PDA Robotics: Using Your Personal Digital Assistant to Control Your Robot

PDA Robotics......Page 4
Contents Summary......Page 8
Contents......Page 10
Introduction......Page 16
Acknowledgments......Page 20
1 Anatomy of a Personal Digital Assistant (PDA)......Page 24
Beneath the Cover......Page 28
The SA- 1110: An Example of ARM Architecture......Page 30
Microchip MCP2150 IrDA Standard Protocol Stack Controller......Page 38
Vishay TFDS4500 Serial Infrared Transceiver......Page 40
L7805ACV Voltage Regulator ( 5 Volts)......Page 41
L298 Dual Full- Bridge Driver......Page 42
Sharp GP2D12 Infrared Range Finder......Page 43
DYN2009635 20 MH and RXDMP49 11.0952 MHz 
“AT” Cut Quartz Crystal Oscillator......Page 44
Essential Tools and Equipment......Page 46
Safety First......Page 49
Where to Get Equipment......Page 50
4 Infrared Communications Overview......Page 52
IrDA’s New Full Range of Digital Information 
Exchange via Cordless IR Connections......Page 54
IrDA Control......Page 56
Windows CE ( Pocket PC) and IrDA......Page 58
Communication Link Speeds......Page 59
Communication Link Turnaround Times......Page 60
MIR Coding......Page 62
VFIR Coding......Page 63
System Overview......Page 66
Setting the Baud Rate......Page 69
The MCP2150 Connection to the IR Transceiver......Page 70
The MCP2150 Connection to the PIC16F876 Microcontroller......Page 72
The Motor Controller Circuit......Page 74
The Sharp GPD12 IR Range Finder......Page 75
The Vishay TFDS4500......Page 76
The Microchip MCP2150 Plug and Play IrDA......Page 81
MCP2150 Applications: PDA Robot......Page 82
Crystal Oscillator/ Ceramic Resonators......Page 85
Baud Rate......Page 86
Modulation......Page 87
Network Layering Reference Model......Page 88
IrDA Data Protocols Supported by MCP2150......Page 89
IRDA Standard Protocol Layers......Page 92
PDA and PDA Robot Handshake: How Devices Connect......Page 94
Normal Disconnect Mode ( NDM)......Page 95
Discovery Mode......Page 97
MCP2150 Operation......Page 99
Optical Transceiver......Page 100
PIC16F876: PDA Robot¡¯s Microcontroller......Page 101
PORTA and the TRISA Register......Page 107
PORTB and the TRISB Register......Page 110
PORTC and the TRISC Register......Page 113
The L298 Dual Full- Bridge Driver ( PDA Robot Motor Controller)......Page 119
Description......Page 120
The GP2D12 IR Range Finder......Page 125
Calibration......Page 127
IR Light......Page 128
Operation......Page 129
Creating the Circuit Board......Page 130
Positive Photofabrication Process Instructions......Page 131
Parts Lists......Page 138
Placing and Soldering the Main Board Components......Page 140
Placing and Soldering the Motor Controller Components......Page 143
The Infrared Transceiver......Page 145
The Battery Packs......Page 146
The IR Range Finder......Page 147
Cutting the Aluminum Pieces and Drilling the Holes......Page 148
Assembling the Geared Motors......Page 150
The Ribbon Connectors......Page 153
The Camera ( Accessory) Mount......Page 157
7 Programming the PIC16F876 Microcontroller......Page 160
Software Installation......Page 161
Hardware Installation......Page 162
General Operation......Page 163
EPIC for DOS......Page 164
EPIC for Windows 95/ 98/ ME/ NT/ 2000/ XP......Page 165
EPICWin Controls......Page 167
The PICmicro MCU Compiler......Page 168
The Command Line Compiler......Page 169
The Source Code......Page 170
Program the PIC16F876......Page 176
8 PDA Robot Palm OS Software 
Using Code Warrior 8.0......Page 178
Creating the PDA Robot Project......Page 180
9 PDA Robot Software for Pocket PC 2002
(Windows CE)......Page 192
Microsoft eMbedded Visual C++ 3.0 Overview......Page 193
Comprehensive Access to the Windows CE Platform......Page 196
Fast, Flexible Data Access......Page 197
Building the PDA Robot Pocket PC Application......Page 198
Creating the IrDA Link......Page 200
The Wireless RF Link......Page 209
Remarks......Page 211
OnWireless: Implementing the CPDASocket Class......Page 212
The Video Link......Page 218
Motion Detection......Page 220
Sending Data Using FTP......Page 224
The Wireless Data Link......Page 229
Global Positioning System......Page 234
The TeleType GPS......Page 235
Symbol SPS 3000 Bar Code Scanner Expansion Pack......Page 237
Sierra Wireless AirCard 555......Page 238
Operations of the Future......Page 239
Index......Page 244
About the Author......Page 256