Название: Designing Mobile Robot Interfaces with 16-bit Microchip MicrocontrollersАвтор: Ahmet Bindal
Издательство: Springer
Год: 2023
Страниц: 356
Язык: английский
Формат: pdf (true)
Размер: 12.8 MB
This textbook provides semester-length coverage of the basics of embedded programming to develop robotics-related projects. The author avoids the typical, theoretical approach of teaching students to develop embedded software using formal methods, in order to emphasize practical and fun projects. Every project detail is explained, including the overall system architecture, working principles of each peripheral device, program development to integrate each peripheral to the system, how to configure the processor, functionality check, operating system, and even developing front-end electronics for some sensors which do not have digital interface.
This book is written for senior-level undergraduate students and young engineers to capture the basics of register-based, embedded microcontroller programming specifically to develop robotics-related projects. The manuscript mostly concentrates on robotic interfaces and supporting firmware that enable the reader to integrate these programs into building an autonomous robot. Every interface program is explained in detail, including how the peripheral hardware works, how to configure and set up the device registers in a 16-bit Microchip microcontroller, and how to program the peripheral registers to achieve a working interface.
Although this book is written for the 16-bit Microchip processors, specifically for dspic33fj128mc802/804, the principles can also be applied to all 8-bit and 32-bit Microchip microcontrollers.
Chapter 1 covers how to configure the oscillator registers. Chapter 2 configures the parallel port of the processor, and how to set up the input and output ports, using the Peripheral Pin Select (PPS) features of the processor. Chapter 3 is about the serial interface, but mainly focuses on the SPI interface of dspic33fj128mc802/804 since this interface is so much faster compared to I2 C. Chapter 4 covers the interfaces with external memories, SRAM and Flash. External memories become indispensable for any design when the 16 KB internal data memory becomes full, and the application requires extra memory for large-scale data transfer to produce a result. Chapter 5 covers data converters, the native Analog-to-Digital Converter (ADC), and Digital-to-Analog Converter (DAC) which is not a native to some 16-bit microcontrollers. Chapter 6 goes through primary sensors for a mobile robot. How a robot maintains stability, how to achieve cognitive recognition of objects are covered in this chapter. Chapter 7 studies the devices required for robotic actuation such as servos, brushless and stepper motors, and their operation. PWM signal generation with timers, the PWM1 and PWM2 motor control units, and the Output Compare unit are discussed in this chapter in great extent with working programming examples. There is also a short appendix at the end of the book that shows how to build the front-end electronics between a sensor and the ADC, using operational amplifiers, in case the reader ventures to design one.
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