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robotic arm can be controlled manually at any time. It doesn’t make
a difference if the interface is connected to the computer or not.
DOS-level keyboard program
The keyboard program is a DOS-level program that allows one to
control the robotic arm in real time (interactively) using the key-
board. The following keys perform the following functions:

Key Function
U Up
L Left
G Grip
SStop
D Down
R Right
H Release
Q Quit

Speech control for robotic arm
294
The speech control for the robotic arm uses the speech-recogni-
tion kit from Chap. 7. In this section we will build an interface from
the speech-recognition kit to the robotic arm. This interface is also
offered in a kit form from Images SI, Inc.
The schematic for the speech-recognition interface is shown in
Fig. 15.11. The interface uses a 16F84 microcontroller. The pro-
gram for the microcontroller is as follows:
‘ Speech Recognition Interface program
Symbol PortA = 5
Symbol TRISA = 133
Symbol PortB = 6
Symbol TRISB = 134
Poke TRISA, 255
Poke TRISB, 240
Start:
Peek PortB, B0
If bit4 = 0 then trigger ‘Trigger enabled, read speech-
recognition circuit
goto start ‘Repeat
trigger:
Pause 500 ‘Wait 0.5 seconds
Peek PortB, B0 ‘Read BCD number
Team LRN
Chapter fifteen