VWLYH[PVUPZYH[OLYSPTP[LK
(070170-I
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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ZVM[^HYLH]YIS\LYLTV[LL_LHUKTPJYV
JVU[YVSSLYZVM[^HYLH]YIS\LYLTV[LOL_
;OLZLJHUIL\ZLKHZ[OLIHZPZMVYWYVQLJ[Z
Z\JOHZHZOVY[YHUNL\W[VTVYZV
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SPNO[PUNJVU[YVSSLY;OLZVM[^HYLPZMYLLMVY
\ZLI`WYP]H[LPUKP]PK\HSZ
(U` :THY[WOVUL Y\UUPUN [OL >PUKV^Z
4VIPSLVWLYH[PUNZ`Z[LTJHUIL\ZLK
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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
HYV\UK[OL34? (MYVT5H[PVUHS:LTP
JVUK\J[VY HUK KLJVKLK TLZZHNLZ HYL
WHZZLKV]LYH<(9;SPRLPU[LYMHJL;?HUK
9?ZPNUHSZIL[^LLUP[HUKHU([TLS(=9
(;4LNH3 TPJYVJVU[YVSSLY *VUULJ[LK
[V[OLV\[W\[ZVM[OLTPJYVJVU[YVSSLYPZH
<35VJ[HSKYP]LYÔPJOJHUJVTMVY[
HIS`Z^P[JOLUV\NOJ\YYLU[[VKYP]LWV^LY
YLSH`Z*VTWSL[PUN[OLJPYJ\P[HYLH=]VS[
HNLYLN\SH[VY[`WL37 =HUKHU0:7
115
IC4
+3V
K1
10M
10M
R2
R3
4
3
6
5
7
VCC
1
D1
20
D2
PD3(INT1)
5
D3
6
SCK
19
18
MOSI
17
16
FB4
15
FB5
14
FB6
PB5(SCK)
PC0(ADC0)
PB4(MISO)
PC1(ADC1)
PB3(MOSI/OC2)
PC2(ADC2)
PB2(SS/OC1B)
PC3(ADC3)
PB1(OC1A)
PC4(ADC4/SDA)
PB0(ICP)
PC5(ADC5/SCL)
PD7(AIN1)
23
1
24
2
25
3
26
4
27
5
28
6
13
7
8
ATmega8L
12
PD5(T1)
PD0(RXD)
PD6(AIN0)
PD1(TXD)
GND
XTAL1
8
S1
JP1
AREF
PD2(INT0)
9
X1
JP2
C4
10
2
I6
I7
OUT4
14
O5
OUT5
13
O6
OUT6
12
O7
I8
OUT3
15
O4
ULN2803
OUT2
11
O8
VEE
Reset Bluetooth
9
3
D4
R7
9
R5
10
11
12
13
22p
14
15
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^THYT]PJHI"
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I4
OUT1
16
O3
IC2
+3V
22
7,3728MHz
R6
RX
1N4148
17
O2
I3
I5
18
O1
I2
XTAL2 AGND
C5
22p
+VS
I1
21
220 7
4
11
RE1
10
IC1
MISO
D6
AVCC
PC6(RESET)
220 7
FB3
100n
1k
1
ISP
FB2
C1
R1
2
PD4(XCK/TO)
FB1
C2
220 7
R4
C3
1k
VCC
+3V
+5V
LP2950
3V
4k7
PUZ`Z[LTWYVNYHTTPUNJVUULJ
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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]
LYHS JVUZ[YHPU[Z -VY TH_PT\T
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M\Y[OLYPUMVYTH[PVUPZWYV]PKLK
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PUW\[ZJHUIL\ZLKMVYHU`KLZPYLK
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WOVULZVM[^HYL@V\^PSSÄYZ[ULLK
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*VTWHJ[-YHTL^VYRH]HPSHISL
MVYKVÛSVHKMYVT4PJYVZVM[!
16
GND
ENV1
ENV0
RESET
CTS
RTS
LSTAT_0
TX
LSTAT_1
RX
Host_wu
ISEL2
TX_LED
ISEL1
VDD_DIGI
VCC
8
1k
7
6
+3V
5
4
3
2
1
IC3
Blue Nice Com III
D5
TX
070126 - 11
5L_[JVW`[OLÄSLH]YIS\LYLTV[LL_L[V[OL[HYNL[WSH[MVYTMVY
L_HTWSLVU[VHU:+JHYKMVY\ZL^P[OH:THY[WOVUL;OL[^V
)S\L[VV[OKL]PJLZ[OL:THY[WOVULHUK[OLYLJLP]LYIVHYKUV^
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VM[OLTV\ZLVU[OL\W^HYKHUKKVÛ^HYKWVPU[PUNHYYV^Z;OL
JLU[YHSZX\HYLVWLUZ[OLPU[LYMHJLJYLH[PUNHJVUULJ[PVU^P[O[OL
YLJLP]LY;OLHYYV^ZUV^HSSV^[OLV\[W\[ZVU[OLYLJLP]LYIVHYK
[VILZ^P[JOLKVUHUKVMM"[OLZP_[OV\[W\[PZZ^P[JOLKI`WYLZZPUN
[OLZWHJLRL`
;V^HYKZ[OL[VWVM[OLKPZWSH`[OLZP_ZLUZVYPUW\[ZHYLYLWYLZLU[LK
HZ3,+Z0M`V\ZOV\SKTV]LV\[VMYHUNLVM[OLYLJLP]LY[OLZL
3,+Z^PSSILL_[PUN\PZOLKHUKH[PTLV\[IHY^PSSHWWLHY0M[OL
[PTLV\[WLYPVKZOV\SKL_WPYL^P[OV\[H]HSPKZPNUHSILPUNYLJLP]LK
[OLPU[LYMHJL^PSSILJSVZLK
(070126-I)
Web links
Author’s website (in German): http://www.clipswitch.de/avrblueremote.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
116
Robot Voice
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C9
C8
C11
10M
25V
100n
100n
10M
16V
R6
220 7
C10
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D2
C4
R1
C5
R4
220 7
R7
4k7
4k7
R9
100n
16
22
VCCA
OVF
100n
28
VCCD
A9
23
24
27
S2
S3
20
R2
PD
A8
A7
A6
P/R
A4
A3
A2
100n
21
22M 16V
Play/Rec Next
ANAIN
C3
C7
10k
S1
IC1
CE
PD
A5
ANAOUT
A1
A0
C1
17
MIC
SP+
MIC1
10
9
8
7
6
5
4
3
2
1
14
ISD2560
100n
LS1
16 7
C2
18
100n
11
19
R3
10k
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470k
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4k7
Pascal Choquet
C6
MICREF
SP–
AUX IN
EOM
15
25
AGC
VSSA
XCLK
VSSD
13
26
12
4M7
16V
070313 - 11
WSHÌHJR7+PZYLZL[[Vº»HUK[VWSH`[OL
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>P[O(H[º»WSHÌHJRVJJ\YZH[UVYTHS
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ZHNLULLKZ[VMVSSV^[OLÄYZ[MVYL_HTWSL
[OLWYVJLZZVYZL[Z([Vº»HUKW\SZLZ*,
4:7TPJYVJVU[YVSSLYPU[LYMHJLK[V[OPZ
JOPWHUKPZH]HPSHISLMVYMYLLKVÛSVHK
MYVT[OL,SLR[VY,SLJ[YVUPJZ^LIZP[LYLM
aPW
(070313-I)
Web link
www.winbond-usa.
com/mambo/content/view/153/283/
117
Balancing Robot
Speed
Pots
Filter
Accelerometer
Control
Angle
Gyroscope
Angular
velocity
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I\PSKPUNZ\JOHYVIV[HML^ZPNUPÄJHU[O\YKSLZOH]L[VILZ\YTV\U[LK;OPZHY[PJSL^PSS
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Motor R
PWM outputs
Microcontroller
David den Boer
118
Motor L
H-bridge
070294 - 11
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070294 - 12
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T 2Q
l
g
T
period [s]
g
gravitational acceleration [m/s2]
l
length from pivot to centre of mass [m]]
PWM k1 R k2 R k3 v
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]
k1...k3
Feedback factors, constant
R B [ n] k4 R B [ n 1] k5 RG [ n] k6 R v [ n]
RG [ 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 [°]
k4 ...k6
constants
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(070294-I)
Web links
[1] http://robotics.ee.uwa.edu.au/theses/2003-Balance-Ooi.pdf This document describes a final year project during
which a balancing robot was built. The
research is quite detailed with respect to
the physical and mathematical modelling 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/~dpawww/robo/nbot/
This is the website 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
the Segway.
Importer of
[6] www.sparkfun.com
DIY Wheels
Marcus Bindhammer
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(070145-1)
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120
070145 - 11
R8C Measures Negative Voltages
IC1
+2V5
LM317
+12V
+2V5
R1
D1
100 7
J3
AN5
VSS
VCC
AN2
P17
AN1
P16
AN0
10
11
12
13
14
15
D2
27
11
26
12
25
13
24
14
23
15
22
16
D3
D4
–12V
D5
D6
V WHEEL
D7
21
P13
R5
20
P12
+12V
19
P11
P10
R7
R13
R9
R11
R19
R15
18
P32
16
13
17
P33
+2V5
SUB D37
VDD
2
8
EN
S1
MUX
S2
IC3
D
S3
S4
IC2
–12V
–12V
LM337
–2V5
100 7
R2
15
16
1
ADG408
S5
A2
S6
A1
S7
A0
S8
VSS
3
4
5
6
7
12
11
10
9
R6
R8
R14
R10
R12
R20
R16
10k
9
–2V5
D1
10
10k
8
AN3
D0
10k
7
9
28
6
+2V5
8
29
10k
–2V5
5
AN4
7
30
10k
4
31
E
47k
R8C Module
LIFT EN
V LIFT
R/W
39k
3
6
10k
2
32
56k
1
10k
–2V5
100 7
R18
RS
5
J2
–8V
VO
39k
J1
+8V
VDD
3
4
BC547A
+12V
47k
100 7
VSS
2
+12V
K1
LCD
1
39k
+2V5
R3
39k
1N4001
T1
LC DISPLAY
RE1
GND
14
100 7
R4
–12V
070010 - 11
Sven van Vaerenbergh
UH Brussels, Radio Therapy Dept.
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if ( u < 512 )
0, then minus sign
{
lcddata (45);
}
// less than
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SVVRZSPRL[OPZ!
pd3 _ 3 = 1;
//port 3.3 as output
p3 _ 3 = 0;
//port 3.3 => for
channel selection via analogue MUX
pd3 _ 2 = 1;
p3 _ 2 = 0;
//port 3.2 => for
channel selection via analogue MUX
;OYLLJOHUULSZHYLKPYLJ[S`JVUULJ[LK[V
[OL(+JVU]LY[LY6ULJOHUULSPZT\S[PWSL_LKMVY[OL]VS[HNLZVM=¶=HUK
¶=
(070010-I)
121
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.
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TVIPSLWOVULZ)\[MVYZVTLYLHZVUV\YZJOVVSZMHPS[VJHWP[HSPZLVU
[OPZPU[LYLZ[HUKH[[YHJ[`V\UNWLVWSL[V[LJOUPJHSJHYLLYZ
3VUNHUKOHYK[OV\NO[^HZNP]LUHIV\[OV^[VZVS]L[OPZHUK
ÔH[[OLYLHSWYVISLTZHYLPUJS\KPUN[OLMHJ[Z[OH[LSLJ[YVUPJZ
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SVVRZJVVSPZJVVSHUKPZM\U[V\ZL)\[P[PZL_WLUZP]LKVLZUV[
-VYT\SH-SV^JVKLPZHJVTWSL[LOHYK^HYLHUKZVM[^HYLYVIV[PJZZVS\[PVUMVYSLHYUPUNHIV\[LSLJ[YVUPJZHUKWYVNYHTTPUN;OPZ
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19
2
5
18
3
4
17
1
16
7
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
13
6
8
1.
12
14
9
10
11
15
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
Figure 1. Formula Flowcode functional parts.
122
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’.
(UKOLYLP[PZ
-PN\YLZOV^ZHWPJ[\YLVM-VYT\SH-SV^JVKLHUKHSPZ[VM[OLJVTWVULU[ZHUKMLH[\YLZVU[OLI\NN`)\[OV^KVLZP[HSS^VYR&3L[»ZZ[HY[
H[[OLILNPUUPUN;OLÔVSL)\NN`PZKLZPNULKHYV\UK[OLUL^HUK
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WPUKL]PJLVWLYH[LZH[4/aHUK^PSSL_LJ\[LWYVNYHTZH[HUHTHaPUNZWLLKVM407:(TLL[NYLL[KPHNYHTVM[OPZ*7<PZZOVÛPU
-PN\YL;OLKL]PJLJVUULJ[ZKPYLJ[S`[V`V\Y<:)WVY[HUKJVU[HPUZ
HIVV[SVHKLYWYVNYHTZV[OH[P[JHUILWYVNYHTTLK\ZPUNH]LYZPVUVM
-SV^JVKLZ\WWSPLKMYLLVMJOHYNL^P[O[OLI\NN`;OL70*-
OHZ[^VZLWHYH[LOHYK^HYL7>4V\[W\[ZH<(9;0*(UHSVN\L
0UW\[Z7PU7VY[HUK;PTLY0U[LYY\W[ZHUKHSV[VM+PNP[HS06
Figure 3. The L293D Double H-bridge motor driver circuit.
+YP]PUN+*4V[VYZ
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Figure 4. Two switches, eight LEDs and the E-Blocks D-type connector.
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]LY`LHZPS`L_WHUKPUN[OL)\NN`^P[OZ[HUKHYK,ISVJRZSPRL3*+
)S\L[VV[OHUKTHU`TVYL
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TPJYVWOVULJPYJ\P[JVUULJ[LK[V9)(ZZOVÛPU-PN\YL[OPZ
ZV\UKZLUZVYTHÌL\ZLKHZHKPNP[HSPUW\[HUL_[LYUHSPU[LYY\W[
Figure 5. The microphone, loudspeaker and light sensor circuitry.
123
HUKHU09ZLUZP[P]LWOV[V[YHUZPZ[VYWYVK\JPUNHUHUHSVN\L]VS[HNL
[OH[»ZPU]LYZLS`WYVWVY[PVUHS[V[OLHTV\U[VM09SPNO[YLÅLJ[LK
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(SZVVU[OLMYVU[VM[OLI\NN`PZHZTHSSKH\NO[LYIVHYK[OH[JVU[HPUZ[^V0*PU[LSSPNLU[PUMYHYLK[YHUZJLP]LYZJHWHISLVMKL[LJ[PUN
ISHJRHUKÔP[LZ\YMHJLZH[KPZ[HUJLZMYVTTT\W[VTT^P[OV\[HU`LYYVY;OLJPYJ\P[PZZOVÛPU-PN\YL;OLZLZLUZVYZHSSV^
[OLI\NN`[VMVSSV^SPULZVUH[HISLVYTH[
7V^LYZ\WWS`
Figure 6. Distance measurement circuit on board
the Formula Flowcode Buggy.
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ZTHSSJOHZZPZPZWV^LYLKMYVTMV\Y5P4/((YLJOHYNLHISLIH[[LYPLZÔPJONP]LIL[^LLUHUK=;OLJPYJ\P[IVHYKHSZVOHZ
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PUJS\KL0*L_WHUZPVUÔLLSLUJVKLYPUW\[ZZLY]VPUW\[ZHUK
T\JOTVYL
<ZPUN-VYT\SH-SV^JVKL
Figure 7. Line follower circuit.
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OPNOPTWLKHUJLZWLHRLY[OH[JHUIL\ZLK[VNLULYH[LMYLX\LUJPLZ
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u 4HRLHº5PNO[9PKLY»LMMLJ[VU[OL3,+ZVU[OLMYVU[VM-VYT\SH
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Figure 8. The simple but all-important power supply.
124
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Figure 9. Typical line following exercise.
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.
MVYM\UVYPUKLW[OL_WSVYH[PVUVMWYVNYHTTPUNHUKOHYK^HYLMLH[\YLZ
:\WWVY[MVYHSSVM[OPZ^PSSILH]HPSHISLVU
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MVYTHJVTWSL[LZ\P[LVM[\[VYPHSZÔPJO
^PSS[LHJO[LJOUVSVN`[VI\KKPUNLSLJ[YVUPJZLU[O\ZPHZ[Z\W[V`LHYZVMHNL
(070323-I)
Figure 10. Solving a simple ‘left’ maze.
125
Colour Tamer
U+
Nivard van de Boogaard
S1
5
14
1
T1
QA
CKA
12
T2
CKB
IC1
QB
(HCT)
7493
QC
9
T3
R0(1)
QD
R0(2)
11
R3
150 7
3
10
R2
R1
150 7
2
R4
8
1k
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ÅV^[OV\NO[OL3,+;VSPTP[[OLJ\YYLU[
[OYV\NO[OL3,+Z^LKLWSV`LK9[V9
T4
150 7
RGB LED adjustment
D1
RGB LED
070025 - 11
;OL[`WLVM[YHUZPZ[VY[OH[PZ\ZLKMVY;
[V;PZUV[]LY`JYP[PJHS:[HUKHYK3,+Z
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HUKHKP]PKLI`LPNO[96HUK
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PUZLUZP[P]L[VUVPZL
(070025-I))
Chaotic LED Fireflies
Jonathan Hare
/LYL^LJV\WSL3,+VZJPSSH[VYZ[VNL[OLY
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126
1
+9V
P1
C1
10M
100k
4
8
S1
R
7
DIS
IC1
2
6
OUT
TR
3
R1
220 7
OSC(n)
555
THR
CV
5
C3
C2
10M
100n
1
V[OLY]PHJ\YYLU[SPTP[PUNYLZPZ[VYZHUKIP
JVSV\Y3,+Z-PN\YL
070141 - 11
(WVZZPISLJVUZ[LSSH[PVUVMVZJPSSH[VYZHUK
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UVWV[LU[PHSKPMMLYLUJLZHUKZVUVJ\YYLU[
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VZJPSSH[VYZ[VLHJOV[OLY(Z^P[JOHJYVZZ
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:L[[PUN[OLVZJPSSH[VYMYLX\LUJPLZ[VHIV\[
/a^P[O[OL7ZZOV^Z[OLJVTWSL_ÅHZOPUNVM[OL3,+ZZ^P[JOPUNIL[^LLUVMMYLK
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2
680 7
070141 - 12
bicolour LED
3
OSC1
OSC3
OSC2
OSC4
070141 - 13
PU[YPN\PUNWVZZPIPSP[`VMVIZLY]PUNJOHV[PJ
ILOH]PV\YVM[OLVZJPSSH[VYZ
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(070141-I)
Stepped Volume Control
Raj K. Gorkhali
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1
14
2
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2
10
+
3
10k
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C1
10M
1
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T1
4040
11
12V
4
5
6
7
8
CT=0
9
BC547
10
MIC1
11
S1
5
R2
7
6
5
3
2
4
IC2.C
11
12
R3
1k
P1
9
1k
16
3
4
13
12
14
15
10
IC2.D
9
6
R4
1k
R5
IC2.B
0
100k
10k
R6
R1
1k
13
7
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1
8
8
RESET
IC2 = 4066
070034 - 11
:^P[JO:HSSV^Z[OLJV\U[LY[VILYLZL[
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(070034-I)
Walking Works!
rechargeables
4V8
dry cells
6V
K1
* see text
1
6
21
2
24
dry cells (6V)
rechargeables (4V8)
VIN
SOUT
SIN
22
RES
ATN
1
6
+V
E
GND
7
8
9
10
Servo
11
+V
E
GND
12
P0
P15
P1
P14
P2
P13
P3
P12
P4
P11
P5
CB220
P10
P6
P9
P7
P8
4
3
3
*
IC1
5
7
2
20
100n
19
C2
18
*
100n
17
16
C1
8
4
9
5
SUB D9
15
14
13
23
Servo
070353 - 11
C. Tavernier
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PWM 0, 3150, 32768
PWM 1, 3150, 32768
(UKMVY[OL)HZPJ:[HTW00!
FOR Pulses = 1 TO 100 STEP 5
PULSOUT TiltServo, 750
PULSOUT StrideServo, 750
PAUSE 25
NEXT
0UIV[OJHZLZ[OPZJH\ZLZTZW\SZLZ[V
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PU[OLJHZLVM[OL*\ISVJP[PZULJLZZHY`
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[OLZHTLW\YWVZL
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[OL*\ISVJ!
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)
129
Philips ME Construction Kits
Luc Lemmens
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Web Links
http://ee.old.no/mechanics
http://sharon.esrac.ele.tue.nl/~pa0ib/bouwdozn/index.html
www.hansotten.com/philipsme1200.html
www.girdersandgears.com/norelco.html
(070277-1)
A Robot with an Elephant’s Memory
B. Broussas
11
32
+5V
MCLR/VPP
RB7/PGD
RB6/PGC
4
5
6
7
8
9
10
RB5
RA1/AN1
RB4
RA2/AN2
RB3
RA3/AN3
RB2
RA4/T0CKI
RB1
RA5/AN4/SS
RB0
14
19
20
21
22
27
28
38
37
36
C2
C1
C3
10M
220n
10M
35
34
33
RE0/RD/AN5
RE1/WR/AN6
RC0/T1CKI
RE2/CS/AN7
RC1/CCP2
OSC1/CLKIN
RC3/SCK/SCL
RC2/CCP1
13
39
OSC2/CLKOUT
RC4/SDI
PIC18Fxxx
RD0/PSP0
RC5/SDO
RD1/PSP1
RC6/TXD
RD2/PSP2
RC7/RXD
15
16
17
18
23
24
25
26
R6
R4
R3
2k2
3
RA0/AN0
2k2
2
3V3
40
2k2
1
RD3/PSP3
RD4/PSP4
RD6/PSP6
RD5/PSP5
RD7/PSP7
8
7
6
29
5
30
4
3
12
2
31
1
R1
DOUT
GND
SCK
+3V3
SD cart
in SPI mode
viewed on contacts
GND
DIN
CS
9
3k3
R2
3k3
R5
3k3
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070318 - 11
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(070318-I)
Clap Controlled Switcher
Raj. K. Gorkhali
+5V
132
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(070092-I)
New Lego MINDSTORMS®
NXT Motor Block
Antoine Authier
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(070371-I)
Web links
[1] Philo’s NXT® motor internals:
http://www.philohome.com/nxtmotor/nxtmotor.htm
[2] Lego® 9 V Technic Motors characteristics
compared:
http://www.philohome.com/motors/motorcomp.htm
133
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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Figure 1. KiCad is project-based, just like similar products on the market.
Figure 2. EeSchema: easy schematic capture.
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!
135
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Figure 4. CVPCB: choice of component case.
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Figure 5. Design PCBNew printed circuits.
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Figure 6. 3D display of the capacitance meter as described in Elektor.
136
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Figure 7. The rats’ nest in white lines.
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.
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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.
0UJVUJS\ZPVU
http://ru.wikipedia.org/wiki/Kicad
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(060373-I)
Figure 8. The main icons on a large scale and in low resolution (the
originals are a standard size, 16 x 16 pixels).
137
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(070359-1)
139
Puzzle creator: Géry Szcepanski
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.
A
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The method of solving the 36x36 cell Alphanumski puzzle shown here is basically the same as for a 9x9 cell Sudoku, 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 vertically) 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; identified by red outlines and a background colour).
A number of clues are given in the puzzle and these represent 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 numerals in the grey boxes. The puzzle is also available
as a free download from our website..
(070151-I)
140
1 Z W
5
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brain wrecker for the holidays
Y M
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7
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0 1 6
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8
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Solve Alphanumski and win!
Correct solutions received enter a prize draw for an
E-blocks Starter Kit Professional
worth £248.55
and three
Elektor Electronics
SHOP Vouchers
worth £35.00 each.
We believe these prizes
should encourage all our
readers to participate!
Participate!
Please send your solution (the numbers in the grey boxes) by email to:
editor@elektor-electronics.co.uk
Subject: Alphanumski 07-2007 (please copy exactly).
Alternatively, by fax or post to:
Elektor Electronics Hexadoku
Regus Brentford
1000 Great West Road
Brentford TW8 9HH
United Kingdom.
Fax (+44)(0)208 2614447
The closing date is 1 September 2007.
The competition is not open to employees of Segment b.v., its business partners and/
or associated publishing houses.
Prize winners
The solution of the May 2007 Hexadoku is: B789E.
The E-blocks Starter Kit Professional goes to:
Michele Casartelli (I).
An Elektor SHOP voucher worth £35.00 goes to:
David Meiklejohn (AUS) ;
Tomas Bakke (N) and
Franz Klein (UK).
Congratulations everybody!
141
ELEKTORSHOWCASE
To book your showcase space contact Huson International Media
Tel. 0044 (0) 1932 564999 Fax 0044 (0) 1932 564998
ATC SEMITEC LTD
www.atcsemitec.co.uk
Thermal and current-sensitive components
for temperature control and circuit protection;
• NTC Thermistors
• Current Diodes
• Thermostats
• Re-settable Fuses
• Thermal Fuses
• Temperature Sensors
Call today for free samples and pricing
Tel: 01606 871680
Fax: 01606 872938
AVIT RESEARCH
www.avitresearch.co.uk
USB has never been so simple...
with our USB to Microcontroller Interface cable.
Appears just like a serial port to both PC and
Microcontroller, for really easy USB connection to
your projects, or replacement of existing RS232
interfaces.
See our webpage for more
details. From £15.00.
BAEC
http://baec.tripod.com
"The British Amateur Electronics
Club Archive Website. Archiving
extracts from 140+ Newsletters from 19662002. Currently have interesting and useful
selected articles from 12 Newsletters. Also a
section about built electronics projects with
schematics and photos. Plus useful info.,
downloads and links. NO ADVERTS!"
BETA LAYOUT
www.pcb-pool.com
Beta layout Ltd Awardwinning site in both
English and German
offers prototype
PCBs at a fraction of the cost of the usual
manufacturer’s prices.
EasyDAQ
FUTURLEC
www.easydaq.biz
We design & supply low cost USB/RS232 based
data acquisition, automation & control products:
• USB connected & powered, 8 opto isolated
voltage inputs chans, 4DIO & 4 onboard relays
capable of switching 240V@10A. With
Labview, VC & VB examples - £60
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Save up to 60% on
• Electronic Components
• Microcontrollers, PIC, Atmel
• Development Boards, Programmers
Huge range of products available on-line for
immediate delivery, at very competitive prices.
EASYSYNC
LONDON ELECTRONICS COLLEGE
http://www.easysync.co.uk
EasySync Ltd sells a wide
range of single and multiport USB to RS232/RS422
and RS485 converters at competitive prices.
http://www.lec.org.uk
Vocational training and education for national
qualifications in Electronics Engineering and
Information Technology (BTEC First National,
Higher National NVQs, GCSEs and Advanced
Qualifications). Also Technical Management and
Languages.
ELNEC
www.elnec.com
• device programmer
manufacturer
• selling through contracted
distributors all over the world
• universal and dedicated device programmers
• excellent support and after sale support
• free SW updates
• reliable HW
• once a months new SW release
• three years warranty for most programmers
MODular ElecTRONics
FIRST TECHNOLOGY TRANSFER LTD.
MQP ELECTRONICS
http://www.ftt.co.uk/PICProTrng.html
Microchip Professional C
and Assembly
Programming Courses.
The future is embedded.
Microchip Consultant / Training Partner developed
courses:
• Distance learning / instructor led
• Assembly / C-Programming of PIC16, PIC18,
PIC24, dsPIC microcontrollers
• Foundation / Intermediate
www.decibit.com
Smallest 2.4 GHz ISM band MCU embedded
transceiver modules. Complete tiny solution,
ready to transmit RF data by only attaching as
example a CR2032 coin cell to it.
142
www.mqp.com
• Low cost USB Bus Analysers
• High, Full or Low speed captures
• Graphical analysis and filtering
• Automatic speed detection
• Bus powered from high speed PC
• Capture buttons and feature connector
• Optional analysis classes
NEW WAVE CONCEPTS
FUTURE TECHNOLOGY DEVICES
DECIBIT CO.LTD.
www.modetron.com
• Plug and Program
• FREE application s/w
• Hobbyist ease-of-use
• Professional finish with enclosure
and LEXAN faceplate
• We will design and brand your
custom application
• Growing range of PSU’s, i/o modules, displays
and microcontrollers
http://www.ftdichip.com
FTDI designs and sells
USB-UART and USB-FIFO
interface i.c.’s.
Complete with PC drivers,
these devices simplify the task of designing or
upgrading peripherals to USB
www.new-wave-concepts.com
Software for Hobbyists:
• Livewire - circuit simulation
software, only £34.99
• PCB Wizard - PCB design
software, only £34.99
• Circuit Wizard - circuit, PCB and breadboard
design software, only £59.99
Available from all Maplin Electronics stores and
www.maplin.co.uk
products and services directory
PCB WORLD
SYTRONIC TECHNOLOGY LTD
USB INSTRUMENTS
http://www.pcbworld.org.uk
World-class site: Your magazine project or
prototype PCB from the artwork of your choice
for less. Call Lee on 07946 846159 for details.
Prompt service.
www.m2mtelemetry.com
Supplier of wireless modules and accessories for
remote monitoring M2M applications.
• GSM/GPRS TCP/IP modules
• Embedded GSM/GPRS modem
• Development Kits
• GPS modules
• GSM/GPS antennas
• Adapter cables
Online ordering facilities.
Tel: 01728 685802
http://www.usb-instruments.com
USB Instruments specialises
in PC based instrumentation
products and software such
as Oscilloscopes, Data
Loggers, Logic Analaysers
which interface to your PC via USB.
ROBOT ELECTRONICS
http://www.robot-electronics.co.uk
Advanced Sensors and Electronics for Robotics
• Ultrasonic Range Finders
• Compass modules
• Infra-Red Thermal sensors
• Motor Controllers
• Vision Systems
• Wireless Telemetry Links
• Embedded Controllers
SOURCEBOOST TECHNOLOGIES
http://www.sourceboost.com
Next generation C compiler and
development products at highly
affordable prices:
• C, C++, and Basic compilers for PIC12, PIC16,
PIC18
• Modern IDE, with PIC simulator, source level
debugger and virtual devices.
• RTOS for PICmicro.
• PIC based controller and Development boards.
• Download and try for Free from http://www.
sourceboost.com
COMPONENTBIN.COM
www.componentbin.com
Kickstart your development with
modules and parts from
componentbin.com
• ARM7 modules
• Ethernet modules
• Superb Graphic LCD displays (all with example
software)
and much much more...
Online ordering and great prices!
ULTRALEDS
http://www.ultraleds.co.uk
tel: 0871 7110413 / 01625 576778
Large range of low cost Ultra bright leds and
Led related lighting products. Major credit cards
taken online with same day depatch.
VIRTINS TECHNOLOGY
www.virtins.com
PC and Pocket PC based
virtual instrument such
as sound card real time
oscilloscope, spectrum
analyzer, signal generator,
multimeter, sound meter,
distortion analyzer, LCR meter.
Free to download and try.
www.
elektorelectronics.
co.uk
SHOWCASE YOUR COMPANY HERE
Elektor Electronics has a feature to help
customers promote their business,
Showcase - a permanent feature of the
magazine where you will be able to showcase
your products and services.
• For just £220 + VAT (£20 per issue for
eleven issues) Elektor will publish your
company name, website address and a
30-word description
• For £330 + VAT for the year (£30 per
issue for eleven issues) we will publish
the above plus run a 3cm deep full colour
image - e.g. a product shot, a screen shot
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Places are limited and spaces will go on
a strictly first come, first served basis.
So-please fax back your order today!
I wish to promote my company, please book my space:
• Text insertion only for £220 + VAT • Text and photo for £330 + VAT
NAME: ..................................................................................................... ORGANISATION: .......................................................................................
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PLEASE COMPLETE COUPON BELOW AND FAX BACK TO 00-44-(0)1932 564998
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143
&
!"'
"! %! %#! % %$(
– Thomas Gosling, 38, electronics enthusiast –
Cheaper than 11 issues from the newsstand
Subscribers get up to "!
on special Elektor products
As a welcome gift you get a free %
worth £ 34.50
+
)
$
* %
*
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!+ --! .
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Always up to date – read your copy before
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;LS
144
Elektor Electronics (Publishing)
Regus Brentford
Telephone +44 208 261 4509
Brentford TW8 9HH
Fax
+44 208 261 4447
United Kingdom
Email: sales@elektor-electronics.co.uk
Order now using the Order Form in
the Readers Services section in this issue.
More information on www.elektor-electronics.co.uk
CD-ROM BESTSELLERS
1
Ethernet Toolbox
This CD-ROM contains all essential
information regarding Ethernet interfaces! To help you learn about the
Ethernet interfaces, we have
compiled a collection of all
articles on this topic that have
appeared in Elektor Electronics
and complemented them with additional documentation and links to introductory articles on Ethernet interfaces. It includes
a collection of data sheets for dedicated Ethernet
interface ICs from many different manufacturers.
The CD-ROM provides a wealth of information about
connectors and components for the physical layer
(PHY) and specific software tools for use with the
Ethernet (Software).
Microcontroller Basics
Microcontrollers have become an indispensable
part of modern electronics. They make things possible that vastly exceed what could be done previously. Innumerable applications show that almost
nothing is impossible. There’s thus every reason
to learn more about them. This book offers more
than just a basic introduction. It clearly explains
ISBN 978-0-905705-67-5
the technology using various microcontroller
230 Pages
circuits and programs written in several different
£18.70 (US$ 33.70)
programming languages. In the course of the
book, the reader gradually develops increased
competence in converting his or her ideas into
microcontroller circuitry.
NEW
Visual Basic
for Electronics Engineering Applications
ISBN 978-90-5381-214-3 | £18.90 (US$ 37.90)
Elektor 2006
2
This CD-ROM contains all
editorial articles published in
Elektor Electronics Volume
2006. Using the supplied
Acrobat Reader program, articles are presented in the same
layout as originally found in
the magazine. All free, printed,
supplements our readers got last
year, like the Visual Basic, C and i-TRIXX booklets are
also contained on the CD. The Elektor Volume 2006
CD-ROM has a rather different look and feel than
previous editions. It’s gone through a makeover in
more than one way!
ISBN 978-90-5381-207-5 | £16.25 (US$ 28.75)
Robotics
A large collection of datasheets, software tools, tips,
tricks and Internet links to
assorted robot constructions
and general technical information. All aspects of modern
robotics are covered, from
sensors to motors, mechanical
parts to microcontrollers, not
forgetting matching programmingtools and
libraries for signal processing.
3
This book is targeted towards those people that
want to control existing or home made hardware
from their computer. After familiarizing yourself
with Visual Basic, its development environment
and the toolset it offers are discussed in detail.
Each topic is accompanied by clear, ready to
ISBN 978-0-905705-68-2
run code, and where necessary, schematics
476 Pages
are provided that will get your projects up to
£27.50 (US$ 51.50)
speed in no time.
BESTSELLING BOOKS
Top-5
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for Electronics Engineering Applications
ISBN 978-0-905705-68-2 £27.50 (US$ 51.50)
2 Microcontroller Basics
ISBN 978-0-905705-67-5 £18.70 (US$ 33.70)
3 PC-Interfaces under Windows
ISBN 978-0-905705-65-1 £25.95 (US$ 52.00)
4 Modern High-end Valve Amplifiers
ISBN 978-0-905705-63-7 £25.95 (US$ 52.00)
5 308 Circuits
ISBN 978-0-905705-66-8 £18.20 (US$ 37.00)
ISBN 978-90-5381-179-5 | £12.05 (US$ 21.25)
More bestsellers on www.elektor-electronics.co.uk
Order o
www.elektor-el
Order now using the Order Form in
the Readers Services section in this issue.
Stand-Alone OBD2 Analyser
Software Defined Radio
(June 2007)
(May 2007)
Kit of parts, incl. case, cable, front panel foil
and mounting materials
Ready-populated and
tested board
070038-72
070039-91
£ 51.70 / US$ 97.50
£ 72.45 / US$ 126.50
Free downloads:
Speedmaster
(May 2007)
Online simulator examples
(070038-21)
The circuit voted winner of
the R8C Design Competition!
Manual
(070038-W1)
Ready-populated and tested
board (excl. R8C module)
070021-91
See www.elektor-electronics.co.uk
No. 367 JULY/AUGUST 2007
Dual Battery
070343-1
PCB, bare
£ 51.70 / US$ 97.45
£
$
5.20
9.75
Fast Charger for NiMH Batteries
070213-1
PCB, bare
www.thepcbshop.com
Lithium Charger
070273-1
PCB, bare
8.90
12.95
5.20
15.15
9.75
28.50
6.90
12.95
060342-81 CD-ROM, project software
060342-41 PIC18F4550, programmed
LPC 900 Programmer
070084-1
PCB, bare
MotoBox
070129-1 PCB, bare
070129-41 PIC16F628-04/P, programmed
www.thepcbshop.com
14.80 27.95
Propeller Prototyping Board for BoeBot
070275-1
PCB, bare
PCB, bare
www.thepcbshop.com
5.20
9.75
10.00 18.85
72.45 126.50
5.20
9.75
060378-1 PCB, bare
060378-41 PIC18F2550I/SP, programmed
060287-1 PCB, bare, with programmed microcontroller
060287-41 EP900LC only, programmed
050276-1
PCB, bare
www.thepcbshop.com
15.50 29.25
11.00 20.75
P&P only P&P only
www.thepcbshop.com
Speedmaster
070021-91 Ready-populated and tested board (excl. R8C module)
51.70
97.45
Seismograph
060307-1 PCB, bare
060307-41 ATTiny45,programmed
www.thepcbshop.com
5.20
9.75
10.35 19.50
ATtiny as RDS Signal Generator
060253-41 Attiny2313-20, programmed
8.25
5.20
15.50
9.75
7.60
5.20
5.20
14.25
9.75
9.75
5.20
9.75
Linux Oscilloscope
22.75
9.75
18.75
Thank your for Flying USB FliteSim
Magnetometer
Coil Clinic
060195-1 PCB, bare
060195-41 Atmega48-20PU, programmed
070039-91 Ready-populated and tested board
9.75
31.15
www.thepcbshop.com
12.00
5.20
10.00
No. 365 MAY 2007
Software Defined Radio
5.20
16.50
No. 366 JUNE 2007
2.4 GHz WiFi Spectrum Analyser
070040-1 PCB, bare
070040-11 CD-ROM, Linux & Windows software
060044-1 PCBs, bare; set for TX and RX
060044-41 ATtiny15PC, programmed
Universal JTAG Adaptor
Stereo Robot Ears
060040-1 PCB, bare
Whistles from on high
20.75
Serial Interface for the Propeller
070276-1
free download
070038-72 Kit of parts, incl. case, cable, front panel foil and mounting materials 51.70 97.50
070038-21 Online simulator examples
free download
070038-W1 Manual
free download
11.00
Satnav for Robots
070350-41 ATmega32, programmed
060241-W Program listing
Stand-Alone OBD2 Analyser
4.20
7.80
10.30
10.30
5.20
16.90
19.50
19.50
9.75
31.85
No. 364 APRIL 2007
Battery Charge-n-Check
050073-1
050073-2
050073-11
050073-41
PCB, bare, main board
PCB, bare, display board
CD-ROM, project software
ST7FMC2S4, programmed
Regus Brentford
Brentford TW8 9HH
United Kingdom
Tel.: +44 (0) 208 261 4509
Fax: +44 (0) 208 261 4447
Email: sales@elektor-electronics.co.uk
nline at
ectronics.co.uk
Due to practical constraints, final illustrations and specifications
may differ from published designs. Prices subject to change.
See www.elektor-electronics.co.uk for up to date information.
Kits & Modules
Wireless USB in miniature
(March 2007)
g-Force on LEDs
(April 2007)
iDwarf -168 Transmitter
module (built & tested)
PCB set, bare,
incl. 2 MMA7260
sensors, BDM cable
parts
050402-91
£ 24.10 / US$ 45.45
060297-71
£ 10.00 / US$ 18.85
iDwarf Node Board
(built & tested)
USB Stick with ARM
and RS232
050402-91
£ 17.20 / US$ 32.45
(November 2006)
Assembled and
tested board
iDwarf Hub Board
(built & tested)
050402-93
£ 17.20 / US$ 32.45
g-Force on LEDs
060297-71 PCB set, incl. 2 MMA7260 sensors, BDM cable parts
060006-91
£ 79.90 / $ 149.95
£
$
10.00
5.20
18.85
9.75
Programmer for Freescale 68HC(9)08
060263-1
PCB, bare
PCB, bare
www.thepcbshop.com
Very Simple Clock
060350-1
PCB, bare
www.thepcbshop.com
E-blocks Light Chaser Squared
075032-1
PCB, bare
www.thepcbshop.com
No. 363 MARCH 2007
AVR drives USB
060276-1 PCB, bare
060276-11 CD-ROM, project software incl. source code
060276-41 ATmega32-16PC, programmed
10.00
5.20
8.95
18.85
9.75
16.85
8.30
24.10
17.20
17.20
15.60
45.45
32.45
32.45
Wireless USB in Miniature
050402-1
050402-91
050402-92
050402-93
PCB, bare, iDwarf prototyping board
iDwarf -168 Transmitter module (built & tested)
iDwarf Node Board (built & tested)
iDwarf Hub Board (built & tested)
Mobile Phone LCD for PC
060184-1 PCB, bare
060184-41 ATmega16-16PC, programmed
www.thepcbshop.com
5.20
9.75
8.95 16.85
Scale Deposit Fighter
070001-1
PCB, bare
www.thepcbshop.com
No. 362 FEBRUARY 2007
… 3, 2, 1 Takeoff!
050238-1
050238-2
Transmitter PCB, bare
Receiver PCB, bare
www.thepcbshop.com
www.thepcbshop.com
MP3 Preamp
060237-1
PCB, bare
5.20
9.75
122.90 232.50
No. 361 JANUARY 2007
Sputnik Time Machine
050018-1 PCB
050018-11 CD-ROM, project software (incl. source code)
050018-41 AT89C2051, programmed
www.thepcbshop.com
5.20
9.75
3.40
6.45
Very Simple Clock
060350-1 PCB
060350-11 CD-ROM, project software (incl. source code)
060350-41 PIC16F628-20, programmed
www.thepcbshop.com
5.20
9.75
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)
030417-2 PCB, bare (control & display boards)
030417-41 AT90S8515-8PC, programmed
www.thepcbshop.com
www.thepcbshop.com
11.40 21.45
No. 359 NOVEMBER 2006
USB Stick with ARM and RS232
060006-1
060006-41
060006-91
060006-81
PCB, bare
AT91SAM7S64, programmed
Assembled & tested board
CD-ROM, all project software
11.00 20.75
27.60 51.95
79.90 149.95
5.20
9.75
No. 358 OCTOBER 2006
PIC In-Circuit Debugger/Programmer
050348-1 PCB
050348-71 Kit, incl. PCB, controller, all parts
5.20
17.90
34.50
www.thepcbshop.com
Products for older projects (if available) may be found on
our website www.elektor-electronics.co.uk
www.thepcbshop.com
35.50 66.95
home construction = fun and added value
A Telling Way of Telling the Time
050311-1 PCB, bare
050311-31 CPLD, programmed
060025-9-11 CD-ROM, course software incl. source code
Explorer-16 Value Pack
060280-91 Four components packaged together in a single box
www.thepcbshop.com
A Simple Mains Inverter
060171-1
FPGA Course (9)
9.75
33.75
64.95
INFO & MARKET
SNEAK PREVIEW
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 amplifier 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). GPSbased 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 miniature 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.
RESERVE YOUR COPY NOW!
UK mainland subscribers will receive the magazine between 18 and 21 August 2007.
The September 2007 issue goes on sale on Thursday 23 August 2007 (UK distribution only).
Article titles and magazine contents subject to change, please check www.elektor-electronics.co.uk.
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COMPONENTS
Components for projects appearing in Elektor Electronics 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.
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January 2007
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Giro transfer into account no. 34-152-3801, held by Elektor
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January 2007
NEW
ISBN 978-90-5381-214-3
£18.90 / US$ 37.90
Software Tools en Hardware Tips
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INDEX OF ADVERTISERS
ATC Semitec Ltd, Showcase. . . . . . . . . . . www.atcsemitec.co.uk . . . . . . . . . . . . . . . . . . 142
Number One Systems . . . . . . . . . . . . . . . www.numberone.com . . . . . . . . . . . . . . . . . . . . 60
Avit Research, Showcase. . . . . . . . . . . . . www.avitresearch.co.uk . . . . . . . . . . . . . . . . . 142
Nurve Networks . . . . . . . . . . . . . . . . . . . . www.xgamestation.com . . . . . . . . . . . . . . . . . 139
BAEC, Showcase . . . . . . . . . . . . . . . . . . . http://baec.tripod.com . . . . . . . . . . . . . . . . . . 142
Paltronix. . . . . . . . . . . . . . . . . . . . . . . . . . www.paltronix.com . . . . . . . . . . . . . . . . . . . . . . . 7
Beijing Draco . . . . . . . . . . . . . . . . . . . . . . www.ezpcb.com . . . . . . . . . . . . . . . . . . . . . . . 109
PCB World, Showcase . . . . . . . . . . . . . . . www.pcbworld.org.uk . . . . . . . . . . . . . . . . . . . 143
Beta Layout, Showcase . . . . . . . . . . . . . . www.pcb-pool.com. . . . . . . . . . . . . . . . . 139, 142
Peak Electronic Design. . . . . . . . . . . . . . . www.peakelec.co.uk . . . . . . . . . . . . . . . . . . . . . . 6
Bitscope Designs . . . . . . . . . . . . . . . . . . www.bitscope.com . . . . . . . . . . . . . . . . . . . . . . . 3
Pico. . . . . . . . . . . . . . . . . . . . . . . . . . . . . www.picotech.com . . . . . . . . . . . . . . . . . . . . . 109
Compact Control Design . . . . . . . . . . . . . www.compactcontrol.co.uk. . . . . . . . . . . . . . . . 39
Quasar Electronics . . . . . . . . . . . . . . . . . . www.quasarelectronics.com . . . . . . . . . . . . . . . 97
Decibit Co. Ltd, Showcase . . . . . . . . . . . . www.decibit.com . . . . . . . . . . . . . . . . . . . . . . 142
Robot Electronics, Showcase . . . . . . . . . . www.robot-electronics.co.uk. . . . . . . . . . . . . . 143
EasyDAC, Showcase . . . . . . . . . . . . . . . . www.easydaq.biz . . . . . . . . . . . . . . . . . . . . . . 142
Scantool . . . . . . . . . . . . . . . . . . . . . . . . . www.ElmScan5.com/elektor . . . . . . . . . . . . . . 139
Easysync, Showcase . . . . . . . . . . . . . . . . www.easysync.co.uk. . . . . . . . . . . . . . . . . . . . 142
Schaeffer AG . . . . . . . . . . . . . . . . . . . . . . www.schaeffer-ag.de . . . . . . . . . . . . . . . . . . . 109
Elnec, Showcase . . . . . . . . . . . . . . . . . . . www.elnec.com . . . . . . . . . . . . . . . . . . . . . . . 142
Showcase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142, 143
Eurocircuits . . . . . . . . . . . . . . . . . . . . . . . www.eurocircuits.com . . . . . . . . . . . . . . . . . . 139
SourceBoost Technologies, Showcase . . . www.sourceboost.com . . . . . . . . . . . . . . . . . . 143
First Technology Transfer Ltd, Showcase . www.ftt.co.uk . . . . . . . . . . . . . . . . . . . . . . . . . 142
Sytronic Technology Ltd, Showcase . . . . . www.m2mtelemetry.com . . . . . . . . . . . . . . . . 143
Future Technology Devices, Showcase . . . www.ftdichip.com . . . . . . . . . . . . . . . . . . . . . . 142
Tsien (UK) Ltd, Showcase . . . . . . . . . . . . www.componentbin.com . . . . . . . . . . . . . . 6, 143
Futurlec, Showcase . . . . . . . . . . . . . . . . . www.futurlec.com . . . . . . . . . . . . . . . . . . . . . . 142
Ultraleds, Showcase . . . . . . . . . . . . . . . . www.ultraleds.co.uk . . . . . . . . . . . . . . . . . . . . 143
Jaycar Electronics . . . . . . . . . . . . . . . . . . www.jaycarelectronics.co.uk . . . . . . . . . . . . . . . . 2
USB Instruments, Showcase . . . . . . . . . . www.usb-instruments.com . . . . . . . . . . . . . . . 143
JB Systems, Showcase . . . . . . . . . . . . . . www.modetron.com . . . . . . . . . . . . . . . . . . . . 142
Virtins Technology, Showcase . . . . . . . . . www.virtins.com . . . . . . . . . . . . . . . . . . . . . . . 143
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
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.
151
DESIGN
SUITE
TIME FOR A CHANGE ?
NEW IN DESIGN SUITE 7:
NEW: Redesigned User Interface includes modeless
selection, modeless wiring and intuitive operation to
maximise speed and ease of use.
NEW: Simulation Advisor includes reporting on
NEW: Design Explorer provides easy navigation,
NEW: Trace capability within both MCU and
¿QGLJ
design inspection tools and cross-probing support to
improve quality assurance and assist with fault
NEW: 3D Visualisation Engine provides the means to
preview boards in the context of a mechanical design
prior to physical prototyping.
simulation problems with links to detailed
troubleshooting information where appropriate.
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
Labcenter Electronics Limited
Registered in England 4692454
E-mail: info@labcenter.com
Tel: +44 (0) 1756 753440
Fax: +44 (0) 1756 752857
Registered Address: 53-55 Main Street, Grassington, North Yorks, UK, BD23 5AA