10 Projects With Mikrobasic Pic

Ten Projects With The MBasic Compiler
INTRODUCTION _____________________________________________________ 3-4

CHAPTER 1: Project_1 GETTING STARTED _____________________________ 5-14
CHAPTER 2: Project_2 LCD ALPHANUMERIC DISPLAY_________________ 15-22
CHAPTER 3: Project_3 MOTOR CONTROL _____________________________ 23-32
CHAPTER 4: Project_4 7-SEGMENT LED DISPLAY _____________________ 33-44
CHAPTER 5: Project_5 RESISTIVE-TYPE SENSORS _____________________ 45-58
CHAPTER 6: Project_6 DISTANCE SENSORS ___________________________ 59-70
CHAPTER 7: Project_7 TEMPERATURE & FLAME SENSORS ____________ 71-80
CHAPTER 8: Project_8 VOICE RECORD/PLAYBACK DEVICE ____________ 81-92
CHAPTER 9: Project_9a &9b REMOTE CONTROL______________________ 93-112
CHAPTER 10: Project_10 MULTI-PURPOSE ROBOT___________________ 113-132
2
INTRODUCTION
This book is designed to give the user of the MBasic Compiler a look at some of the
capabilities of the software as well as showing the easy integration with available
hardware. It will illustrate ten individual projects using the two different Development
Boards and the three different PICmicro MCUs that are included in the Basic Micro
Ultimate Combo. The Ultimate Combo Package from Basic Micro includes everything
you need to begin experimenting with the PICmicro MCUs. MBasic is an easy to use
compiler. The compiler combined with the 0818 and 2840 Development Boards and ISP
PRO Programmer make programming any PIC quick to get started and very easy to learn.
The ISP (In Circuit Programming) system allows you to test changes on-the-fly without
unplugging or switching cables around. MBasic is an advanced programming language
modeled after BASIC. The IDE (Integrated Development Environment) is MBasic. The
IDE is used to perform all the tasks associated with using MBasic, such as writing code,
compiling, and programming the target device. Everything is done from within the IDE,
so there is no reason to exit the program or use separate file editors and programming
software for your BASIC code files. The IDE allows all the pieces of MBasic to be in
one place. Instead of multiple programs, it is all integrated in one easy to use Windows
interface.
The 0818 Development Board with the ISP-PRO Programmer can program 8 pin and 18
pin PICmicro MCUs.
The 2840 Development Board with the ISP-PRO Programmer can program 28 pin and 40
pin PICmicro MCUs.
The PIC16F628 is an 18 pin MCU with 13 I/O pins and can be programmed with the 0818
Development Board.
The PIC16F876 is a 28 pin MCU with 22 I/O pins and can be programmed with the 2840
Development Board.
The PIC16F877 is a 40 pin MCU with 33 I/O pins and can be programmed with the 2840
Development Board.
3
MBasic IDEs Main Editor provides full syntax highlighting. The Code Explorer allows
you to automatically jump to your files. With the Explorers built in filters, you can view
only the file extensions you want. The Build Window identifies compilation and
assembler errors so they can be easily corrected. It also shows program memory used,
program memory free, warnings and special messages. The Serial Terminal Window
allows you to view serial output from your PICmicro. With the Debug Window you can
send and receive data from your running program on your PICmicro. The Debug data is
passed directly through the ISP-PRO. This allows direct debugging on-the-fly without
the need for two serial ports or any type of cable swapping. With the ICD (In Circuit
Debugger), you can watch your code run line-by-line live as the PICmicro MCU executes
each instruction.
Another great thing about the Ultimate Combo Package is the great support you have
from Basic Micro. If you have any problems or questions, you can get technical support
via e-mail and the discussion forums at www.basicmicro.com So lets get started!
4
CHAPTER 1: GETTING STARTED

(Project_1)
INSTALL SOFTWARE
The first step in programming a PICmicro is to insert the Basic Micro CD into your CD-
ROM drive on your computer. Follow the installation directions. Allow the installer to
install MBasic into its default directories. You can later change the default directories
after you completely understand the compiler and how it works. During the installation
process the installer will prompt you for the serial number located on the CD-ROM case.
The serial number must be entered in exactly as it appears. It is case sensitive. Once you
have finished installing the Compiler, restart your computer.
BOARD ENCLOSURES
It is a good idea to either buy or make enclosures for the ISP-Pro and 0818/2840
Development Boards. The enclosures will make working with these boards easier and
will also help in preventing damage to the boards. I attached the boards to some plastic
video tape boxes. It works great. When I am finished programming I can close the boxes
and stack them in a drawer for safe keeping until I need them again.
INSTALL AND CONFIGURE HARDWARE
Install the appropriate PICmicro MCU in the Development Board being used. Let’s start
with the 16F628 and the 0818 Development Board.
Connect the “straight through” serial cable to the ISP-PRO then to the com port of your
computer.
Connect the power supply (wall adapter) to the ISP-PRO.
Connect the ISP-PRO to the 0818 Development Board with the supplied cable.
Start the Basic Micro IDE. Once the IDE is running, configure the ISP-PRO serial port.
This is done from the system setup menu under Tools. Then run the hardware test to see
if the ISP-PRO is functioning correctly.
5
Menu Bar: Tools Æ System Setup Æ Choose Com Port the ISP-Pro is attached to Æ
Hardware test.
You should receive the message “ISP-PRO communications are normal”.
WRITING YOUR FIRST PROGRAM
1. Open a new file by selecting: File Æ New Æ PICmicro Basic file Æ OK.
2. Select the PICmicro MCU as 16F628 by using the drop down menu selection.
3. Select the config setup button. Select the oscillator you will be using. Let's start with
the 10Mhz oscillator. Set it for High speed, code protect off. The remaining options
at the bottom of the menu should be unchecked except for the Watchdog timer. Then
click OK.
4. The following configuration settings should be displayed on the Editor window:
CPU = 16F628
MHZ = 10
CONFIG = 16142
5. Enter the following program under the configuration settings:
Temp var byte

Temp1 var word
Temp1 = 0
Main
For temp = 1 to 20
Temp1 = Temp1 + 10
Debug [DEC Temp1, 13]
Next
Debug [“OK”, 13]
Temp1 = 0
Goto Main
6. After the program is entered, save it. Save the file as: File name Æ Test1 / Save as
type Æ Basic file (*.bas). Click on the Debug button. The program will compile,
and then a progress bar will appear. This indicates the target device is being
programmed. Then the bottom Build window will change focus to the Debug
window.
7. Click the connect button. Once the connect button turns to disconnect, a connection
has been established. Then check the auto update button. Next click the Variable
button; another window will appear. This is the Variable Watch window. Next click
Animate.
6
8. When the program is running, the Variable Watch window will update the status of
each variable used in the program. It will display the values in HEX, DEC, and
BINARY. The ICD will show a small yellow arrow and a green bar, indicating
where the program is at during execution.
If the program was entered correctly, Temp1 value will be displayed in the Watch
window. After the variable Temp1 equals 200, the text “OK” should appear in the Watch
window. The program should then return to the label Main and start all over again.
Congratulations! You have just written your first program, and successfully programmed
your first PICmicro, and worked with the ICD.
PROJECT_1
It is now time to attach some components on the solderless bread board. Those
components will be a button switch, a potentiometer, 4 resistors, 7 LEDs and a capacitor.
The MBasic commands used in this project are: Low, High, Pause, Goto, Button, Rctime,
If…Then, For…Next, Toggle and Debug (refer to the MBasic manual for the
explanations of these commands).
Nine of the thirteen I/O pins of the PIC16F628 will be used in this project.
Follow the below schematic in wiring the solderless bread board. Use the Jumper Wire
Kit and the components you received in your package. The only thing you need to get on
your own is the .1uf capacitor.
10k ohms Vss
A0 Vdd
A1
A2 Vss
390 ohms
A3
Green LEDs
B0
390 ohms .1uf
Vss Vdd
20k pot
B1
B2
Vss
B3 390 ohms
B5
Bi-Color LEDs
7
8
After you have wired up the solderless bread board, open a new file and enter the
following program. Follow the same procedure you did in writing your first program.
Once the program is entered, save the file as: Project_1.
Work var byte

Work = 0
Pot var word
Pot = 0
Counter var byte
Counter = 0
Start:
TRISA = $00
PORTA = $00
TRISB = $00
PORTB = $00
Button A0,1,100,10,Work,1,Demo1
Goto Start
Demo1:
Low A3
High A1
For Counter = 1 to 15
High B0
Pause 1
Rctime B0,1,Pot
Pot = Pot * 2
Debug [DEC Pot, 13]
High B1
Low B2
High B3
Low B5
Pause Pot
Debug [DEC Counter, 13]
Low B1
High B2
Low B3
High B5
Pause Pot
Next
Work = 0
Goto Demo1
Demo2:
9
Low A1
High A2
Pause 1000
Low B1
Low B2
Low B3
Low B5
Loop:
High B0
Pause 1
Rctime B0,1,Pot
Debug [DEC Pot,13]
Pause 300
If Pot > 600 then Four
If Pot > 400 then Three
If Pot > 200 then Two
If Pot > 10 then One
If Pot < 10 then Demo2
One:
High B1
Low B2
Low B3
Low B5
Debug [DEC 1,13]
Goto Loop
Two:
Low B1
High B2
Low B3
Low B5
Debug [DEC 2,13]
Goto Loop
Three:
Low B1
Low B2
High B3
Low B5
Debug [DEC 4,13]
Goto Loop
Four:
Low B1
Low B2
Low B3
High B5
Debug [DEC 6,13]
Goto Loop
10
Demo3:
Low A2
High A3
High B0
Pause 1
Rctime B0,1,Pot
Button A0,1,100,10,Work,1,Start
Debug [DEC Pot,13]
If Pot > 600 then FL
If Pot > 400 then SL
If Pot > 350 then ST
If Pot > 150 then SR
If Pot >= 1 then FR
FL:
Debug ["Fast Left",13]
Toggle B1
Pause 200
toggle B2
Pause 200
Toggle B3
Pause 200
Toggle B5
Pause 200
Goto Demo3
SL:
Debug ["Slow Left",13]
Toggle B1
Pause 500
Toggle B2
Pause 500
Toggle B3
Pause 500
Toggle B5
Pause 500
Goto Demo3
ST:
Debug ["Stop", 13]
Pause 300
Goto Demo3
SR:
Debug ["Slow Right",13]
Toggle B5
Pause 500
Toggle B3
Pause 500
11
Toggle B2
Pause 500
Toggle B1
Pause 500
Goto Demo3
FR:
Debug ["Fast Right",13]
Toggle B5
Pause 200
Toggle B3
Pause 200
Toggle B2
Pause 200
Toggle B1
Pause 200
Goto Demo3
End
EXPLANATION OF PROGRAM
Project_1 has four parts labeled: Start, Demo1, Demo2, and Demo3. Following is a
short description of what each part of the program does.
Start: This routine makes all of PortA and PortB outputs, and all of the pins are
made low. The program loops forever until the button is pressed and then
the program moves to Demo1.
Demo1: This part of the program turns on the far right green LED. A counter is set
to count from one to fifteen. For each count the bi-color LEDs alternate
their colors. The rate of change of the LEDs is determined by the value of
the potentiometer (RC circuit). Adjust the potentiometer and see the
changes to the variable Pot and the change to the LED display. The RC
circuit value (times two) and the counter value will be displayed in the
Watch window. After the count reaches fifteen the program looks to see if
the button is pressed. If the button is pressed the program moves to
Demo2.
Demo2: The middle green LED turns on. The value of the potentiometer
determines which bi-color LED is activated. When the potentiometer is at
12
max position the LEDs are off, and if the button is pressed, the program
goes to Demo3.
Demo3: The far left green LED turns on. The bi-color LEDs display in a
sequential manner to the right or left depending on the value of the
potentiometer. The change rate of the display is also determined by the
potentiometer. When the potentiometer is in mid position the
display is in stop mode. In stop mode, if the button is pressed, the
program will go back to the label Start.
CONCLUSION
Chapter 1 showed how to program the PIC16F628 and how to use some commands of the
MBasic compiler. Project_1 used the 0818 Development Board to blink LEDs in various
ways using a potentiometer and a button switch. The solderless bread board was used to
show how easy it is to connect devices to the PIC without having to solder components
together. The next chapter will be more challenging and will involve the use of an LCD
and Piezo speaker.
13
14
CHAPTER 2 : LCD ALPHANUMERIC DISPLAY

(Project_2)
LCD DISPLAY
Liquid crystal displays (LCDs) are a passive display technology. That means they do not
emit light; instead, they use the ambient light in the environment. By manipulating that
light, they can display characters using very little power. The LCD consists primarily of
two glass plates in parallel with a dielectric (liquid crystal material) between the plates.
The liquid crystal has two forms, a liquid form and a crystal molecule form. The crystal
molecules are rod shaped and have a definite order or pattern, and an electric field can be
used to manipulate those molecules. Many LCDs use a type of liquid crystal called
twisted nematic (TN). It is naturally twisted. Applying an electric current to these liquid
crystals will untwist them to varying degrees, depending on the current’s voltage. LCDs
use these liquid crystals because they react predictably to electric current in such a way as
to control light passage.
A simple LCD will have a mirror in back, which makes it reflective. The LCD will also
have a piece of glass with a polarizing film on the bottom side, and a transparent common
electrode plane made of indium-tin oxide on top. On top of that is a layer of the liquid
crystal. Above the liquid crystal is another piece of glass with an electrode in the shape
of a rectangle on the bottom and top. The last part is another polarizing film at a right
angle to the first one.
When the LCD is “off”, no voltage is applied to the electrodes, and light passes through
the LCD. When it is “on”, voltage is applied and the liquid crystal molecules align
themselves in the direction of the electric field. This causes the light to be out of phase
with the polarizers and to be blocked, creating a dark area on the LCD. By selectively
applying voltage to the electrodes, a variety of patterns can be achieved.
Having an alphanumeric display for your PIC microcontroller can be very helpful. An
LCD module can display output messages from the PIC, such as numeric values of a
variable or word messages to the user. The LCD module in your kit uses a Hitachi 44780
type controller and has two lines with sixteen characters per line and is organized in
blocks of 5 X 7 dots. It accepts data and command instructions over four or eight bit
parallel interface. For our uses we will use the four bit parallel interface. To operate this
display we will need six I/O lines from the PIC.
LCDWRITE COMMAND
The MBasic command LCDWRITE makes it very easy to use the LCD display. The
control commands that are used with LCDWRITE are in Table 2.1. Before you use the
LCDWRITE command, you must first initialize the LCD screen by adding the following
lines to your program:
15
Pause 500
LCDWRITE [INITLCD1,INITLCD2,CLEAR,HOME,SCR]
The internal cursor position is set automatically. If you want to print a character at a
particular location on the screen, position the internal cursor at the specific screen ram
location you want. The screen ram is mapped out as shown in Table 2.2. To display
your message on the second line instead of the first line, you would use the following:
LCDWRITE [SCRRAM+$40]
With the Hitachi 44780 type controller, you have a maximum of 128 bytes of screen ram.
The 2 X 16 display we are using only uses 32 bytes, so the remainder would be off screen
ram. Shifting the display left by using the SCRLEFT command can access this ram.
Command Name: Description:
$133 INITLCD1 Initialize LCD display

$132 INITLCD2 Initialize LCD display
$101 CLEAR Clear Display
$102 HOME Return Home
$104 INCCUR AutoIncrement Cursor (default)
$105 INCSCR AutoIncrement Display
$106 DECCUR AutoDecrement Cursor
$107 DECSCR AutoDecrement Display
$108 OFF Display,Cursor,and Blink off
$10C SCR Display on,Cursor and Blink off
$10D SCRBLK Display and Blink on Cursor off
$10E SCRCUR Display and Cursor on, Blink off
$10F SCRCURBLK Display, Cursor, and Blink on
$110 CURLEFT Move Cursor left
$114 CURRIGHT Move Cursor right
$118 SCRLEFT Move Display left
$11C SCRRIGHT Move Display right
$120 ONELINE Set display for 1 line LCDs
$128 TWOLINE Set display for 2 line LCDs
$140 CGRAM address Set CGRAM address for R/W
$180 SCRRAM address Set Display ram address for R/W
Table 2.1
0 1 2 3 4 5 6 7 8 9 a b c d e f
40 41 42 43 44 45 46 47 48 49 4a 4b 4c 4d 4e 4f
Table 2.2
16
LCD SET UP
When we use the LCDWRITE command, MBasic has default pin connections. These
are:
LCDREGSEL CON B0 ;RS LINE

LCDCLK CON B1 ;E LINE
LCDREADWRITE CON B2 ;R/W LINE
LCDPORT CON PORTA ;DB 4-7 out of 0-7
These default settings are the same for all compatible PICmicros. To change the default
settings just assign different values.
ENCLOSURE CONNECTOR
Project_2 requires a larger working space then Project_1, so we will not use the bread
board on the 0818 Development board. It will be necessary to connect wires from the
Development board to a 25-pin DB connector and attach it to the board enclosure. This
will allow us to use a ribbon cable to connect to Project_2. The following shows the pin
out configurations for the connector:
0818 Development Bd. 25-pin DB connector (male)

A0 1
A1 2
A2 3
A3 4
A4 5
B0 6
B1 7
B2 8
B3 9
B4 10
B5 11
B6 12
B7 13
Vss 14
Vdd 25
PROJECT_2
The components used in this project will be an LCD, a potentiometer, 4 button switches,
5 resistors, a capacitor and a speaker. The MBasic commands used in this project are:
Low, High, Pause, Goto, Button, Rctime, If…Then, For…Next, Repeat…Until, Toggle,
Lookup, Freqout, Sound, and Debug (refer to the MBasic manual for the explanations of
these commands).
Eight of the thirteen I/O pins of the PIC16F628 will be used in this project.
17
Follow the below schematic in wiring Project_2. Use the components you received in
your kit. The only things you need to get on your own are the resistors, a .1uf capacitor
and speaker.
PIC CONNECTOR
RB3 PIN 9
180 ohms
Demo4 Demo3 Demo2 Demo1
Vss PIN 14
3.9k ohms 2.2k ohms 2.2k ohms 2.2k ohms
0.1uf
Vdd PIN 25
LCD MODULE
Vdd Vss
20k ohms 1 2 3 4 5 6 7 8 9 10 11 12 13 14
Vss Vdd Vo RS R/W E 0 1 2 3 4 5 6 7
Vss PIN 14
Vdd PIN 25
RB0 PIN 6
RB1 PIN 7
RA0 PIN 1
RA1 PIN 2
RA2 PIN 3
RA3 PIN 4
RB5 PIN 11
Vss PIN 14
18
After you have wired Project_2, open a new file and enter the following program.
Follow the same procedure you did in writing your first program. Once the program is
entered, save the file as: Project_2.
19
CPU = 16F628
MHZ = 10
CONFIG 16142
Pot var word

Sample var byte
Loop var byte
Pause 500
LCDWRITE [INITLCD1,INITLCD2,CLEAR,HOME,SCR]
Start:
Sample = 0
Loop = 0
Repeat
Sample = Sample + 1
High B3
Pause 10
Rctime B3,1,Pot
Until Sample = 5
Pot = Pot * 5
Debug [Dec Pot,13]
If Pot > 1200 Then Demo1
If Pot < 2 Then Start
Demo1:
LCDWRITE ["FIRST LINE"]
Pause 800
LCDWRITE [CLEAR,HOME]
Pause 300
LCDWRITE [SCRRAM+$40,"SECOND LINE"]
Pause 800
Pause 500
Goto Start
Demo2:
LCDWRITE [SCRRAM+16h,"SCAN LEFT"]
Repeat
Loop = Loop + 1
LCDWRITE [SCRLEFT]
Pause 300
Until Loop = 16
Pause 500
Goto Start
20
Demo3:
LCDWRITE [SCRRAM+58h,"SCAN RIGHT"]
Pause 500
Repeat
Loop = Loop + 1
LCDWRITE [SCRRIGHT]
Pause 300
Until Loop = 16
Pause 500
Goto Start
Demo4:
AH con 440*2
AS con 466*2
BH con 494*2
CH con 523*2
CS con 554*2
DH con 587*2
DS con 622*2
EH con 659*2
FH con 678*2
FS con 740*2
GH con 784*2
GS con 831*2
Temp var byte
Temp2 var word
For Temp = 0 to 33
Lookup Temp,[CS,BH,AH,BH,CS,0,CS,0,CS,BH,0,|
BH,0,BH,0,CS,EH,0,EH,CS,BH,AH,BH,CS,0,CS,0,|
CS,BH,0,BH,CS,BH,AH],Temp2
If temp2=0 then Finish
Freqout B5,500,Temp2
Finish:
Next
Pause 1000
Sound B5,[500\440,500\466,500\494,500\523,|
500\554,500\587,500\622,500\659,500\698,|
500\740,500\784,500\831]
Pause 1000
Goto Start
End
21
Project_2 has four parts labeled: Start, Demo1, Demo2, Demo3 and Demo4. Following
is a short description of what each part of the program does.
Start: The program loops forever until one of the buttons is pressed and then the
program moves to the Demo specified by the value of the button pressed.
Demo1: This part of the program displays the message “FIRST LINE” on the first
line of the LCD and then displays the message “SECOND LINE” on the
second line of the LCD.
Demo2: This part of the program displays the message “SCAN LEFT” on the far
right side of the LCD display (off screen ram) and then shifts the message
left.
Demo3: This part of the program displays the message “SCAN RIGHT” on the far
left side of the LCD display and then shifts the message right until it goes
to off screen ram.
Demo4: Tones are sent to the speaker.
CONCLUSION
MBasic compiler. Project_2 used the 0818 Development Board to run a LCD in various
ways and send tones to a speaker. In the next chapter we will be experimenting with
three different types of motors.
22
CHAPTER 3 : MOTOR CONTROL

(Project_3)
TYPES OF MOTORS
Electric motors convert electrical energy to mechanical energy. Motors come in all
types, shapes and sizes. The motors discussed in this chapter include the DC motor,
servomotor, and stepper motor. These motors use magnets and magnetism with attracting
and repelling forces to create motion. The project for this chapter will include all three of
these motors.
DC MOTOR
DC motors in general have two electrical terminals. Applying a voltage across these two
terminals will cause the motor rotor to spin in one direction, while a reverse polarity
voltage will cause the motor rotor to spin in the other direction. The polarity of the
voltage determines motor direction, while the amplitude of the voltage determines motor
speed. DC motors usually run at too high a speed and too low a torque to be useful. In
order for them to be used they need to be geared down. Connecting the shaft of the
motor to a geartrain causes the output shaft from the geartrain to rotate more slowly and
deliver more torque than the input shaft.
The PIC’s output current is insufficient to power a DC motor directly. But the output of
the PIC can turn on or off a transistor that can control a device that will be able to power
a motor. The device used in this project to control the DC motor is an H-Bridge. With
the H-Bridge the PIC can stop the DC motor, rotate it clockwise, or rotate it counter
clockwise. It’s called an H-Bridge because the transistors (switches) are arranged in an H
pattern. The switches are opened and closed in a manner so as to put a voltage of one
polarity across the motor for one direction or a voltage of opposite polarity for reverse
direction. To control the speed of the motor, the switches are opened and closed at
different rates in order to apply different average voltages across the motor. This is
called Pulse-Width Modulation (PWM). Again, PWM is simply using varying pulse
widths to create different average voltages across the motor to change its speed.
SERVO MOTOR
Servomotors are basically a DC motor with a geartrain, limit stops beyond which the
shaft cannot turn, a potentiometer for position feedback and an integrated circuit for
position control. Servos have three wires, one for power, one for ground, and one for the
position control signal. The potentiometer in the servo is connected to the output shaft.
The pot allows the control circuitry to monitor the current angle of the servo motor. If
the shaft is at the correct angle (the commanded position), then the motor shuts off. If the
circuit finds that the angle is not correct, it will turn the motor until the angle is correct.
If the signal sent is past the limit stops (a mechanical stop built onto the main output
23
gear), the motor will be in a “stalled” state and might eventually damage the motor. The
limit stops can be removed to provide continuous rotation; this is called “hacking” the
servo. Information on hacking a servo can be found on many Internet sites on the web.
The position control signal wire communicates the desired angle for the servo to advance
to. The angle is determined by the duration of the pulse sent. The servo expects to see a
pulse every 20 milliseconds. The length of the pulse determines how far the motor turns.
The output shaft is capable of travelling around 180 to 210 degrees. Below is a list of
pulse times for degree positions; actual timings may vary due to different motor
manufacturers.
1.5 ms pulse causes the motor to turn to the 90 degree position.

STEPPER MOTOR
Stepper motors are made with strong permanent magnets and electromagnets. The rotor
consists of the permanent magnet and the windings consist of the electromagnets. Instead
of rotating smoothly, like DC motors, they move incrementally. Each increment is a
fixed angular displacement of the motor’s shaft, typically on the order of one to ten
degrees, depending on the manufacturer. They operate from a pattern of electric pulses
sent to the windings of the motor. The rotor rotates a specific increment with each
electronic pulse. The increments are referred to as “steps”.
There are several types of stepper motors, such as unipolar or bipolar, two phase or four
phase. In this project we will use a four phase unipolar stepper motor. Five interface
connections are required as shown in Figure 3.1.
Common
A C
B D
Figure 3.1
24
The common lead is the power connection for the motor coils. Typically, this is
connected to 12 volts. The other four leads are the signal connections. The normal
electrical inputs for the signal wires are a four step switching sequence as shown in Table
3.1.
STEP A B C D
1 1 0 0 0
2 0 1 0 0
3 0 0 1 0
4 0 0 0 1
Table 3.1
The speed of rotation will be determined by the time delay between each step. Following
the step sequence backwards (i.e. 4,3,2,1,4 …etc.) will reverse the direction of rotation.
To drive the stepper motor, a ULN2003A darlington array driver chip will be used.
PROJECT_3
The components used in this project will be a geared DC motor, a Futaba S-148 servo,
and a four phase unipolar stepper motor. The integrated circuits used will be a
ULN2003A and a 74HCT245N. Also three button switches, four resistors, four LEDs, a
1N3024 zener diode and a capacitor will be used. The MBasic commands used in this
project, which we have not used before, are: While…Do, Servo, and PWM (refer to the
MBasic manual for the explanations of these commands).
Nine of the thirteen I/O pins of the PIC16F628 will be used in this project.
Follow the below schematic in wiring Project_3. The LEDs and Button switches are in
your kit, the other parts you can get from electronic stores. One good source for the parts
you need is Jameco Electronics (www.jameco.com).
25
PIC CONNECTOR
390 ohms
B0 PIN 6
“A” “B”
Vss PIN 14
4.7k ohms
.1mf
Vdd PIN 25
“START”
B1 PIN 7 Vdd
Vss
10k ohms
Vdd
1 20
B2 PIN 8 2 19 Vss
3 18
4 74HCT 17
B3 PIN 9 5 245N 16 DC Motor
15
10
Vss
B5 PIN 11
Vdd SERVO
Vss
26
Vdd
LEDs 330 ohms
A0 PIN 1 1 16
A1 PIN 2 2 ULN 15
2003A STEPPER
A2 PIN 3 3 14 MOTOR
A3 PIN 4 4 13
Vss 8 9
1N3024
+9 volts
Battery
27
28
Follow the same procedure you did in writing your first program. Once the program is
entered, save the file as: Project_3.
CPU = 16F628
MHZ = 10
CONFIG 16138
High A0
High A1
High A2
High A3
Low B5
Low B2
Low B3
START:
Debug ["START",13]
work var byte
work = 0
pot var word
pot = 0
counter var byte
counter = 0
Pause 1500
Button B1,1,100,10,work,1,DEMO1
Goto START
DEMO1:
Debug ["DEMO1",13]
Pause 1500
Temp1 var byte
Temp1 = 10
High B0
Pause 10
Rctime B0,1,pot
Debug [DEC pot,13]
If pot > 350 then DEMO1
If pot > 300 then Tiltup
If pot > 150 then Tiltdn
Goto DEMO1
Tiltup:
While temp1 <> 250
temp1 = temp1 + 10
29
servo B5,temp1
Do
Goto DEMO1
Tiltdn:
Temp1 = 250
While temp1 <> 10
temp1 = temp1 - 10
Servo B5,temp1
Do
Goto DEMO1
DEMO2:
Debug ["DEMO2",13]
Pause 1500
Temp1 = 1
High B0
Pause 10
Rctime B0,1,pot
Debug [DEC pot,13]
If pot > 300 then Panrht
If pot > 150 then Panlft
Goto DEMO2
Panrht:
While temp1 <> 3
temp1 = temp1 + 1
PWM B2,240,1000
Do
Low B2
Goto DEMO2
Panlft:
While temp1 <> 3
temp1 = temp1 + 1
PWM B3,240,1000
Do
Low B3
Goto DEMO2
DEMO3:
Debug ["DEMO3",13]
Pause 1500
Button B1,1,100,10,work,1,START
High B0
Pause 10
30
Rctime B0,1,pot
Debug [DEC pot,13]
If pot > 300 then CW
If pot > 150 then CCW
Goto DEMO3
CW:
counter = 15
Repeat
counter = counter - 1
low A0
Pause 100
high A0
low A1
pause 100
high A1
low A2
pause 100
high A2
low A3
pause 100
high A3
Until counter = 1
Goto DEMO3
CCW:
counter = 15
Repeat
counter = counter - 1
low A3
Pause 100
high A3
low A2
pause 100
high A2
low A1
pause 100
high A1
low A0
pause 100
high A0
Until counter = 1
Goto DEMO3
End
31
Start: The program loops forever until the “START” button is pressed and then
the program goes to Demo1.
Demo1: This part of the program operates the Servo. If the button labeled “A” is
pressed, the servo assembly tilts up until it reaches a certain position. If
the button labeled “B” is pressed, the servo assembly tilts down until it
reaches a certain position. The program loops until the “START” button
is pressed and then goes to Demo2.
Demo2: This part of the program operates the DC motor. If the button “A” is
pressed, the motor assembly will pan right (CCW) for a short distance. If
the button “B” is pressed, the motor assembly will pan left (CW), also for
a short distance. The program loops until the “START” button is pressed
and then goes to Demo3.
Demo3: This part of the program operates the stepper motor. If the “A” button is
pressed, the motor’s rotor turns (steps) in the CW direction for a certain
distance. If “B” is pressed, the motor’s rotor turns in the CCW direction
for a certain distance. The program loops until the “START” button is
pressed and then goes to the beginning of the program.
CONCLUSION
MBasic compiler. Project_3 used the 0818 Development Board to run three different
types of motors. In the next chapter we will be programming the PIC16F876 with the
2840 Development Board to control two seven segment LED Displays.
32
CHAPTER 4: 7-SEGMENT LED DISPLAY

(Project_4)
BOARD ENCLOSURE
In this project the 2840 Development Board will be used. For ease of use, I have put the
2840 Development Board in an enclosure. I have connected wires from the terminal
strips of the Development Board to a 25 pin DB connector and connected it to the side of
the enclosure. A ribbon connector can be connected from the enclosure to Project_4.
INSTALL AND CONFIGURE HARDWARE
Install the PIC16F876 (28 pin), in the 2840 Development Board.
Connect the “straight through” serial cable to the ISP-PRO then to the com port of your
computer.
Connect the power supply (wall adapter) to the ISP-PRO.
Connect the ISP-PRO to the 2840 Development Board with the supplied cable.
Start the Basic Micro IDE. Once the IDE is running, configure the ISP-PRO serial port.
This is done from the system setup menu under Tools. Then run the hardware test to see
if the ISP-PRO is functioning correctly.
Menu Bar: Tools Æ System Setup Æ Choose Com Port the ISP-Pro is attached to Æ
Hardware test.
You should receive the message “ISP-PRO communications are normal”
7-SEGMENT LED DISPLAY
Seven segment displays come in two varieties – common anode (CA) and common
cathode (CC). When a display is referred to as a common anode type, it means that all
the anodes for the individual segment LEDs are connected together internally. The
driving signals are sent to the individual cathode segments as shown in Figure 4.1. With
common cathode types, all the cathodes for the individual segment LEDs are connected
together internally and the driving signals are sent to the individual anode segments. The
segment LEDs are labeled a-g and can display the digits 0 through 9 and the letters
A,b,C,d,E and F. Table 4.1 shows the segments that need to be illuminated to show a
particular digit or letter.
33
a b c d e f g
cathode
LED segments
anode
Figure 4.1 common
Digit Illuminated Segment ( 1 = illumination)

Shown a b c d e f g
0 1 1 1 1 1 1 0
1 0 1 1 0 0 0 0
2 1 1 0 1 1 0 1
3 1 1 1 1 0 0 1
4 0 1 1 0 0 1 1
5 1 0 1 1 0 1 1
6 1 0 1 1 1 1 1
7 1 1 1 0 0 0 0
8 1 1 1 1 1 1 1
9 1 1 1 1 0 1 1
A 1 1 1 0 1 1 1
b 0 0 1 1 1 1 1
C 1 0 0 1 1 1 0
d 0 1 1 1 1 0 1
E 1 0 0 1 1 1 1
F 1 0 0 0 1 1 1
f b
e c
d
Table 4.1
34
The 7-segment display being used in this project is a common anode type. PORT C of
the 16F876 sends out a binary coded decimal (BCD) value that feeds a couple of 7447
(BCD-to-7 segment decoder/driver) IC chips. The 7447 chips send the appropriate
signals to the common anode 7-segment LED displays. For the display to work, the
common anode needs to be connected to +5 volts, and the 7447 chips need to send out a
low signal to the specified (cathode) segment LEDs.
DIFFERENT PROGRAMMING STYLES
In the following program for Project_4, there will be different styles of programming to
send data to the displays. Different commands will be used, with some being more
efficient than others. Everyone has different styles in writing their programs, so feel free
to change the code and experiment with it.
PROJECT_4
The components used in this project are three button switches, three 10k ohm resistors,
one 100 ohm resistor, two 7447 (BCD-to-7 segment decoder/driver) IC chips and two
common anode 7-segment LED displays. The MBasic commands used in this project
that have not been used in previous projects are: Poke and Gosub…Return (refer to the
MBasic manual for the explanations of these commands).
Eleven of the twenty-two I/O pins of the PIC16F876 will be used in this project.
Follow the below schematic in wiring Project_4.
Vss
10k ohms
B0 Vdd
Vss
10k ohms
B1 Vdd
Vss
10k ohms
B2 Vdd
35
C4 C5 C6 C7 C0 C1 C2 C3
7 1 2 6 7 1 2 6
A B C D 8 Vss A B C D 8 Vss
7447 16 Vdd 7447 16 Vdd
a b c d e f g a b c d e f g
13 12 11 10 9 15 14 13 12 11 10 9 15 14
g f a b g f a b
e d c dec. pt. e d c dec. pt.
Vdd
100 ohms
36
Follow the same procedure you did in writing your first program, except select the
PICmicro MCU as 16F876. Once the program is entered, save the file as: Project_4.
CPU = 16F876
MHZ = 10
CONFIG 16254
START:
Debug ["START",13]
TRISC = $00
PORTC = $00
Work var byte
VAL1 var byte
VAL2 var byte
Seg_Val var word
Dig_One var word
Dig_Two var word
Send_Val var byte
Send_ValB var byte
Final var byte
Num var byte
Work = 0
VAL1 = 0
VAL2 = 0
Button B0,1,100,10,Work,1,DEMO1
Goto START
37
DEMO1:
Debug ["DEMO1",13]
Pause 1000
Button B1,1,100,10,Work,1,VALUE2
Button B2,1,100,10,Work,1,VALUE1
Goto DEMO1
VALUE1:
VAL1 = VAL1 + 1
Debug [DEC VAL1,13]
If VAL1 = 1 Then ONE1
VAL1 = 0
Goto ONE0
VALUE2:
VAL2 = VAL2 + 1
Debug [DEC VAL2,13]
If VAL2 = 1 Then TWO1
VAL2 = 0
Goto TWO0
DEMO2:
Debug ["DEMO2",13]
Pause 1000
Button B1,1,100,10,Work,1,COUNTDN
Button B2,1,100,10,Work,1,COUNTUP
Goto DEMO2
COUNTUP:
Pause 500
38
Poke 7,0
Pause 500
Poke 7,1
Pause 500
Poke 7,2
Pause 500
Poke 7,3
Pause 500
Poke 7,4
Pause 500
Poke 7,5
Pause 500
Poke 7,6
Pause 500
Poke 7,7
Pause 500
Poke 7,8
Pause 500
Poke 7,9
Pause 500
Poke 7,16
Pause 500
Poke 7,17
Pause 500
Poke 7,18
Pause 500
Poke 7,19
Pause 500
Poke 7,20
Pause 500
Poke 7,21
Pause 1000
Goto DEMO2
COUNTDN:
Pause 500
Poke 7,21
Pause 500
Poke 7,20
Pause 500
Poke 7,19
Pause 500
Poke 7,18
Pause 500
Poke 7,17
Pause 500
Poke 7,16
Pause 500
39
Poke 7,9
Pause 500
Poke 7,8
Pause 500
Poke 7,7
Pause 500
Poke 7,6
Pause 500
Poke 7,5
Pause 500
Poke 7,4
Pause 500
Poke 7,3
Pause 500
Poke 7,2
Pause 500
Poke 7,1
Pause 500
Poke 7,0
Pause 1000
Goto DEMO2
DEMO3:
Debug ["DEMO3",13]
Pause 1000
Button B0,1,100,10,Work,1,START
For Num = 99 to 1 step -1
Seg_Val = Num
Gosub SegDisp
pause (150)
Next
Goto DEMO3
SegDisp:
Dig_One = Seg_Val / 10
Send_Val = Dig_One
Send_Val = Send_Val
Dig_Two = Seg_Val // 10
Send_ValB = Dig_Two
Send_ValB = Send_Val << 4
Final = Send_Val | Send_ValB
PORTC = Final
Return
ONE0:
LOW C0
LOW C1
LOW C2
40
LOW C3
GOTO DEMO1
ONE1:
HIGH C0
LOW C1
LOW C2
LOW C3
GOTO DEMO1
ONE2:
LOW C0
HIGH C1
LOW C2
LOW C3
GOTO DEMO1
ONE3:
HIGH C0
HIGH C1
LOW C2
LOW C3
GOTO DEMO1
ONE4:
LOW C0
LOW C1
HIGH C2
LOW C3
GOTO DEMO1
ONE5:
HIGH C0
LOW C1
HIGH C2
LOW C3
GOTO DEMO1
ONE6:
LOW C0
HIGH C1
HIGH C2
LOW C3
GOTO DEMO1
ONE7:
HIGH C0
41
HIGH C1
HIGH C2
LOW C3
GOTO DEMO1
ONE8:
LOW C0
LOW C1
LOW C2
HIGH C3
GOTO DEMO1
ONE9:
HIGH C0
LOW C1
LOW C2
HIGH C3
GOTO DEMO1
TWO0:
LOW C4
LOW C5
LOW C6
LOW C7
GOTO DEMO1
TWO1:
HIGH C4
LOW C5
LOW C6
LOW C7
GOTO DEMO1
TWO2:
LOW C4
HIGH C5
LOW C6
LOW C7
GOTO DEMO1
TWO3:
HIGH C4
HIGH C5
LOW C6
LOW C7
GOTO DEMO1
42
TWO4:
LOW C4
LOW C5
HIGH C6
LOW C7
GOTO DEMO1
TWO5:
HIGH C4
LOW C5
HIGH C6
LOW C7
GOTO DEMO1
TWO6:
LOW C4
HIGH C5
HIGH C6
LOW C7
GOTO DEMO1
TWO7:
HIGH C4
HIGH C5
HIGH C6
LOW C7
GOTO DEMO1
TWO8:
LOW C4
LOW C5
LOW C6
HIGH C7
GOTO DEMO1
TWO9:
HIGH C4
LOW C5
LOW C6
HIGH C7
GOTO DEMO1
END
43
Start: This routine makes all of Port C outputs, and all of Port C’s pins are made
low. The program loops forever until the button switch labeled “Start” is
pressed and then the program moves to Demo1.
Demo1: Pressing the button switches under each individual display will increment
the display by one. The digits zero through nine can be displayed on each
individual display. The program loops until the button switch labeled
“Start” is pressed and then the program moves to Demo2.
Demo2: Depending on which button switch is pressed, the displays will count up
from zero to fifteen or count down from fifteen to zero. The program will
continue to loop until the “Start” button is pressed and then will go to
Demo3.
Demo3: This routine will show the number nine on each display, and decrement
that number until each display reads zero. The program then repeats the
process until the “Start” button is pressed and then the program returns to
the Start routine.
CONCLUSION
Chapter 4 showed how to program the PIC16F876 with the 2840 Development Board.
We were able to display numbers on a couple of common anode 7-segment LED display
in several different ways. In the next chapter we will be adding photocells and two flex
sensors to Project_4.
44
CHAPTER 5: RESISTIVE –TYPE SENSORS

(Project_5)
FLEX SENSORS
A Flex sensor is a variable resistor printed on a flexible substrate. As the sensor is bent,
the resistance changes relative to the bend radius. The sensor changes resistance only in
one direction and returns to its nominal value at rest. The sensor at rest provides a low
resistance; when the sensor is bent to 90 degrees the resistance is at maximum.
Typically, the range of resistance is 10k ohms at rest (0 degrees) and 35k ohms at full
bend (90 degrees).
PHOTOCELLS
A photocell is a variable resistor, much like a potentiometer but without the control shaft.
The resistance changes by increasing or decreasing the amount of light the photocell
receives. The more light it receives, the less resistance the sensor provides. In a dark
environment the photocell provides its highest resistance.
ROTARY SWITCH
A rotary switch will be used in Project_5 to test each type of sensor described above.
The rotary switch will act like a variable resistor. It will give a different resistor value for
the four different settings that it has. With each resistance value and the use of the
RCTIME command, the program will be directed to the routine that will test each sensor.
ADIN COMMAND
The PIC16F876 we are using in this chapter has five channels of ADC (Analog to Digital
Converters). Analog to digital conversion allows your program to receive an analog
signal (0 to 5 volts) and convert it into digital values. The analog input charges a sample
and hold capacitor. The output of the sample and hold capacitor is the input into the
converter. The converter then generates a digital result of this analog level via successive
approximation. The A/D conversion of the analog input signal results in a corresponding
10-bit digital number. The ADIN command sets up the hardware A/D converter, takes
the conversion from the chosen channel and places the result into the designated variable.
The PIC powers up with the ADC pins set as analog inputs. If some pins are desired to
be digital, the ADCON1 register needs to be changed. The last four bits (PCFG) of the
ADCON1 register determine which pins are analog or digital. Table 5.1 shows the
different register settings.
45
Table 5.1
46
The first bit (ADFM), which is the justification bit of ADCON1 is normally set (1). This
bit enables right justification. The ADSETUP in the ADIN command is used to setup the
ADCON1 register. Below is an example.
ADCON1 register
(ADFM) (PCFG)
ADSETUP con %10000010
AN0, AN1, AN2, AN3, AN4 are analog

AN5 is digital
Right justify
Finally, before the ADIN command is used, the designated A/D pins need to be
configured as inputs by setting its TRIS value to one.
PROJECT_5
The components used in this project are: one button switch, one rotary switch, six
photocells, two flex sensors and twelve various resistors in the sensor circuits (refer to
schematic). Also parts from Project_4 that include: three 10k ohm resistors, one 100 ohm
resistor, two 7447 (BCD-to-7 segment decoder/driver) IC chips and two common anode
7-segment LED displays. The MBasic command used in this project that has not been
used in previous projects is: ADIN
Sixteen of the twenty-two I/O pins of the PIC16F876 will be used in this project.
Follow the below schematic in wiring Project_5. (This project is added to Project_4)
47
Right Photocells
39k ohms
Vss Vdd
RA0
Left Photocells
39k ohms
Vss Vdd
RA1
Right Flex sensor
39k ohms
Vss Vdd
RA2
Left Flex sensor
39k ohms
Vss Vdd
RA3
1 10k ohms
2 22k ohms
3 33k ohms Vdd

.1 uf
4 39k ohms
RB5 Rotary
switch
1 33k ohms
2 22k ohms
3 10k ohms Vss
4 4.7k ohms
48
CPU = 16F876
MHZ = 10
CONFIG 16254
49
TRISA = $FF
TRISC = $00
PORTC = $FF
work var byte
temp1 var word
temp2 var word
temp3 var word
temp4 var word
temp5 var word
START:
Debug ["START",13]
Button B0,1,100,10,work,1,Demo1
Goto START
Demo1:
Debug ["Demo1",13]
Poke 7,255
ADIN 0,2,ADSETUP,temp1
High B5
Pause 10
RCTIME B5,1,temp5
Debug ["temp1 "]
Debug [dec temp1,13]
Debug ["temp2 "]
Debug ["temp3 "]
Debug ["temp4 "]
Debug ["temp5 "]
If temp5 > 400 then Demo2
Goto Demo3
Demo2:
Debug ["Demo2",13]
Poke 7,255
If temp5 > 700 then R_Flex
If temp5 > 400 then L_Flex
Goto Demo1
R_Flex:
Debug ["R_Flex",13]
50
High B5
Pause 10
RCTIME B5,1,temp5
If temp5 < 700 then Demo1
If temp1 > 250 then zero1
If temp1 > 220 then one1
If temp1 > 190 then two1
If temp1 > 160 then three1
If temp1 > 130 then four1
If temp1 > 100 then five1
If temp1 > 90 then six1
If temp1 > 80 then seven1
If temp1 > 70 then eight1
If temp1 > 60 then nine1
Goto R_Flex
L_Flex:
Debug ["L_Flex",13]
High B5
Pause 10
RCTIME B5,1,temp5
If temp2 > 330 then zero2
If temp2 > 300 then one2
If temp2 > 250 then two2
If temp2 > 210 then three2
If temp2 > 180 then four2
If temp2 > 150 then five2
If temp2 > 130 then six2
If temp2 > 120 then seven2
If temp2 > 110 then eight2
If temp2 > 100 then nine2
Goto L_Flex
Demo3:
Poke 7,255
If temp5 > 100 then R_Photo
If temp5 < 5 then L_Photo
Goto Demo1
R_Photo:
Debug ["R_Photo",13]
High B5
Pause 10
RCTIME B5,1,temp5
51

If temp3 > 935 then zero1p
If temp3 > 900 then one1p
If temp3 > 840 then two1p
If temp3 > 790 then three1p
If temp3 > 740 then four1p
If temp3 > 700 then five1p
If temp3 > 650 then six1p
If temp3 > 600 then seven1p
If temp3 > 550 then eight1p
If temp3 > 500 then nine1p
Goto R_Photo
L_Photo:
Debug ["L_Photo",13]
High B5
Pause 10
RCTIME B5,1,temp5
If temp4 > 925 then zero2p
If temp4 > 890 then one2p
If temp4 > 840 then two2p
If temp4 > 790 then three2p
If temp4 > 740 then four2p
If temp4 > 700 then five2p
If temp4 > 650 then six2p
If temp4 > 600 then seven2p
If temp4 > 550 then eight2p
If temp4 > 500 then nine2p
Goto L_Photo
zero1:
Poke 7,240
goto R_Flex
one1:
Poke 7,241
goto R_Flex
two1:
Poke 7,242
goto R_Flex
three1:
Poke 7,243
goto R_Flex
four1:
52
Poke 7,244
goto R_Flex
five1:
Poke 7,245
Goto R_Flex
six1:
Poke 7,246
Goto R_Flex
seven1:
Poke 7,247
Goto R_Flex
eight1:
Poke 7,248
Goto R_Flex
nine1:
Poke 7,249
Goto R_Flex
zero2:
Poke 7,15
Goto L_Flex
one2:
Poke 7,31
Goto L_Flex
two2:
Poke 7,47
Goto L_Flex
three2:
Poke 7,63
Goto L_Flex
four2:
Poke 7,79
Goto L_Flex
five2:
Poke 7,95
Goto L_Flex
53
six2:
Poke 7,111
Goto L_Flex
seven2:
Poke 7,127
Goto L_Flex
eight2:
Poke 7,143
Goto L_Flex
nine2:
Poke 7,159
Goto L_Flex
zero1p:
Poke 7,240
Goto R_Photo
one1p:
Poke 7,241
Goto R_Photo
two1p:
Poke 7,242
Goto R_Photo
three1p:
Poke 7,243
Goto R_Photo
four1p:
Poke 7,244
Goto R_Photo
five1p:
Poke 7,245
Goto R_Photo
six1p:
Poke 7,246
Goto R_Photo
seven1p:
Poke 7,247
Goto R_Photo
54
eight1p:
Poke 7,248
Goto R_Photo
nine1p:
Poke 7,249
Goto R_Photo
zero2p:
Poke 7,15
Goto L_Photo
one2p:
Poke 7,31
Goto L_Photo
two2p:
Poke 7,47
Goto L_Photo
three2p:
Poke 7,63
Goto L_Photo
four2p:
Poke 7,79
Goto L_Photo
five2p:
Poke 7,95
Goto L_Photo
six2p:
Poke 7,111
Goto L_Photo
seven2p:
Poke 7,127
Goto L_Photo
eight2p:
Poke 7,143
Goto L_Photo
nine2p:
Poke 7,159
55
Goto L_Photo
End
Start: Program loops until the “START” button is pressed and then goes to
Demo1.
Demo1: The analog to digital conversions of the sensors are stored in their
designated variables. The rotary switch’s four settings determine which
sensor variables are looked at and what values are shown on the 7-segment
LED display. If the switch setting is on the first or second position, then
the program goes to the Demo2 routine. If the switch setting is on the
third or fourth position, then the program goes to the Demo3 routine.
Demo2: If the switch setting is on the first position, then the values represented by
the right flex sensor are displayed on the right 7-segment LED display. If
the switch setting is on the second position, the values represented by the
left flex sensor are displayed on the left 7-segment LED display. If the
switch settings change, the program goes back to Demo1.
Demo3: If the switch setting is on the third position, then the values represented by
the right photocell are displayed on the right 7-segment LED display. If
the switch setting is on the fourth position, the values represented by the
left photocell are displayed on the left 7-segment LED display. If the
switch settings change, the program goes back to Demo1.
56
CONCLUSION
We were able to display numbers on a couple of common anode 7-segment LED displays
representing changes in value of resistive sensors. In the next chapter we will be adding
a couple of distance sensors and a buzzer to Project_4 & 5.
57
58
CHAPTER 6: DISTANCE SENSORS

(Project_6)
TYPES OF DISTANCE MEASURING DEVICES
There are many different types of technologies and devices used in measuring distance,
some of them being: Radar, Sonar, Laser, Infrared and Ultrasonic. In this chapter
Infrared and Ultrasonic will be covered. Infrared uses light that is invisible to the human
eye. Also Infrared light bounces off almost everything. Its main disadvantage is that
fluorescent lights generate it and that can cause interference. Ultrasonic uses sound that
is inaudible to the human ear. Its main advantage is that it is not sensitive to objects of
different colors and light reflecting properties. Its disadvantage is that some materials
absorb sound and don’t reflect it.
IR DISTANCE SENSOR
The Sharp GP2D12 Infrared Ranger will be the sensor discussed in this section. This
sensor basically takes a continuous distance reading, and reports the distance as an analog
voltage. With the use of triangulation, distance is detected; and with the use of a small
linear CCD array, distance can be computed.
The basic process works like this: Infrared light is emitted; as the light travels out, it
either hits an object or keeps on going. If the light hits an object, the light reflects back to
the detector and creates a triangle between the point of reflection, the emitter and
detector. As the distance of the object varies, so do the angles in the triangle; and from
those angles, the distance to the object can be calculated. The Sharp GP2D12 is capable
of measuring distances in the range of 4 inches to 2.5 feet.
ULTRASONIC DISTANCE SENSOR
Ultrasonic sensors or sonar sensors basically send out an ultrasonic sound wave that is
emitted by a transmitter. If the sound wave reflects off an object, it returns as an echo to
the receiver. The echo will most likely be of smaller amplitude, but the frequency should
be the same as the transmitted sound wave. With the ultrasonic circuit used in this
chapter, a stream of 40khz pulses are produced by a 555 timer and sent to the transmitter.
The receiver picks up the echo and a 741 Op Amp amplifies the signal. The output of the
circuit produces an analog voltage that varies with the signal strength of the echo. The
Ultrasonic circuit used in this chapter is capable of measuring distance in the range of 3
inches to 1.5 feet.
Buzzer
A buzzer is used in this project to make an audible sound when the sensors detect objects.
The duration of the sound will decrease in length as an object gets closer to the sensor.
59
PROJECT_6
The components used in this project are one Sharp GP2D12 Infrared Ranger, one
Ultrasonic circuit, a buzzer, a rotary switch circuit (refer to schematic from Project_5)
also the parts from Project_4.
Fifteen of the twenty-two I/O pins of the PIC16F876 will be used in this project.
Follow the below schematic in wiring Project_6. (This project is added to Project_4 and
part of Project_5)
Sharp GP2D12
Infrared Object Detector
RA0 Analog output
Vdd
Vss
Ultrasonic Circuit
RA3 Analog output
Vdd
Vss
Buzzer
RB3 +
Vss -
60
ULTRASONIC CIRCUIT (DETAILED)
Vdd Vdd Vdd

10k pot
1k
220 ohm
Transmitter
8 7 6 5
NE555P
1 2 3 4
Vdd 1k ohm
.02uf
Vss Vss Vss Vss
Receiver
Vdd
Analog output
RA3 22k ohm 1k ohm
8 7 6 5
LM741CN
1 2 3 4
1 Meg
ohm
.1uf Vss
Vss Vss Vss Vss

1k ohm
61
CPU = 16F876
MHZ = 10
62
CONFIG 16254
PORTA = $00
TRISC = $00
PORTC = $FF
work var byte
IR_info var word
U_info var word
Roto_sw var word
work = 0
START:
Debug ["START",13]
Goto START
Demo1:
Debug ["Demo1",13]
Poke 7,255
ADIN 0,2,ADSETUP,IR_info
Debug ["IR_info "]
Debug [dec IR_info,13]
ADIN 3,2,ADSETUP,U_info
Debug ["U_info "]
Debug [dec U_info,13]
High B5
Pause 10
RCTIME B5,1,Roto_sw
Debug ["Roto_sw "]
Debug [dec Roto_sw,13]
Button B0,1,100,10,work,1,Contin
Goto Demo1
Contin:
If Roto_sw > 400 then Demo2
Goto Demo3
Demo2:
Debug ["Demo2",13]
Poke 7,255
If Roto_sw > 700 then IR_Display
If Roto_sw > 400 then IR_Sound
Goto Demo1
IR_Display:
Debug ["IR_Display",13]
High B5
63
Pause 10
RCTIME B5,1,Roto_sw
If Roto_sw < 700 then Demo1
If IR_info > 650 then zero1
If IR_info > 550 then one1
If IR_info > 500 then two1
If IR_info > 450 then three1
If IR_info > 400 then four1
If IR_info > 350 then five1
If IR_info > 275 then six1
If IR_info > 200 then seven1
If IR_info > 130 then eight1
If IR_info > 100 then nine1
If IR_info > 0 then off1
Goto IR_Display
IR_Sound:
Low B4
Debug ["IR_Sound",13]
High B5
Pause 10
RCTIME B5,1,Roto_sw
If IR_info > 650 then zero2
If IR_info > 550 then one2
If IR_info > 500 then two2
If IR_info > 450 then three2
If IR_info > 400 then four2
If IR_info > 350 then five2
If IR_info > 275 then six2
If IR_info > 200 then seven2
If IR_info > 130 then eight2
If IR_info > 100 then nine2
If IR_info > 0 then off2
Goto IR_Sound
Demo3:
Debug ["Demo3",13]
Poke 7,255
If Roto_sw > 100 then U_Display
If Roto_sw < 5 then U_Sound
Goto Demo1
U_Display:
Debug ["U_Display",13]
High B5
Pause 10
64
RCTIME B5,1,Roto_sw
If U_info > 600 then zero1p
If U_info > 500 then one1p
If U_info > 475 then two1p
If U_info > 450 then three1p
If U_info > 425 then four1p
If U_info > 400 then five1p
If U_info > 375 then six1p
If U_info > 350 then seven1p
If U_info > 335 then eight1p
If U_info > 310 then nine1p
If U_info > 0 then off1p
Goto U_Display
U_Sound:
Debug ["U_Sound",13]
High B5
Pause 10
RCTIME B5,1,Roto_sw
If U_info > 600 then zero2p
If U_info > 500 then one2p
If U_info > 475 then two2p
If U_info > 450 then three2p
If U_info > 425 then four2p
If U_info > 400 then five2p
If U_info > 375 then six2p
If U_info > 350 then seven2p
If U_info > 335 then eight2p
If U_info > 310 then nine2p
If U_info > 0 then off2p
Goto U_Sound
off1:
Poke 7,255
Goto IR_Display
zero1:
Poke 7,240
Goto IR_Display
one1:
Poke 7,241
Goto IR_Display
two1:
65
Poke 7,242
Goto IR_Display
three1:
Poke 7,243
Goto IR_Display
four1:
Poke 7,244
Goto IR_Display
five1:
Poke 7,245
Goto IR_Display
six1:
Poke 7,246
Goto IR_Display
seven1:
Poke 7,247
Goto IR_Display
eight1:
Poke 7,248
Goto IR_Display
nine1:
Poke 7,249
Goto IR_Display
off2:
Sound B4,[500\0]
Goto IR_Sound
zero2:
Sound B4,[10\500]
Goto IR_Sound
one2:
Sound B4,[20\500]
Goto IR_Sound
two2:
Sound B4,[40\500]
Goto IR_Sound
three2:
66
Sound B4,[70\500]
Goto IR_Sound
four2:
Sound B4,[100\500]
Goto IR_Sound
five2:
Sound B4,[140\500]
Goto IR_Sound
six2:
Sound B4,[180\500]
Goto IR_Sound
seven2:
Sound B4,[220\500]
Goto IR_Sound
eight2:
Sound B4,[260\500]
Goto IR_Sound
nine2:
Sound B4,[300\500]
Goto IR_Sound
off1p:
Poke 7,255
Goto U_Display
zero1p:
Poke 7,15
Goto U_Display
one1p:
Poke 7,31
Goto U_Display
two1p:
Poke 7,47
Goto U_Display
three1p:
Poke 7,63
Goto U_Display
67
four1p:
Poke 7,79
Goto U_Display
five1p:
Poke 7,95
Goto U_Display
six1p:
Poke 7,111
Goto U_Display
seven1p:
Poke 7,127
Goto U_Display
eight1p:
Poke 7,143
Goto U_Display
nine1p:
Poke 7,159
Goto U_Display
off2p:
Sound B4,[500\0]
Goto U_Sound
zero2p:
Sound B4,[10\500]
Goto U_Sound
one2p:
Sound B4,[20\500]
Goto U_Sound
two2p:
Sound B4,[40\500]
Goto U_Sound
three2p:
Sound B4,[70\500]
Goto U_Sound
four2p:
Sound B4,[100\500]
68
Goto U_Sound
five2p:
Sound B4,[140\500]
Goto U_Sound
six2p:
Sound B4,[180\500]
Goto U_Sound
seven2p:
Sound B4,[220\500]
Goto U_Sound
eight2p:
Sound B4,[260\500]
Goto U_Sound
nine2p:
Sound B4,[300\500]
Goto U_Sound
End
Demo1.
Demo1: The values of each variable are displayed in the debug window. When the
Start button is pressed, the program looks at the rotary switch. The rotary
switch’s four settings determine which sensor variables are looked at and
what numbers are shown on the 7-segment LED display. If the switch
setting is on the first or second position, then the program goes to the
Demo2 routine. If the switch setting is on the third or fourth position, then
the program goes to the Demo3 routine.
69
Demo2: The analog to digital conversion of the Sharp IR sensor is stored in its
designated variable. If the switch setting is on the first position, then the
values represented by the IR sensor are translated by if…then statements
and displayed on the right 7-segment LED displays. If the switch setting
is on the second position, the values represented by the IR sensor are
translated by if…then statements and frequencies are sent to the buzzer. If
the rotary switch settings change, the program goes back to Demo1.
Demo3: The analog to digital conversion of the Ultrasonic circuit is stored in its
designated variable. If the switch setting is on the third position, then the
values represented by the Ultrasonic Range Finder are translated by
if…then statements and displayed on the left 7-segment LED displays. If
the switch setting is on the fourth position, the values represented by the
Ultrasonic circuit are translated by if…then statements to frequencies that
are sent to the buzzer. If the rotary switch settings change, the program
goes back to Demo1.
CONCLUSION
representing changes in value of the IR and Ultrasonic sensors. In the next chapter we
will be adding to Project_4 & 5 a temperature sensor and a fire detector.
70
CHAPTER 7: TEMPERATURE & FLAME SENSORS

(Project_7)
TYPES OF TEMPERATURE & FLAME SENSORS
There are many different types of temperature and flame sensors. The use of the sensor
will determine what type you need. For our purposes in this chapter, two inexpensive
sensors will be looked at.
PRECISION TEMPERATURE SENSOR
The LM34CAZ is the temp sensor that will be discussed in this section. The LM34 is a
precision integrated-circuit temperature sensor, whose output voltage is linearly
proportional to the Fahrenheit temperature. This device has a temperature range of –40
to +230 degrees Fahrenheit. The linear output of the LM34 is +10.0 mv/ F scale factor.
If you read the voltage output from the LM34 with your voltage meter, a reading of 0.75
volts indicates a temperature of 75 degrees F. Since the LM34 produces an analog
output, we can use the ADIN command to convert the analog voltage to a digital value.
FLAME DETECTOR
The Hamamatsu C3704 series UV TRON is the flame detector that will be discussed in
this section. This device is known for its high sensitivity to detecting ultraviolet light.
The flame detector can detect a candle flame from 15 feet. It operates in the spectral
range of 185 to 260 nm. Basically the circuitry operates like this: when the UVTron bulb
is exposed to ultraviolet rays (such as from a flame), photoelectrons are emitted from the
cathode and accelerate toward the anode. As the electric field grows stronger, the
molecules of the enclosed gas in the tube eventually ionize. Soon the process causes a
large current between the electrodes, and a discharge takes place. Each time a discharge
occurs, the circuit emits a pulse.
Some environmental conditions can cause false readings from the flame detector. Some
of these are: mercury lamps, halogen lamps, direct or reflected sunlight and electrical
sparks. To help eliminate possible false readings, the flame detector circuit only outputs
a pulse if the UV TRON has detections 3 to 9 times within a minimum of a two-second
interval.
RELAY CIRCUIT
A relay circuit will be used in Project_7 to activate an alarm. When the temp sensor or
flame detector reads above a designated limit, the PIC will activate a relay circuit. The
power lead to a Quorum PAAL alarm is connected when the relay circuit is activated.
The Quorum PAAL is a portable device that creates a very loud alarm when triggered.
71
PROJECT_7
The components used in this project are: one LM34 temp sensor, one Hamamatsu UV
TRON Flame Detector, one relay circuit, the rotary switch circuit from Project_5 and the
parts from Project_4.
Fifteen of the twenty-two I/O pins of the PIC16F876 will be used in this project.
Follow the below schematic in wiring Project_7 (This project is added to Project_4 and
part of Project_5).
Precision Temperature Sensor
LM34
Vdd Vss
RA0
Hamamatsu UV TRON
Flame Detector
Vdd Vss
RA3
Vdd
QUORUM
Relay
PAAL
ALARM
10k ohm
RB4 2N4124
Vss
72
CPU = 16F876
MHZ = 10
CONFIG 16254
73
PORTA = $00
TRISC = $00
PORTC = $FF
Low A4
work var byte
Temp_info var word
Fire_info var word
Roto_sw var word
work = 0
START:
Debug ["START",13]
Goto START
Demo1:
Debug ["Demo1",13]
Poke 7,255
ADIN 0,2,ADSETUP,Temp_info
Debug ["Temp_info "]
Debug [dec Temp_info,13]
Pulsin A3,1,Fire_info
Debug ["Fire_info "]
Debug [dec Fire_info,13]
High B5
Pause 10
RCTIME B5,1,Roto_sw
Debug ["Roto_sw "]
Debug [dec Roto_sw,13]
Button B0,1,100,10,work,1,Contin
Goto Demo1
Contin:
Goto Demo3
Demo2:
Debug ["Demo2",13]
Poke 7,255
If Roto_sw > 700 then Temp_Display
If Roto_sw > 400 then Temp_Relay
Goto Demo1
Temp_Display:
Debug ["Temp_Display",13]
High B5
74
Pause 10
RCTIME B5,1,Roto_sw
If Temp_info > 166 then eight6
If Temp_info > 158 then seven8
If Temp_info > 148 then six8
If Temp_info >= 0 then off1
Goto Temp_Display
Temp_Relay:
Low B4
Debug ["Temp_Relay",13]
High B5
Pause 10
RCTIME B5,1,Roto_sw
If Temp_info > 168 then RelayT
If Temp_info > 166 then eight6R
If Temp_info >= 0 then off2
Goto Temp_Relay
Demo3:
Debug ["Demo3",13]
Poke 7,255
If Roto_sw > 100 then Fire_Display
If Roto_sw < 5 then Fire_Relay
Goto Demo1
Fire_Display:
Debug ["Fire_Display",13]
High B5
Pause 10
RCTIME B5,1,Roto_sw
75
If Fire_info > 2000 then Flash

If Fire_info >= 0 then off3
Goto Fire_Display
Fire_Relay:
Debug ["Fire_Relay",13]
High B5
Pause 10
RCTIME B5,1,Roto_sw
If Fire_info > 2000 then RelayF
If Fire_info >= 0 then off4
Goto Fire_Relay
off1:
Poke 7,255
goto Temp_Display
off2:
Poke 7,255
Low B4
goto Temp_Relay
off3:
Poke 7,255
goto Fire_Display
off4:
Poke 7,255
Low B4
goto Fire_Relay
six4:
Poke 7,100
Goto Temp_Display
six6:
Poke 7,102
Goto Temp_Display
six8:
Poke 7,104
Goto Temp_Display
seven0:
Poke 7,112
Goto Temp_Display
seven2:
Poke 7,114
Goto Temp_Display
seven4:
76
Poke 7,116
Goto Temp_Display
seven6:
Poke 7,118
Goto Temp_Display
seven8:
Poke 7,120
Goto Temp_Display
eight0:
Poke 7,128
Goto Temp_Display
eight2:
Poke 7,130
Goto Temp_Display
eight4:
Poke 7,132
Goto Temp_Display
eight6:
Poke 7,134
Goto Temp_Display
eight0R:
Poke 7,128
Low B4
Goto Temp_Relay
eight2R:
Poke 7,130
Low B4
Goto Temp_Relay
eight4R:
Poke 7,132
Low B4
Goto Temp_Relay
eight6R:
Poke 7,134
Low B4
Goto Temp_Relay
RelayT:
High B4
Goto Temp_Relay
RelayF:
High B4
Goto Fire_Relay
Flash:
Poke 7,0
Pause 100
77
Poke 7,255
Pause 100
Goto Fire_Display
End
Demo1.
Demo1: The analog to digital conversion of the temp sensor’s output is stored in its
designated variable. The pulse output value of the fire detector is also
stored in its designated variable. The rotary switch’s four settings
determine which sensor variables are looked at and what values are shown
on the 7-segment LED display. If the switch setting is on the first or
second position, then the program goes to the Demo2 routine. If the
switch setting is on the third or fourth position, then the program goes to
the Demo3 routine.
Demo2: If the switch setting is on the first position, then the values represented by
the temp sensor are displayed on the two 7-segment LED displays. If the
switch setting is on the second position, the designated high values
represented by the temp sensor are displayed on the two 7-segment LED
displays. If the variable value is above a certain point, then the relay
circuit is activated. If the switch settings change, the program goes back
to Demo1.
Demo3: If the switch setting is on the third position, then the value represented by
the activation of the fire detector blinks the two 7-segment LED displays.
If the switch setting is on the fourth position, the value represented by the
activation of the fire detector activates the relay circuit. If the switch
settings change, the program goes back to Demo1.
78
CONCLUSION
representing the value output of the temperature sensor. If the value of the temperature
sensor reached a certain point, then the relay circuit was activated. If the flame detector
sensed a flame, then it would blink the LED displays or activate the relay circuit. In the
next chapter we will cover the use of a voice chip and will be programming the
PIC16F877.
79
80
CHAPTER 8: VOICE RECORD/PLAYBACK DEVICE

(Project_8)
VOICE CHIP
In this chapter we will be using a voice chip. The type being used for Project_8 is the
Information Storage Devices’ ISD25120P Single-Chip Voice Record/Playback Device.
There are several different types of ISD chips such as the ISD2560, ISD2575, ISD2590
and the ISD25120. These chips differ in the length of the recorded message space (60,
75, 90, and 120 seconds). The increase of message space is accomplished by lowering
the audio sampling rate. The lower the sampling rate the lower the quality of the
recording (see Table 8.1). Voice and audio signals are stored directly in nonvolatile
memory cells, providing direct analog storage. This process gives true, natural sounding
reproduction of voice, music, tones and sound effects. The chip is also addressable to
handle multiple messages.
PART DURATION INPUT SAMPLE TYPICAL FILTER PASS

NUMBER (SECONDS) RATE (KHZ) BAND (KHZ)
ISD2560 60 8.0 3.4
ISD2575 75 6.4 2.7
ISD2590 90 5.3 2.3
ISD25120 120 4.0 1.7
Table 8.1
RECORDING MESSAGES
There are two ways to record messages: Operational Mode and Direct Addressing.
Direct Addressing will be used so messages can be recorded at different addresses and
played back in any order. To record an audio segment an address is selected to store the
81
beginning of the first message. The P/R pin is taken low and the CE pin is taken low.
Say the message to be recorded. When the message is finished the CE pin is to be taken
high. Repeat this process for each recording. The length of the first message will
determine at what address to start the second message. Each second of the recorded
message (approximately), corresponds to an address length of the decimal value of ten. If
you’re first recorded message was five seconds long and started at address 0(dec.) then
you’re second recorded message would start after address 50(dec.).
PLAYING MESSAGES
To play back a recorded message an address is selected at the beginning of one of the
recorded messages.
The P/R pin is taken high and the CE pin is pulsed low. Repeat this process for each play
back. The play back of the message must be completed before the CE pin can activate
the next message.
AMPLIFICATION CIRCUIT
The audio output of the ISD chip is capable of driving 50mw into a 16 ohm speaker. I
have added an amplification circuit to drive a 2-watt, 8-ohm speaker.
PROJECT_8
The components used in this project are one ISD25120P Voice Record/Playback chip,
one pre-amp chip with circuitry and one amplification chip with circuitry. The 40 pin
PIC16F877 microcontroller needs to be placed in the 2840 Development Board. The
2840 Development Board already has Port’s A,B and C connected to a 25-pin DB
connector (Connector A). That connector is attached to the board enclosure. Port’s D
and E need to be wired to a 15 pin DB connector (Connector B). That connector needs to
be attached to the other side of the enclosure. There will be two ribbon cables going to
Project_8.
Twenty-three of the thirty-three I/O pins of the PIC16F877 will be used in this project.
82
PIC CONNECTOR (B)

ISD25120
D0 PIN 1 A0 Vccd Vdd

D1 PIN 2
A1 Vcca
D2 PIN 3 A2
0.1uf
D3 PIN 4 A3 Vssd
A4 Vssa
D4 PIN 5 Vss
D5 PIN 6 A5
A6 SP +
D6 PIN 7 To amplification ckt.
D7 PIN 8 A7 SP –
Vss
A8 AUX IN 0.1uf
PIC CONNECTOR (A) Vss A9 ANA IN
10k ohm
A0 PIN 1 CE ANA OUT
5.1k ohm
PD
100k ohm P/R MIC REF

0.1uf Mic
EOM MIC
Vss Vdd OVF
0.1uf
XCLK AGC
100k ohm
10k ohm
1k ohm 0.1uf 1k ohm
Vdd Vss Vss
(P) Vss 220uf
(R) Vdd Vss Vss Vdd
83
PIC CONNECTOR (A)
10k ohms
Vss
A1 PIN 2 #6 Forward Vdd
Vss
A2 PIN 3 #7 Left Vdd
Vss
#8 Right
A3 PIN 4 Vdd
Vss
#9 Reverse
A4 PIN 5 Vdd
Vss
#1
B0 PIN 6 Vdd
Vss
B1 PIN 7 #2 Vdd
Vss
B2 PIN 8 #3 Vdd
Vss
#4
C5 PIN 18 Vdd
Vss
B5 PIN 11 #5 Vdd
LEDs 330 ohms

C0 PIN 23 #1 Vss
C1 PIN 22 #2 Vss
C2 PIN 21 #3 Vss
C3 PIN 20 #4 Vss
C4 PIN 19 #5 Vss
84
100k ohm
1uf 1k ohm 10k ohm

2 1uf 10uf
1 3 5
TL082 LM386
From ISD25120
3
2
1uf 10k ohm
Vss Vss
100k ohm 100k ohm

100uf
Vdd Vss 8 ohm speaker
Vss
85
CPU = 16F877
MHZ = 10
CONFIG 16382
Work var byte

Work = 0
Poke 133,0
Poke 135,32
Poke 136,0
High A0
Start:
Debug["Press #1 for Demo1",13]
Pause 500
Pause 500
Pause 500
Button B0,1,100,10,Work,1,Demo1
Goto Start
Demo1:
86
Poke 7,0
High A0
Debug["Place SW1 in Record",13]
Debug["Press a button to record a message",13]
Pause 1000
Button B0,1,100,10,Work,1,Word1
Button C5,1,100,10,Work,1,Word4
Button A1,1,100,10,Work,1,Word6
Goto Demo1
Word1:
Poke 8,%00000000
High C0
Pause 100
Low A0
Goto Word1
Word2:
Poke 8,%00010100
High C1
Pause 100
Low A0
Goto Word2
Word3:
Poke 8,%00101000
High C2
Pause 100
Low A0
Goto Word3
Word4:
Poke 8,%00111100
High C3
Pause 100
Low A0
Button C5,1,100,10,Work,1,Demo1
Goto Word4
87
Word5:
Poke 8,%01010000
High C4
Pause 100
Low A0
Goto Word5
Word6:
Poke 8,%01100100
Pause 100
Low A0
Goto Word6
Word7:
Poke 8,%01110011
Pause 100
Low A0
Goto Word7
Word8:
Poke 8,%10000010
Pause 100
Low A0
Goto Word8
Word9:
Poke 8,%10010001
Pause 100
Low A0
Goto Word9
Demo2:
High A0
Poke 7,0
Debug["Place SW1 in Playback",13]
Debug["Press a button to play a message",13]
Pause 1000
Button B0,1,100,10,Work,1,Button1
Button C5,1,100,10,Work,1,Button4
Button A1,1,100,10,Work,1,Button6
88
Goto Demo2
Button1:
Poke 8,%00000000
High C0
Pause 500
Low A0
Pause 100
Goto Demo2
Button2:
Poke 8,%00010100
High C1
Pause 500
Low A0
Pause 100
Goto Demo2
Button3:
Poke 8,%00101000
High C2
Pause 500
Low A0
Pause 100
Goto Demo2
Button4:
Poke 8,%00111100
High C3
Pause 500
Low A0
Pause 100
Goto Demo2
Button5:
Poke 8,%01010000
High C4
Pause 500
Low A0
Pause 100
Goto Demo2
Button6:
Poke 8,%01100100
Pause 500
89
Low A0
Pause 100
Goto Demo2
Button7:
Poke 8,%01110011
Pause 500
Low A0
Pause 100
Goto Demo2
Button8:
Poke 8,%10000010
Pause 500
Low A0
Pause 100
Goto Demo2
Button9:
Poke 8,%10010001
Pause 500
Low A0
Pause 100
Goto Start
Demo3:
High A0
Poke 7,0
Pause 1700
Debug["Playback all messages",13]
Poke 8,%00000000
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%00010100
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%00101000
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%00111100
Low A0
Pause 200
90
High A0
Pause 3000
Poke 8,%01010000
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%01100100
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%01110011
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%10000010
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%10010001
Low A0
Pause 200
High A0
Pause 3000
Goto Start
End
Start: Program loops until a specified (#1 or #2 or #3) button is pressed and then
goes to the specific Demo designated.
Demo1: Records messages. The Debug Window will instruct for SW1 to be
placed in the Record (R) position. When a button (#1-9) is pressed the
91
LED next to the button will turn on and the yellow (CE) LED will turn on.
Say the message. When finished, press the button again to stop the
recording (the yellow LED will turn off). After recording Word9
(Reverse), the program will go to the “Start” routine.
Demo2: Plays back messages. The Debug Window will instruct for SW1 to be
placed in the Playback (P) position. When a button (#1-9) is pressed the
LED next to the button will flash on and the yellow (CE) LED will flash
on. The message will be played. After playing Word9 (Reverse), the
program will go to the “Start” routine.
Demo3: Plays all recorded messages (#1-9). After the last message is played the
CONCLUSION
Nine messages were recorded and played back by the ISD25120 chip. In the next chapter
RF communication will be used for Project_8 to communicate to Project_9 and control
two DC motors.
92
CHAPTER 9: REMOTE CONTROL

(Project_9a & 9b)
PROJECT_8 CHANGES
This chapter will use RF to have commands sent from Project_8 (Project_9a) to
Project_9b. Several changes to Project_8 need to happen for this to take place.
1. RF transmitter with antenna connected.

2. Encoder chip installed (HT-640)
3. 40-pin socket wired.
4. Project_8 program changed
5. 16F877 programmed and placed in 40-pin socket.
6. Battery power supply connected.
These changes are illustrated in the schematic section of this chapter.

The program changes made to Project_8 are in the program labeled Project_9a.
RF TRANSMITTER
The transmitter being used is the LINX Technologies TXM-433-LC. It is capable of

transferring serial data at distances in excess of 300 feet. No external RF components,
except an antenna are required. The TXM transmits data using CPCA (carrier-present
carrier-absent) modulation. This type of AM modulation is often referred to by other
designations including CW and OOK. This type of modulation represents a logic “0” by
the absence of a carrier and a logic “1” by the presence of a carrier.
The TXM-433 data input (TTL & CMOS compatible) is provided on Pin 8 (Dout) of the
Encoder chip. When the input has a logic low, the carrier is fully suppressed and the
transmitter consumes less than 2uA of current. When the input has a logic high the
transmitter generates a carrier to indicate to the receiver the presence of a logic 1.
RF RECEIVER & ANTENNA’S
The receiver being used is the LINX Technologies RXM-433-LC. It is designed to

recover data sent by a CPCA transmitter (TXM-433). The receiver’s output will only
93
transition when valid data is present. When there is no carrier present the output will
remain low.
The transmitting and receiving antennas being used here is a basic quarter-wave whip. A
whip-style monopole antenna is inexpensive and can be easily fabricated from a wire or
rod. The proper length for a quarter-wave antenna can be easily found using the formula
below.
L= 234 / Fmhz L= Length in feet of quarter-wave length

F= Operating frequency in megahertz
The transmitter and receiver are operating at 433 Mhz. The length of the quarter-wave
antenna is calculated to be 6.5 inches.
MOTOR ASSEMBLY
Two DC geared 12V motors are attached on a (Tape Reel) platform. Wheels are attached
to the motor rotors. An H-Bridge chip will drive the two motors. A separate power
supply will be used to power the motors.
PROJECT_9a & 9b
A RF Transmitter, Encoder and battery power supply is added to Project_8 (Project_9a).

Also added is a 40-pin socket that the programmed 16F877 can be placed in. The
components of Project_9b are: A RF Receiver, Decoder, two 12VDC geared motors with
a battery power supply attached to a platform, a motor driver (SN754410), a 74LS04
chip, an LCD display and nine button switches.
Twenty-four of the thirty-three I/O pins of the PIC16F877 are used in Project_9a.
Sixteen of the thirty-three I/O lines are used in Project_9b (more pins will be used in the
next and final project).
Follow the below schematic in the wiring changes to Project_8. Project_8 will now be
called Project_9a.
94
Antenna
TXM-433
1 2 3 4
Vss Encoder chip pin 8 (Dout)
10uf 10 430
(tantalum) ohm ohm
Vss Vdd Gnd
Vdd
LED
5 Volt
Regulator 1.5 V 1.5 V 1.5 V 1.5 V 330
Out Gnd In ohm
Power switch
Vdd
Disconnect power (Vdd) from 2840 Development Bd.
95
Connector (A) Connector (A)

PIC PIN 4.7k ohm
1 16F877 40
Vdd B7 PIN 13 Encoder chip
socket
pin 9 (TE)
2 39
A0 PIN 1 Voice chip (CE)
3 38
A1 PIN 2 Button #6 (Forward) B5 PIN 11 Button #5
4 37
A2 PIN 3 Button #7 (Left)
5 36
A3 PIN 4 Button #8 (Right)
6 35
A4 PIN 5 Button #9 (Reverse) B2 PIN 8 Button #3
7 34
B1 PIN 7 Button #2
8 33
B0 PIN 6 Button #1
9 32
Vdd
Vss
10 31
Vdd Connector (B)
11 30
D7 PIN 8 Voice (A7)*
Vss
12 29
Resonator D6 PIN 7 Voice (A6)*
10 13 28
Vss D5 PIN 6 Voice (A5)*
Mhz
14 27
D4 PIN 5 Voice (A4)*
15 26
C0 PIN 23 LED #1
16 25
C1 PIN 22 LED #2
Connector (A)
17 24
C2 PIN 21 LED #3 C5 PIN 18 Button #4
18 23
C3 PIN 20 LED #4 C4 PIN 19 LED #5
Connector (B) Connector (B)
19 22
D0 PIN 1 Voice chip (A0)* D3 PIN 4 Voice (A3)*
20 21
D1 PIN 2 Voice chip (A1)* D2 PIN 3 Voice (A2)*
* Add a 5 k ohm resistor tied to ground.
96
8-BIT ENCODER
1
B2 (Button #3) D1 Vcc Vdd
2
C5 (Button #4) D2 D0 B1 (Button #2)
3
B5 (Button #5) D3 A9
4
A1 (Button #6) D4 A8
5
6
7
Transmitter (TXM-433) 8
Dout A4
Transmit enable
B7 TE A3
390k ohm OSC1 A2
OSC2 A1
Vss GND A0
HT-640
97
Follow the below schematic in wiring Project_9b.

Antenna
RXM-433
1 2 3 4
Decoder chip pin 9 (Din) Vss
10uf 10 200
(tantalum) ohm ohm
Vss Vdd
LCD MODULE
Vdd Vss
20k ohms 1 2 3 4 5 6 7 8 9 10 11 12 13 14
Vss Vdd Vo RS R/W E 0 1 2 3 4 5 6 7
Connector (A)
Vss PIN 14
Vdd PIN 25
B0 PIN 6
B1 PIN 7
A0 PIN 1
A1 PIN 2
A2 PIN 3
A3 PIN 4
10k ohm
Vss
#1
C4 PIN 19 Vdd
Vss
C3 PIN 20 #2 Vdd
98
Vss
C2 PIN 21 #3 Vdd
Vss
#4
C1 PIN 22 Vdd
Vss
C0 PIN 23 #5 Vdd
Vss
C7 PIN 16 #6 Vdd
Connector (B) Vss
E0 PIN 9 #7 Vdd
Vss
#8
E1 PIN 10 Vdd
Vss
E2 PIN 11 #9 Vdd
12V motor power Vdd

Connector (A)
8 16
B3 PIN 9 1 3
M1 enable
C5 PIN 18 2
M1 input A R motor
74LS04
pins 1,2 7 M1 input B 6
B2 PIN 8 9 14
M2 enable
C6 PIN 17 10
M2 input A L motor
74LS04
pins 3,4 15 M2 input B 11
4,5,12,13
Vss
99
8-BIT DECODER
De-activate Decoder switch *
1
C2 (Button #3) D1 Vcc Vdd
2
C1 (Button #4) D2 D0 C3 (Button #2)
3
C0 (Button #5) D3 A9
4
C7 (Button #6) D4 A8
5
E1 (Button #7) D5 A7
6
7
8 Vdd
VT A4
Data input from RF RCVR 9
Din A3
LED
390k ohm OSC1 A2
OSC2 A1
470 ohms
Vss GND A0
HT-648L 2.2k ohm

Valid transmit output
2N3904
Vss
* When switch is open, buttons #2-9 can be used on Project_9b.
100
After you have modified Project_8 (now Project_9a), open a new file and enter the
following program. Once the program is entered, save the file as: Project_9a. Program
the 16F877 and install it in the socket on Project_9a.
CPU = 16F877
MHZ = 10
CONFIG 16382
101
Work var byte

Work = 0
Poke 133,0
Poke 135,32
Poke 136,0
Start:
High A0
Pause 500
Pause 500
Debug["Jump to Demo2",13]
Goto Demo2
Demo1:
Poke 7,0
High A0
Debug["Place SW1 in Record",13]
Debug["Press a button to record a message",13]
Pause 1000
Button C5,1,100,10,Work,1,Word4
Goto Demo1
Word1:
Poke 8,%00000000
High C0
Pause 100
Low A0
Goto Word1
Word2:
Poke 8,%00010100
High C1
Pause 100
Low A0
102
Goto Word2
Word3:
Poke 8,%00101000
High C2
Pause 100
Low A0
Goto Word3
Word4:
Poke 8,%00111100
High C3
Pause 100
Low A0
Goto Word4
Word5:
Poke 8,%01010000
High C4
Pause 100
Low A0
Goto Word5
Word6:
Poke 8,%01100100
Pause 100
Low A0
Goto Word6
Word7:
Poke 8,%01110011
Pause 100
Low A0
Goto Word7
Word8:
Poke 8,%10000010
Pause 100
Low A0
Goto Word8
103
Word9:
Poke 8,%10010001
Pause 100
Low A0
Goto Word9
Demo2:
High A0
Poke 7,0
Debug["Place SW1 in Playback",13]
Debug["Press a button to play a message",13]
Pause 1000
Goto Demo2
Button1:
Poke 8,%00000000
High C0
Low A0
High B7
Pause 700
Low B7
Loop:
High A0
High B7
Pause 100
Low B7
Goto Loop
Button2:
Poke 8,%00010100
Low C0
High C1
Low A0
High B7
104
Pause 700
Low B7
Goto Demo2
Button3:
Poke 8,%00101000
Low C0
High C2
Low A0
High B7
Pause 700
Low B7
Goto Demo2
Button4:
Poke 8,%00111100
Low C0
High C3
Low A0
High B7
Pause 700
Low B7
Goto Demo2
Button5:
Poke 8,%01010000
Low C0
High C4
Low A0
High B7
Pause 700
Low B7
Goto Demo2
Button6:
Poke 8,%01100100
Low A0
High B7
Pause 700
Low B7
Goto Loop
Button7:
Poke 8,%01110011
Low A0
High B7
Pause 700
Low B7
105
Goto Loop
Button8:
Poke 8,%10000010
Low A0
High B7
Pause 700
Low B7
Goto Loop
Button9:
Poke 8,%10010001
Low A0
High B7
Pause 700
Low B7
Goto Loop
Demo3:
High A0
Poke 7,0
Pause 1700
Debug["Playback all messages",13]
Poke 8,%00000000
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%00010100
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%00101000
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%00111100
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%01010000
106
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%01100100
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%01110011
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%10000010
Low A0
Pause 200
High A0
Pause 3000
Poke 8,%10010001
Low A0
Pause 200
High A0
Pause 3000
Goto Start
End
After you have wired Project_9b, open a new file and enter the following program. Once
the program is entered, save the file as: Project_9b.
CPU = 16F877
MHZ = 10
CONFIG 16382
Work var byte

Work = 0
107
LCDWRITE[INITLCD1,INITLCD2,CLEAR,HOME,SCR]
pause 1500
Start:
Low B2
Low A4
Demo1:
LCDWRITE [Clear,Home,SCR]
LCDWRITE ["REMOTE CONTROL"]
PAUSE 100
Low B2
Low A4
Debug["Demo1 "]
Button C7,1,100,10,Work,1,Forward
Button E0,1,100,10,Work,1,Left
Button E1,1,100,10,Work,1,Right
Button E2,1,100,10,Work,1,Revers
Goto Demo1
Forward:
Low C5
Low C6
LCDWRITE ["FORWARD"]
High B2
High A4
Pause 1000
Goto Demo1
Left:
Low C6
High B2
LCDWRITE ["LEFT"]
Pause 1000
Goto Demo1
Right:
Low C5
108
High A4
LCDWRITE ["RIGHT"]
Pause 1000
Goto Demo1
Revers:
High C5
High C6
LCDWRITE ["REVERSE"]
High B2
High A4
Pause 1000
Goto Demo1
Demo2:
LCDWRITE ["OBJECT DETECT"]
PAUSE 1500
GOTO Start
Demo3:
LCDWRITE ["EDGE AVOIDANCE"]
PAUSE 1500
GOTO Start
Demo4:
LCDWRITE ["FIRE/TEMP READ"]
PAUSE 1500
GOTO Start
Demo5:
LCDWRITE ["LINE FOLLOWING"]
PAUSE 1500
GOTO Start
END
109
EXPLANATION OF PROGRAMS
Project_9a has four parts labeled: Start, Demo1, Demo2, and Demo3. Following is a
short description of what each part of the program does. The program is basically the
same as Project_8 except for minor changes to the Start and Demo2 routines.
Start: At the beginning of the program if #1 button is pressed, then the program
will go to Demo1 (recording messages). If #3 button is pressed at the
beginning of the program, the program will go to Demo3 (playback all
recorded messages). If no buttons are pressed at the beginning of the
program, then the program goes to Demo2 (playback message for each
button pressed).
Demo1: Records messages. SW1 needs to be placed in the Record (R) position.
When a button (1-9) is pressed the LED next to the button will turn on and
the yellow (CE) LED will turn on. Say the message. When finished,
press the button again to stop the recording (the yellow LED will turn off).
After recording Word9, the program will go to the “Start” routine.
Demo2: Plays back messages. SW1 needs to be placed in Playback (P) position.
When a button (#1-9) is pressed the LED next to the button will flash on
and the yellow (CE) LED will flash on. A specified message will be
played for each button pressed. The button information also goes to the
Encoder. The output of the Encoder goes to the transmitter. Buttons #6-9
will play their messages only when button #1 (remote control) is pressed.
Demo3: Plays all recorded messages (#1-9). After the last message is played the
Project_9b has six parts labeled: Start, Demo1, Demo2, Demo3, Demo4 and Demo5.
Following is a short description of what each part of the program does.
Start: At the beginning of the program if any of the button switches are pressed
on Project_9a
110
the program will go to the Demo routines specified by the button pressed.
If now buttons are pressed the program will go to Demo1.
Demo1: Displays “REMOTE CONTROL” on the LCD and waits for an RF signal
from Project_9a. If buttons (#6-9) are pressed the program will go to the
routines to activate the motors (Forward, Left, Right, Reverse). If other
buttons (#1-5) are pressed the program will go to those specified routines.
Demo2: Displays “OBJECT DETECT” on the LCD and returns to the “Start”
routine. Demo2 will have more functions in Project_10.
Demo3: Displays “EDGE AVOIDANCE” on the LCD and returns to the “Start”
Demo4: Displays “FIRE/TEMP READ” on the LCD and returns to the “Start”
Demo5: Displays “LINE FOLLOWING” on the LCD and returns to the “Start”
CONCLUSION
RF communication was used to have communication between Project_9a and Project_9b.
An LCD (on Project_9b) was used to display what buttons were pressed. Two DC
motors were installed with an H-bridge for Project_9b to have locomotion.
111
112
CHAPTER 10: MULTI-PURPOSE ROBOT

(Project_10)
PROJECT_9b CHANGES
This chapter will assemble the sensors from previous chapters and implement them in
making a multi-purpose robot. Several changes to Project_9b need to happen for this to
take place.
1. Connectors installed
2. Quad bilateral switches installed
3. 40-pin socket wired (for 16F877)
4. Project_9b program changed
5. 16F877 programmed and placed in 40-pin socket
6. Battery power supply connected
These changes are illustrated in the schematic section of this chapter. The program
changes made to Project_9b are in the new program written for Project_10.
SENSORS
The sensors being used in this chapter are described in previous chapters. The ones being
used here are:
• Flex sensors and Photocells (described in chapter 5)

• Ultrasonic sensor and IR sensors (described in chapter 6)
• Fire and Temperature sensor (described in chapter 7)
The Flex sensors will be used for preventing the robot from falling off a platform or
tabletop. The Photocells will be used to find a black line for a line following routine.
The Ultrasonic sensor and IR sensors will detect objects for the robot to avoid. The
Temperature sensor will have the temperature displayed on an LCD. The Fire sensor will
detect if there is a fire and display that message on an LCD.
QUAD BILATERAL SWITCHES
Three 4066 (quad bilateral switch) chips will be used in this project, they are labeled A,
B, and C. The enable control of each chip will be used to determine which sensor
information is sent to the 16F877 D/A inputs. The switches assigned to the sensors are:
• Chip (A) will send the Flex and Temperature data

• Chip (B) will send the IR and Ultrasonic data
• Chip (C) will send the Photocell data
113
CONNECTORS
Each sensor will have a cable connected to the main circuit board. Nine connectors are
needed. The following list describes the connectors used.
IR1 connector * Pin 1 Vss to left infrared sensor

* Pin 2 Analog signal from left infrared sensor
* Pin 3 Vdd to left infrared sensor
IR2 connector * Pin 1 Vss to right infrared sensor

* Pin 2 Analog signal from right infrared sensor
* Pin 3 Vdd to right infrared sensor
Line connector* Pin 1 Vdd to line following photocell circuit

* Pin 2 Analog signal from left photocell group
* Pin 3 Analog signal from center photocell group
* Pin 4 Analog signal from right photocell group
* Pin 5 Vss to line following photocell circuit
LED connector* Pin 1Negative lead of 9V battery to LED circuit

* Pin 2 Return to LED on main circuit board
* Pin 3 Positive lead of 9V battery through relay to LED circuit
Ultrasonic
Connector * Pin 1 Vss to ultrasonic sensor
* Pin 2 Analog signal from ultrasonic circuit
* Pin 3 Vdd to ultrasonic sensor
Motor
Connector * Pin 1 Output of H-bridge to positive lead of right motor
* Pin 2 Output of H-bridge to negative lead of right motor
* Pin 3 Output of H-bridge to positive lead of left motor
* Pin 4 Output of H-bridge to negative lead of left motor
Motor Pwr
Connector * Pin 1 Negative lead of 12 Volt battery to H-bridge
* Pin 2 Positive lead of 12 Volt battery to H-bridge
Flex connector* Pin 1 Vss to flex sensors

* Pin 2 Analog signal from left flex sensor
* Pin 3 Analog signal from right flex sensor
* Pin 4 Vdd to flex sensors
114
Battery
Connector * Pin 1 Negative lead of 12 Volt battery supply to 5V regulator (Vss)
* Pin 2 Positive lead of 12 Volt battery supply to 5V regulator (Vdd)
PROJECT_10
4066 switches, connectors and a battery supply are added to Project_9b. Also added is a
40-pin socket that the programmed 16F877 can be place in. The components of
Project_10 are: three 4066 chips, a 5 Volt relay, a NPN transistor, a diode, two resistors,
LEDs, a 9 Volt battery, sensors from previous projects and nine connectors.
Twenty-six of the thirty-three I/O pins of the PIC16F877 are used in Project_10.

Connector (A)
2840 Development Board 25-pin DB connector (male)
A0 1 4066 chips pin 1

A3 4
A4 5 Motor (M1 Enable)
B0 6 LCD (RS)
B1 7 LCD (E)
B2 8 Motor (M2 Enable)
B3 9
B4 10
B5 11
B6 12
B7 13
Vdd 14
15
C7 16 Decoder (Button #6 - Forward)
C6 17 Motor (M2 input A)
C5 18 Motor (M1 input A)
C4 19 Decoder (Button #1 – Remote Control)
C3 20 Decoder (Button #2 – Object Detection)
C2 21 Decoder (Button #3 – Edge Avoidance)
C1 22 Decoder (Button #4 – Fire/Temp Reading)
C0 23 Decoder (Button #5 – Line Following)
24
Vss 25
115
Connector (B)
15-pin DB connector (male)
D0 1 LCD pin 11
D1 2 LCD pin 12
D2 3 LCD pin 13
D3 4 LCD pin 14
D4 5 Switch Control (A)
D5 6 Switch Control (B)
D6 7 Switch Control (C)
D7 8 Fire detection
E0 9 Decoder (Button #7 – Left)
E1 10 Decoder (Button #8 – Right)
E2 11 Decoder (Button #9 – Reverse)
12
13
14
15
Connector (A) Quad Bilateral Switch

PIC PIN 4066 Demo3 & Demo4
1 2
A0 PIN 1 A/D input Flex sensor 1
13
4 3
A1 PIN 2 A/D input Flex sensor 2
5
A2 PIN 3 A/D input 8 9 Temp sensor
Connector (B) 11 10 Vdd
D4 PIN 5 Switch control (A) 12
Vss 7 14 Vdd
(A)
116
Connector (A) Demo2

1 2
A0 PIN 1 A/D input IR1 sensor
13
4 3
A1 PIN 2 A/D input IR2 sensor
5
A2 PIN 3 A/D input 8 9 Ultra sonic sensor
D5 PIN 6 Switch control (B) 12
Vss 7 14 Vdd
(B)
Connector (A) Demo5

1 2
A0 PIN 1 A/D input Line 1 photocell
13
4 3
A1 PIN 2 A/D input Line 3 photocell
5
A2 PIN 3 A/D input 8 9 Line 2 photocell
D6 PIN 7 Switch control (C) 12
Vss 7 14 Vdd
(C) 9 Volts
Vdd + _
diode Relay --- LEDs

coil
**
10k ohm etc.
Vss
Light to illuminate path for line following
117
Switch (C) pin 2 Switch (C) pin 9 Switch (C) pin 3
**
Left Photocells Center Photocells Right Photocells
Vdd Vss Vdd Vss
** Components located on line following board (placed below robot, close to floor)
Connector (A)
PIC PIN 4.7k ohm
1 16F877 40
Vdd
socket
21 39
A0 PIN 1 Switches pin 1
22 38
23 37
24 36
Connector (A)
25 35
A4 PIN 5 Motor (M1 Enable) B2 PIN 8 Motor (M2 Enable)
26 34
Connector (B) B1 PIN 7 LCD (E)
E0 PIN 9 Decoder (Left)
27 33
B0 PIN 6 LCD (RS)
E1 PIN 10 Decoder (Right)
28 32
Vdd
E2 PIN 11 Decoder (REV) Vss
29 31
Vdd Connector (B)
30 30
D7 PIN 8 Fire detect
Vss
31 29
Resonator D6 PIN 7 Switch C control
10 32 28
Vss D5 PIN 6 Switch B control
Mhz
33 27
D4 PIN 5 Switch A control
Connector (A)
34 26
C0 PIN 23 Button #5 C7 PIN 16 Decoder (FWD)
35 25
C1 PIN 22 Button #4 C6 PIN 17 Motor (M2 A)
36 24
C2 PIN 21 Button #3 C5 PIN 18 Motor (M1 A)
37 23
C3 PIN 20 Button #2 C4 PIN 19 Button #1
Connector (B) Connector (B)
38 22
D0 PIN 1 LCD pin 11 D3 PIN 4 LCD pin 14
39 21
D1 PIN 2 LCD pin 12 D2 PIN 3 LCD pin 13
118
Vdd
LED
5 Volt
Regulator 1.5 V 1.5 V 1.5 V 1.5 V 330
Out Gnd In ohm
Power switch
Vdd
Disconnect power (Vdd) from 2840 Development Bd. 1.5 V 1.5 V 1.5 V 1.5 V
119
120
121
Once the program is entered, save the file as: Project_10. Program the 16F877 and install
it in the socket on Project_10.
CPU = 16F877
MHZ = 10
CONFIG 16382
LCDPORT con PORTD

Pause 500
LCDWRITE[INITLCD1,INITLCD2,CLEAR,HOME,SCR]
TRISA = $FF
IR1_info var word
IR2_info var word
U_info var word
IR1_init var word
IR2_init var word
U_init var word
FIRE_info var word
TEMP_info var word
FLEX1_info var word
FLEX2_info var word
FLEX1_init var word
FLEX2_init var word
122
LINE1_info var word

LINE2_info var word
LINE3_info var word
LINE1_init var word
LINE2_init var word
LINE3_init var word
Work var byte
Work = 0
Low B5
Low D4
Low D5
Low D6
Start:
LCDWRITE["INITIALIZING"]
Low B2
Low A4
High D5
Pause 1000
ADIN 0,2,ADSETUP,IR1_init
ADIN 1,2,ADSETUP,IR2_init
ADIN 2,2,ADSETUP,U_init
Low D5
High D4
Pause 1000
ADIN 0,2,ADSETUP,FLEX1_init
ADIN 1,2,ADSETUP,FLEX2_init
Low D4
High D6
Pause 1000
ADIN 0,2,ADSETUP,LINE1_init
Low D6
IR1_init = IR1_init + 70
IR2_init = IR2_init + 70
U_init = U_init + 25
FLEX1_init = FLEX1_init - 35
FLEX2_init = FLEX2_init - 35
LINE1_init = LINE1_init + 50
Demo1:
LCDWRITE ["REMOTE CONTROL"]
PAUSE 100
Low D4
123
Low D5
Low D6
Low B2
Low A4
Button C7,1,100,10,Work,1,Forward
Button E0,1,100,10,Work,1,Left
Button E1,1,100,10,Work,1,Right
Button E2,1,100,10,Work,1,Revers
Goto Demo1
Demo2:
High D5
Low D4
Low D6
Low B2
Low A4
LCDWRITE[CLEAR,HOME]
LCDWRITE["OBJECT DETECT"]
Pause 500
Button C3,1,100,10,Work,1,Demo2a
Goto Demo1
Demo2a:
ADIN 0,2,ADSETUP,IR1_info
DEBUG["IR1_INFO "]
DEBUG[dec IR1_info,13]
DEBUG["IR1_INIT "]
DEBUG[dec IR1_init,13]
ADIN 1,2,ADSETUP,IR2_info
DEBUG["IR2_INFO "]
DEBUG[dec IR2_info,13]
DEBUG["IR2_INIT "]
DEBUG[dec IR2_init,13]
DEBUG["U_INFO "]
DEBUG[dec U_info,13]
DEBUG["U_INIT "]
DEBUG[dec U_init,13]
124
IF IR1_info > IR1_init then DetR

IF IR2_info > IR2_init then DetL
IF U_info > U_init then DetF
Goto Demo2
DetR:
LCDWRITE[SCRRAM+$40,"RIGHT SIDE"]
Pause 500
Gosub R_Rotate
Goto Demo2
DetL:
LCDWRITE[SCRRAM+$40,"LEFT SIDE"]
Pause 500
Gosub L_Rotate
Goto Demo2
DetF:
LCDWRITE[SCRRAM+$40,"IN FRONT"]
Pause 500
Gosub Rev_RL
Goto Demo2
Demo3:
High D4
Low D5
Low D6
Low B2
Low A4
LCDWRITE["EDGE AVOIDANCE"]
Pause 500
Goto Demo1
Demo3a:
ADIN 0,2,ADSETUP,FLEX1_info
DEBUG["FLEX1_INFO "]
DEBUG[dec FLEX1_info,13]
DEBUG["FLEX1_INIT "]
DEBUG[dec FLEX1_init,13]
ADIN 1,2,ADSETUP,FLEX2_info
DEBUG["FLEX2_INFO "]
125
DEBUG[dec FLEX2_info,13]
DEBUG["FLEX2_INIT "]
DEBUG[dec FLEX2_init,13]
If FLEX1_info < FLEX1_init AND FLEX2_info < FLEX2_init then MovB

IF FLEX1_info < FLEX1_init then MovR
IF FLEX2_info < FLEX1_init then MovL
Gosub FWD
Goto Demo3
MovR:
LCDWRITE[SCRRAM+$40,"MOVE RIGHT"]
Pause 500
Gosub R_Rotate
Goto Demo3
MovL:
LCDWRITE[SCRRAM+$40,"MOVE LEFT"]
Pause 500
Gosub L_Rotate
Goto Demo3
MovB:
LCDWRITE[SCRRAM+$40,"MOVE BACK"]
Pause 500
Gosub Rev_RL
Gosub R_Rotate
Goto Demo3
Demo4:
High D4
Low D5
Low D6
LCDWRITE["FIRE/TEMP READ"]
Pause 500
Goto Demo1
Demo4a:
Pulsin D7,1,FIRE_info
DEBUG["FIRE_INFO "]
DEBUG[dec FIRE_info,13]
If FIRE_info > 2000 then Fire
126
ADIN 2,2,ADSETUP,TEMP_info
DEBUG["TEMP_INFO "]
DEBUG[dec TEMP_info,13]
IF TEMP_info > 166 then Temp5
Goto Demo4
Fire:
LCDWRITE[SCRRAM+$40,"FIRE!FIRE!FIRE!"]
Pause 800
Goto Demo4
Temp5:
LCDWRITE[SCRRAM+$40,"TEMP ABOVE 75"]
Pause 800
Goto Demo4
Temp3:
LCDWRITE[SCRRAM+$40,"TEMP 73"]
Pause 800
Goto Demo4
Temp1:
LCDWRITE[SCRRAM+$40,"TEMP 71"]
Pause 800
Goto Demo4
Temp9:
LCDWRITE[SCRRAM+$40,"TEMP BELOW 69"]
Pause 800
Goto Demo4
Demo5:
High D6
Low D4
Low D5
Low B2
Low A4
LCDWRITE["LINE FOLLOWING"]
Pause 500
127
Goto Demo1
Demo5a:
ADIN 0,2,ADSETUP,LINE1_info
DEBUG["LINE1_INFO "]
DEBUG[dec LINE1_info,13]
DEBUG["LINE1_INIT "]
DEBUG[dec LINE1_init,13]
IF LINE1_info > LINE1_init then L_R
IF LINE3_info > LINE3_init then L_L
IF LINE2_info > LINE2_init then L_C
LCDWRITE[SCRRAM+$40,"ROBOT ON LINE?"]
Pause 3000
Goto Demo5
L_R:
LCDWRITE[SCRRAM+$40,"TO FAR RIGHT"]
Pause 500
Low C6
High B2
Pause 100
Goto Demo5
L_L:
LCDWRITE[SCRRAM+$40,"TO FAR LEFT"]
Pause 500
Low C5
High A4
Pause 100
Goto Demo5
L_C:
LCDWRITE[SCRRAM+$40,"IN CENTER"]
Pause 500
Low C5
Low C6
High B2
128
High A4
Pause 100
Goto Demo5
Forward:
Low C5
Low C6
LCDWRITE ["GO FORWARD"]
High B2
High A4
Pause 500
Goto Demo1
Left:
Low C6
High B2
LCDWRITE ["TURN LEFT"]
Pause 500
Goto Demo1
Right:
Low C5
High A4
LCDWRITE ["TURN RIGHT"]
Pause 500
Goto Demo1
Revers:
High C5
High C6
LCDWRITE ["GO REVERSE"]
High B2
High A4
Pause 500
Goto Demo1
R_Rotate:
Low C5
High C6
LCDWRITE ["ROTATE RIGHT"]
High A4
High B2
129
Pause 500
Return
L_Rotate:
High C5
Low C6
LCDWRITE ["ROTATE LEFT"]
High A4
High B2
Pause 500
Return
Rev_RL:
LCDWRITE ["REVERSE"]
High C5
High C6
High B2
High A4
Pause 500
Return
FWD:
LCDWRITE ["FORWARD"]
Low C5
Low C6
High B2
High A4
Pause 100
Return
End
Project_10 has six parts labeled: Start, Demo1, Demo2, Demo3, Demo4 and Demo5.
Following is a short description of what each part of the program does.
Start: At the beginning of the program the sensors for Demo2, Demo3 and
Demo5 have their initial readings recorded. The program then goes to
Demo1.
130
Demo1: Displays “REMOTE CONTROL” on the LCD and looks for an RF signal
from Project_9a. If buttons (#6-9) are pressed the program will go to the
routines to activate the motors (Forward, Left, Right, Reverse). If other
buttons (#1-5) are pressed the program will go to those specified routines.
Demo2: Displays “OBJECT DETECT” on the LCD and then takes A/D readings
of the Ultrasonic sensor and IR sensors. If those readings exceed the
initial readings of those sensors in the “Start” routine then the program
goes to the routine that will display what side the object has been detected.
That routine will also tell the motors to move in a certain direction. The
program continues to take A/D readings until a different Demo button is
pressed.
Demo3: Displays “EDGE AVOIDANCE” on the LCD and takes A/D readings of
the Flex sensors. If those readings exceed the initial readings of those
sensors in the “Start” routine then the program goes to the routine that will
display what action is necessary. The routine will tell the motors to move
in a certain direction. The program continues to take A/D readings until a
different Demo button is pressed.
Demo4: Displays “FIRE/TEMP READ” on the LCD. An A/D reading of the

Temperature sensor is taken. A reading of the fire sensor is taken by the
pulsin command on Port D pin 7. The readings determine what
information is displayed on the LCD. The program continues to take
readings until a different Demo button is pressed.
Demo5: Displays “LINE FOLLOWING” on the LCD and takes A/D readings of
the photocells in the line following circuit board. If those readings exceed
the initial readings of those photocells in the “Start” routine then the
program goes to the routine that will display what position the robot is in
compared to where the line is. The routine will tell the motors to move in
a certain direction to stay on the line. The program continues to take A/D
readings until a different Demo button is pressed.
CONCLUSION
A RF transmitter and receiver is used to have communication between Project_9a and
Project_10 (the Robot). An LCD on the Robot is used to display what buttons are
pressed. The sensors in conjunction with the Demo routines determine what directions
the motors will move the Robot.
131
132

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Ten Projects With The MBasic Compiler

INTRODUCTION _____________________________________________________ 3-4

CHAPTER 1: GETTING STARTED

INSTALL AND CONFIGURE HARDWARE

Connect the power supply (wall adapter) to the ISP-PRO.

You should receive the message “ISP-PRO communications are normal”.

WRITING YOUR FIRST PROGRAM

5. Enter the following program under the configuration settings:

Temp var byte

10k ohms Vss

Work var byte

CHAPTER 2 : LCD ALPHANUMERIC DISPLAY

Command Name: Description:

$133 INITLCD1 Initialize LCD display

LCDREGSEL CON B0 ;RS LINE

0818 Development Bd. 25-pin DB connector (male)

Demo4 Demo3 Demo2 Demo1

Pot var word

Demo4: Tones are sent to the speaker.

CHAPTER 3 : MOTOR CONTROL

1.5 ms pulse causes the motor to turn to the 90 degree position.

CHAPTER 4: 7-SEGMENT LED DISPLAY

INSTALL AND CONFIGURE HARDWARE

Install the PIC16F876 (28 pin), in the 2840 Development Board.

Connect the power supply (wall adapter) to the ISP-PRO.

You should receive the message “ISP-PRO communications are normal”

7-SEGMENT LED DISPLAY

Figure 4.1 common

Digit Illuminated Segment ( 1 = illumination)

DIFFERENT PROGRAMMING STYLES

Follow the below schematic in wiring Project_4.

e d c dec. pt. e d c dec. pt.

CHAPTER 5: RESISTIVE –TYPE SENSORS

ADSETUP con %10000010

AN0, AN1, AN2, AN3, AN4 are analog

Right Flex sensor

Left Flex sensor

3 33k ohms Vdd

3 10k ohms Vss

ADSETUP con %10000010

If temp5 < 100 then Demo1

CHAPTER 6: DISTANCE SENSORS

TYPES OF DISTANCE MEASURING DEVICES

ULTRASONIC DISTANCE SENSOR

RA0 Analog output

RA3 Analog output

ULTRASONIC CIRCUIT (DETAILED)

Vdd Vdd Vdd

Vss Vss Vss Vss

Vss Vss Vss Vss

ADSETUP con %10000010

CHAPTER 7: TEMPERATURE & FLAME SENSORS

TYPES OF TEMPERATURE & FLAME SENSORS

PRECISION TEMPERATURE SENSOR

If Fire_info > 2000 then Flash

CHAPTER 8: VOICE RECORD/PLAYBACK DEVICE

PART DURATION INPUT SAMPLE TYPICAL FILTER PASS

ISD2560 60 8.0 3.4

ISD2575 75 6.4 2.7

ISD2590 90 5.3 2.3

ISD25120 120 4.0 1.7

Follow the below schematic in wiring Project_8.

PIC CONNECTOR (B)