Page 12 - PDA Robotics Using Your Personal Digital Assistant to Control Your Robot

PDA 00 5/28/03 8:19 AM Page xi
Bit Clock
UART Interface Contents 63
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

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