Robot J1 Project
Progress Notes
04/24/2000
I've been experimenting with PICs (Programmable ICs)... namely the 16F84.
It looks very powerful (and most of all portable!). These chips have
like 13 Input/Output pins! If one were to create a network of these chips
with each chip delegated to one or two functions, with each chip reporting to
a 'manager' chip finally arriving at a 'director' or 'master' chip (most likely
a CPU (like an embedded Pentium or laptop or something), not a PIC), a very
cool structure would be created. I've also messed with hooking up parallel
driven LCD displays, too. I've been reading a few books devoted to mobility
and sensory input and they detail A LOT of cool stuff. Things like an
electronic compass (for sense of direction), ultrasonic range finding, Infrared
obstacle avoidance (and even IR communication), and microswitch collision
detection. I gotta get some time...
08/13/1999
I've gotten a good basic grasp of C/C++ & hardware I/O via my exploding
Phantom.Home & Phantom.Security programs. I'm getting the pieces together,
sometime I will have to assemble the puzzle!
07/09/1999
OKAY OKAY, it's July. I guess it's pretty safe to say that I've put the
Robot project on hold the forseeable future. Unless I win the lottery and
quit my job and get tons of free time :)...
04/27/1999
Well, I've had the input functions with the Phantom.SECURITY system, and now
I'm getting the output functions down with the Phantom.HOME system. Now
I've got the doors, motion sensors, lights, and vents hooked into, and run by,
the computer. Now all I need to do is build a robot called bitch. Then
I can say "Get me a beer, bitch" :).
04/08/1999
No, this isn't a constructive update :). Again I'd suggest taking a look at
the Phantom software. I'm making branching it off into home automation, too.
So look forward to some neat things!!!
03/24/1999
Well, I missed the Toledo HamFest this year... was going to get some parts
so I could play :). However, I do have a good update. In the Phantom project
I've convinced myself to re-write it in C++. Hence whatever I learn from that
will be transferred to the Robot project. This combined with getting the
parallel port under Linux are two very large steps into getting the project
going...
03/03/1999
Think I've put the robot project in mothballs??? Don't worry... it's still
around. For anyone who hasn't checked the rest of my site, I've been working
on a Linux-Based Computer Controlled Security System. What has this to do
with the Robot Project??? Well... I've got a good IO system going
USING LINUX. And that is a good step. Check it out... it's under
the stuff category on the Site Menu. The C IO program
I mentioned in my last update is at the heart of it. And this same C program
can be modified for OUTPUT, not just INPUT, sooooo....
02/22/1999
Hi! I've been very busy and it's been keeping me from doing what I want.
However, lately I've been trying to get bits and pieces in. I've been
studying a little of Linux IO programming. I found a simple C program
that will let you input and output bits to the parallel port, and I've placed
it in the resources page. The simple C program outputs a bit to each of the
8 bits on the parallel port. Have fun with it! This is a REALLY good start
to getting Linux involved in the system...
I've also got a C program that will give you the status of 5 of the
parallel ports other input bits (Errors, Select, Paper End, ACK, & Busy).
It will return a status number. Since each bit has two positions, and there
are five bits, there are 2^5 (32) combinations. I've created a chart that
goes with the program. That's 5 inputs and 8 outputs. Add a second
parallel port, and that's 10 inputs and 16 outputs. A lot can be done with
that! Even more if one wishes to get into multiplexing...
The book I'm reading is: Robot: Mere Machine to Transcendent Mind by
Hans P. Moravec. It's an extremely insightful book, and I recommend it
for everyone to read!
01/12/1999
Yeah, I'm still here. I'm in the process of reading this awesome book
about robots. Hopefully it will give me some insight, and inspire me to get
back to work on my project!
01/12/1999
Well, I've put a hold on the robot project. I've got a lot going on, but I
WILL get back to it!!!
12/31/1998
Ok, here is the PM5 version of the mobility
subroutine. Having problems scanning it in... working on it. I got the
ULN2003s in the mail last night, so it's going to be a LONG holiday
weekend!
12/30/1998
Sorry! It's been a while since I last posted. Today I'm going to post
a couple of docs, a flowchart for the mobility subroutine structure and
a basic circuit diagram using two ULN2003s. I made them in Aldus PageMaker 5,
but I can't export them. So I'll scan them in and offer them as pictures
(either GIF or JPG), and PageMaker 5 docs (PM5).
In any case, I got some stepper motors (FINALLY!) from C&H. But they're
6-wire, not 5. Hopefully it's just something simple... But I'm going to
put together my first basic frame (4 steppers motors & the circuit board).
When I do I'll let you know!
12/19/1998
Tried to go out and find some stepper motors here in Toledo. Either
they don't exist, or I didn't look hard enough. Ordered some from
C&H Sales, also ordered some ULN2003s from JDR Microdevices.
Toyed with the input properties of the parallel port. Found 4 usable
pins that can be used for simultaneous input while using the 8 data pins
for the motors. Will post small BASIC program demonstrating.
12/18/1998
Finished basic site design and overview docs. Need to go out
tomorrow and get some good stepper motors to play with, and maybe
a ULN2003.
Document written by Joe Thielen.
Last modified 04/24/2000