Page 76 - PDA Robotics Using Your Personal Digital Assistant to Control Your Robot

PDA 05 5/30/03 11:35 AM Page 52
Figure 5.14
Motor controller PDA Robotics
PCB motor 1
connector (A),
ribbon connector
(B), motor 2
connector (C),
motor power supply
connector (D), range
finder power
connection (E),
L298 motor
controller chip (F),
and diode (G).

The Sharp GPD12 IR Range Finder
The Sharp GPD12 IR range finder is connected to the first configurable
analog pin on the PIC16F876. Figure 5.15 shows the pin (C), which is
connected to the analog output of the range finder and the analog
input of the microchip.

Figure 5.15
Left side of main
circuit, (A) 9 V
power connector,
(B) resistor, (C)
range finder input
pin, (D) capacitor,
(E) 20.0000 MHz
crystal oscillator, (F)
+5 voltage
regulator, (G)
16F876 micro-
controller, (H) and
motor controller
ribbon connector.

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