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DOI: 10.1036/0071434038
ebook_copyright 8.5 x 11.qxd 8/12/03 12:00 PM Page 1
Dedicated to my family, Gylian, Olivia, Rachel, and Ethan.
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vii
Introduction xv
Acknowledgments xix
1 Anatomy of a Personal Digital Assistant (PDA) 1
2 Robotic System Overview 15
3 Tools and Equipment 23
4 Infrared Communications Overview 29
5 The Electronics 43
6 Building PDA Robot 107
7 Programming the PIC16F876 Microcontroller 137
8 PDA Robot Palm OS Software Using
Code Warrior 8.0 155
Contents Summary
PDA 00 5/28/03 8:19 AM Page vii
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For more information about this title, click here.
9 PDA Robot Software for Pocket PC 2002
(Windows CE) 169
10 The PDA Robotics Command Center 195
11 Infinitely Expandable 211
Index 221
PDA Robotics
viii
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ix
Introduction xv
Acknowledgments xix
1 Anatomy of a Personal Digital Assistant (PDA) 1
Beneath the Cover 5
The SA-1110: An Example of ARM Architecture 7
2 Robotic System Overview 15
Major Electronic Parts 15
Microchip MCP2150 IrDA Standard
Protocol Stack Controller 15
Vishay TFDS4500 Serial Infrared Transceiver 17
PIC16F876 Microcontroller 18
L7805ACV Voltage Regulator (5 Volts) 18
L298 Dual Full-Bridge Driver 19
Sharp GP2D12 Infrared Range Finder 20
DYN2009635 20 MH and RXDMP49 11.0952 MHz
“AT” Cut Quartz Crystal Oscillator 21
Contents
PDA 00 5/28/03 8:19 AM Page ix
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3 Tools and Equipment 23
Essential Tools and Equipment 23
Safety First 26
Where to Get Equipment 27
4 Infrared Communications Overview 29
Technical Summary of IrDA Data and IrDA Control 31
IrDA’s New Full Range of Digital Information
Exchange via Cordless IR Connections 31
Optional IrDA Data Protocols 33
IrDA Control 33
Windows CE (Pocket PC) and IrDA 35
Communication Link Speeds 36
Communication Link Turnaround Times 37
SIR Coding 39
MIR Coding 39
FIR Coding 40
VFIR Coding 40
5 The Electronics 43
System Overview 43
Setting the Baud Rate 46
The MCP2150 Connection to the IR Transceiver 47
The MCP2150 Connection to the PIC16F876
Microcontroller 49
The Motor Controller Circuit 51
The Sharp GPD12 IR Range Finder 52
Component Descriptions 53
The Vishay TFDS4500 53
The Microchip MCP2150 Plug and Play IrDA 58
MCP2150 Applications: PDA Robot 59
Crystal Oscillator/Ceramic Resonators 62
PDA Robotics
x
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Bit Clock 63
UART Interface 63
Baud Rate 63
Transmitting 64
Receiving 64
Modulation 64
Demodulation 65
Minimizing Power 65
Returning to Device Operation 65
Network Layering Reference Model 65
IrDA Data Protocols Supported by MCP2150 66
IRDA Standard Protocol Layers 69
PDA and PDA Robot Handshake: How Devices Connect 71
Normal Disconnect Mode (NDM) 72
Discovery Mode 74
Normal Connect Mode (NCM) 76
MCP2150 Operation 76
Optical Transceiver 77
Typical Optical Transceiver Circuit 78
MCP2150 Absolute Maximum Ratings 78
PIC16F876: PDA Robot’s Microcontroller 78
PORTA and the TRISA Register 84
PORTB and the TRISB Register 87
PORTC and the TRISC Register 90
The L298 Dual Full-Bridge Driver
(PDA Robot Motor Controller) 96
Description 97
The GP2D12 IR Range Finder 102
Connecting to the Sensor 104
Operation 104
Calibration 104
Contents
xi
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Ambient Light 105
IR Light 105
Laser Light 106
Operation 106
6 Building PDA Robot 107
Creating the Circuit Board 107
Positive Photofabrication Process Instructions 108
Parts Lists 115
Placing and Soldering the Main Board Components 117
Placing and Soldering the Motor Controller Components 120
The Infrared Transceiver 122
The Power Connectors 123
The Battery Packs 123
The IR Range Finder 124
Cutting the Aluminum Pieces and Drilling the Holes 125
Assembling the Geared Motors 127
The Ribbon Connectors 130
The Camera (Accessory) Mount 134
7 Programming the PIC16F876 Microcontroller 137
Software Installation 138
Hardware Installation 139
General Operation 140
EPIC for DOS 141
EPIC for Windows 95/98/ME/NT/2000/XP 142
EPICWin Controls 144
The PICmicro MCU Compiler 145
The Command Line Compiler 146
The Source Code 147
Program the PIC16F876 153
PDA Robotics
xii
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8 PDA Robot Palm OS Software
Using Code Warrior 8.0 155
Creating the PDA Robot Project 157
9 PDA Robot Software for Pocket PC 2002
(Windows CE) 169
Microsoft eMbedded Visual C++ 3.0 Overview 170
Increased Developer Productivity 173
Simplified Debugging and Deployment 173
Comprehensive Access to the Windows CE Platform 173
Build for the Latest Windows CE Devices 174
Fast, Flexible Data Access 174
Building the PDA Robot Pocket PC Application 175
Creating the IrDA Link 177
The Wireless RF Link 186
CCeSocket::CCeSocket 188
Parameters 188
Remarks 188
OnWireless: Implementing the CPDASocket Class 189
10 The PDA Robotics Command Center 195
The Video Link 195
Motion Detection 197
Sending Data Using FTP 201
The Wireless Data Link 206
11 Infinitely Expandable 211
Global Positioning System 211
Pocket CoPilot 3.0 GPS Jacket Edition:
PCP-V3-PAQJ2 212
The TeleType GPS 212
Symbol SPS 3000 Bar Code Scanner Expansion Pack 214
Contents
xiii
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