C和L制作寻迹小车(全英文).docVIP

experiments. Build a simple two wheels robot with L293D H-Bridge driver and IR sensors. Write a C program controls robot tracked with black tape. Fun with Ving-Peaw Competition 2543, course layout, day-by-day changed rule and scoring also included。 Introduction One of my student has made a disgraceful robot that used two stepper motors and with a simple IR sensor. Yes, above picture is what Im talking. Without battery carrying, a little bit torque of the stepper and misalignment of driving shaft, makes it crawling not walking, but first demo, showed quite impressive to me. He said he wrote a couple of program lines using C, his robot can track the black tape. I feel delighted his intention and endeavor. I thought, he borrowed me DS5000, expensive one, a soft uController with internal bootloader, why shouldnt try with our learning board C-52 Evaluation Board instead. Another one, told me the same day I found the L293 Push/Pull Four Channel Driver at Ban-Moah, it costs 1.5 US$ . Ive been searching this chip for a year. The MiniBoard, a Motorola 68HC11 Robot Controller board designed by Fred G. Martin, also uses this driver. The day after, I then decided to prepare the page describing how to use C-52 EVB as a robot controller board. I asked my student for competition, build yourselves robot that can track the black tape. Prize for the winner is 100 US$, with a bit condition that the winner must pay for a big party at Soi Jindas Somtum (Papaya Salad) shop. And one of the competitor is me. I thought the rule should be conceived roughly by students and technically by me. The picture on that day will put here soon. C-52 EVB resources Beforehand, let look at available resources of C-52 EVB for robot experiments. Actuators DC motor PWM with timer2 helps P1.4,P1.5, P1.6,P1.7 Sensors digital/analog IR detector with comparator chip/ for analog input, see use of PIC16C711 digital input/T0,T1 for pulse input Brain C program available code and data space approx. 32kB