âMICROCONTROLADORES EN ROBÃTICA MÃVILâ - Profe Saul
âMICROCONTROLADORES EN ROBÃTICA MÃVILâ - Profe Saul
âMICROCONTROLADORES EN ROBÃTICA MÃVILâ - Profe Saul
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!"#$%&'() * +, -"#$! ! ! - ."# !-/! * !!!!Microcontroladores ServomotoresEstructuraRobótica Hardware TimersMóvil Software PWM
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1. Objetivos,G ! "# %&'() - G * - ! C - G -R- ! - - -!- R- #G ! -* ,- -G-- '
2. INTRODUCCIÓN2.1. ¿Que es un microcontrolador?, - * .:(%- C D ! !!F - * -.& "64,S-:'! S*!-$" 6$S!?4 ,S! ? - 4-- G !'>'%!- G GC5• # '!- %05• #G• ? '• 1 @T2• &G0> U• R E ! EU• 2GD#A 1$F• $• $ *!-• " 22• G 1 V? C? C• 1 • - #8DPM*PH 7F• !&8,,I78,)!$0!$@0!!• H U• 0 %• B%" 6 U+ # - ! - * ! *- :
2.2. Características de un Microcontrolador##$%&!' !()? MG *!(!!(+) .%*%''!!'!,!(+)7. )#!*-+ ./0 !1 $ D; =F! - D;?$"=F! *D;7$=F###!2 -) @! ' % 7 D! ! !F2 !) % 0 4 D !!7?!F2)0!%@!'& D!!F##3(4%!!)B5!005!B5!5)WH H 5!)TAMA>
2.3. Diferencias entre Microcontrolador y Microprocesador6!'*7+) 6!*7 +)7 - ! D 64?7?E$?,"7?!?E7! !F
2.4. Criterios de selección#8$&!!96!);# =?* DJJF-)#J6 (4)!6 )DB> B>>>> *F6 5!!!)& -) ? X'>D'!Y:(>F """#8#:!I! G! #83,- ;'!!9')D *H +IZ0B>>>>>!$ IZB>>>>>!'>BIZ0>>>>!%'A#IZ>>>>>!X'>IZ:B>>>FI '!!!)'>'%IZ'>'%IZ'>0'%IZ'>@'%IZ%'>IZ%'>:IZ%'IZ%'6!'!!!9(,), * $ -#88!'I'!!',!!)-.
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3. La familia PIC16F87X3.1. ¿Qué es un PIC? Introducción histórica../0 18"#1 E&,?$A 4!=!!:%BM"! -1 1 7 M" 7 ?/0ICCCC?/BICCCCM" %!#%>>! (> ! G E$ M".#"D"#F:(B&. * !*E$ *-% ! - -.6C.-.:(B!!-"#%#BC?*!:(B6 1$ 1 *! -.!! "#- R7'>!M" !G ! !CM"7M" "D F!:'B5# "!*#!?,5 .! ?/0!?/B!G"#1 1 $ .!?4!# !6 1$"#%BC. - .!1 7 # 1$!14 1 !"#%#BC? RG-! *G@
3.2. Familia microcontrolador PIC $# >>>)'I IE@I J"#S"$#'I 7"$1"#@ I@I!>@ 2GG +B5 G J00"'1 %@? $" >5!9)I J"#S"$#@I!'I!>I'I $1"#$$1I> [ 2GG +>5 14A'? $" >>>5!9)@I J"#S"$# 'I%'I @I> !'[ G 'I 0B"#+?II7IA0%'? B%1 $? >>>5!9)%I J "#S #8\"$#-C%IJ00 %0'@ #G B' %" A:>? B% 1 $@ >>>5!9)%I J ?-"$#A+%I'I(( %@T @> ! 1 0 AB0%? >@1 B
3.3. Características generales de la familia PIC16F87X.7 +"#%&'(0!"#%&'(@!"#%&'(%"#%&'((#*+4! $"5@?3 $"5@?8 $"5@?" $"5@??& *C 7#I> 7)I> 7)I> 7)I> &,?$A@@T2 @T2 'T2 'T2? : : 0%' 0%'1 ' ' B% B%E$ ?!2# ?!2!#7 ?!2# ?!2!#76] ' @> ' @>" 0 @ 0 @4 0 0 0 0## #$ $$!8$?4 $$!8$?4 $$!8$?4 $$!8$?4# I $ I $,#?E7>B ' B '3" 0B 0B 0B 0B, @ @ @ @DF1!211!211!211!21DH 4!1$4FDH 4!1$4FDH 4!1$4FDH 4!1$4F%
3.4. Visión externa (encapsulado / pines).(
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3.5. Visión Interna. $"5@?3A@?" $"5@?8A@??
3.6. Sistema de memoria.4-A! !? ! "#%&'()+ , - R # R'!(
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3.7 Características especiales4"#%&'()! . C * ,-+17$4!+CDJ!1FD2JI!21F!+bJI DH 4Fb1I D1$4F05 @4 H H 74FB"$,!G%("7D>>>I>>0F'# :# !GG> #! G ,?2I"#74 !- ,- >>(+D?77$$>>(AF0I!! #+#>+&,?$A2 728M+ a !2%2("E1>a !2%2(*>! 6 :! H 4+&,?$AA a, #16>a, #16'! #7+# 1 a >a@
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3.8. Puertos de Entrada/Salida.Puerto A?%,DEF ?4"$?+#c\4"$? #c>\4"$? ?14? /14?, ?*C # , ?+00
Puerto B2'?- ?C4"$2 # 2 I ,14"1dMe(ZD^28F I * ,* 2e2(+2@Z!*! "#$,, D142F 2"&, 2+0B
Puerto C#'?- #4"$# DF$ 4"$# ., #+0%
Puerto D7'#4"$7 "E1 $!$ 174"$D@FR44,, 7+0(
Puerto E0$ 4"$?7#167 $!$ 174"$, +0'
3.9. Timers!G4*+' D41#$F0$ ? - @,$, B4 I D$?!$!$>F! J !"#$%F+b,.GD&E@FD$Fb, I!"#$F+b,.GCD?@E41#TFb$ .GCD41$Fb, Ib?.CGG!-.CG -4.0:
!$4*+% D4 #$F0$ 4 A!4 ,@ 4 16B4 I J &'"#$%F+b,.GGD&E@F&'"#$F+,.GCC41$#6ab$41$#6a #E41$#"E##b$41$#6a>* #>E41$1E4#T"0,.GC .G+D4$/6#a>Fb$D4$/6#a>FG$, b$D4$/6#aF $,* #8@>
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3.10. Módulos de captura, comparación y PWM.A##!%I- + % %0EH ! ,####C D F,+ #%! '+##IZ##,+##AE##IZ##,+##A8+###16##E###16##(I%+6 +$c>\BI@+##C)+##C/+H + 6 +6H + H 0I>+##C 0+##C >+2##C >>>>a7# E# EH D##CF >>>a # !G >>a # ! >>a # !@ >a !% >>>a !##C D##C"& F >>a !##C D##C"& CCaH F>>a # ! D##C"& !##C F>a ! !D##C"& !##CF##4 f##4 ?E7D?E7*F@
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3.11. Interrupciones,"#%&'(0E(%0 !-"#%&'(@E((@,+74 >? 2>E"64D "647Ma!G"67Ma>!14"16dMD%FF0# 142D@+(F@&1 B74 %74 (# ##'# ##:4 ># &8$?4& 8$?40&?E7@4 D"#%&(@E((F, "64#16!""/*"64#16!""C !M""64#16D(F? @%
!!'!? # ?* $4?48$!#,?4AH J C0 +H d4 $4?48$d4 0H d4 ? "#%'(0E(@+H d4 >C>!>C?>!>$4?48$d4 - >0H d4 - >"#%'(%E((+H d4 - %*$4?48$d4 - %*0 H d4 - %*@(
3.12. Módulo conversor A/D?E7 "#%&'()!>B %&'(0E(%' %&'(@E((, 5aDD5VFID5IFF+aDD5VFID5IFFE>@a5E>@D5VFD5IF*C- 55,D5VFD5IF D577FDM67FC ?0IZD5VF?IZD5IF@+?7$A+?7$,!?7#16>!?7#16'!!%A]#+D4"$?FD?7#16F$D?7#16>F$4?7D?7#16>FD?7#16>F]# +, ?7"&??7"?M""0] @]#+?M1E^716D?7#16>FB] -+ M1E^716ac>\?7"&ac\ %], G?7$A+?7$,(]6]]@'
3.13. USART8$?4(() - "#%&'() *) *F+ *DF8 +b#%E4)E#T+DFb#(E)E#T+ DF0,.@.$a>$ a! .DG F'+5$I0E$I@'B%,G(,--8$?4+b" b+ b ,b',',8$?4 J:8$?4 $,.@:
4. APLICACIONES <strong>EN</strong> LA ROBÓTICA MÓVIL CON EL PIC16F87X4.1. XPLORER-DETECTOR DE MINAS ANTIPERSONALES -. - ! R DC !!!!!F ),1 . C !$)>B8$$! D#F* DI* #I 1$F! ! !C#*!!*!*DijkQF! G -.D F!G ! R 3->D9!!!8$# 4!0!!)"#%&'(0!)7BF)DF)#*#I 1$2E6B>
$ +, 00B75G5G)& ?5?8$3 4!0!!#1$H "6:B!H "6:'H "664$J4G & ?8$8%&!=C DF " D 5 2F - **- D&FG !#)-!!-R!*D !!!*F* !* $"5@?3F!!!&B
8$!>'# !3)?! . H D F! ! !8)HE -.DFD,:02F8$"I!1G+ # ! - !! =!)& 6>C>C>!B!)$D"BF!)!% ! *B
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#B5 ! +• o $ ?o ,DCF>?o @?o 4)I)B?o ,?o 7>?o 414?, 00?• *(B?• DCF>>?Dimensiones 18x12x12 cmPeso 300 gVelocidad 10 cm/sBatería motores 5V/750mAAutonomía 1 horaBatería lógica 9V/300mAAutonomía 2 horasProfundidad detector metales 6 cmAlcance transmisión RF 100m8$J ! ) C 6 - ---#- *C*- G - R - G - B@
4.2. SCRATCHI6C* * *- 8#$! $#?4#A" "#%&'(0-C- !?):;I' % :8##,I!, $* , G D5FC* 8+,!!! ,*=;I' 8#3%&!=C1# ) !-**!.'T-*!.-. ,,!! .G,, I#12 /+ BM - D>!' FBB
, -11" *3 0C* +4$D@>>%F$- ?" +#G !- !@) H' $"5@?3) --? R-$ "#- ?* "#%&'(0 - * #.- !J)!!!'8#8,C9(!, DF C* * ! ?! "#%&'(0 !R- 2 ! -R!B%
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4.3. Robot Explorador Araña83$!,?.R- ,*##7- -* - iQ ! C 8 ! G + !R !* 83#,I! * D F - - , *, ,* $ * !$#)%9833,C @ # A ? J 8*4 "7 G 838 4!,4!90!,*##7?8?,!*,00 A, , * G! ?.! -G- , * :5 , 5B'
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4.4. PLATAFORMA ROBÓTICA SUBACUÁTICA CONTROLADA POR UN ALGORITMOG<strong>EN</strong>ÉTICO.$.! . *C8?M *- ! G$G)/88$!C G-!! . ***! , ! ! C - * +b$b$*b$Gb$88#!* D-*FC !*- $ * 4 J *!-C- !$3)
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4.5. Robot Pionero 1B G G . ! G8$!2- D0C0F!* ! * ! > !$?)K-!$L$G G+7.* - '>7 I 7 7 J . 8#!I!$ * D? $F+ G ! E G* $ + - G*4-! ! +$.+ *7# .G %@
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7 DBF+@> 5+@'E*C +0B>4+ ,7( # +0%B?M+0+8? ! #- G 1G- 8G ! %(
4.6. Puñalada amarilla.. ?-* *- 8"$! 5#- -G $"5@?" -$5!- , ('>BB5! !C -G5!##)
8"3:C. @G!- * G-G - C7! 41" & 561!--!! - * H - . * 4 $ !#8)&4178"42-4- ! H ! ?E7 !7 -"# 41>D F -! !#) $",@?"%:
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4.8. MICRO ROBOT "Voyager"8@$!,5. !3#)E@>X'F 7 , G C!-GG8@3:CJ C'C@ -.*J J#8, - ! * I @B!-G! ! * , ,D,F G D4 M 2C $F - !%+@>>+7! G R # D@lF(B
!- *R* ! $"5@?8 gh 7 ' > A # @T &!: ? B%2 1 ! , %&'(C #! C - C -! #! , ,:'gh 7 ! Cm!- !- C@>n ? ,:' Bn,,- #6/I(>g0h!- 7 !-- *G, >m * ! - E, "E1 G8@8,C , , - ,*@( i Q# # !7-'! 7! -- G !7- D F!- ,H DIH F H J ! G 8@ !-.J -,R- - C - (%
4.9. Robot SUMO” MAMPO”8J$! i Q . , 0:C: G % 8 ! iQ- !%5@!B?! "#!%&'(%!%&'(7 !33)] G 7 - - G - ! 8J#,I!/ !* 00 ! %, . :B!38)
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5.Estructura de un robot móvil.5.1. Evolución del proceso de diseño y construcción!% .I6+# !! R ! G - *I6+* G ! * G D F ! DF*8 - ! (G // ! ! R ! ! R 0I6#+" * * - ! !@I6"+? G- *- BI6#+$ **-C C?G, G 7 - CD*! !F%I6# +# ! ! -C!- 8 C*(:
5.2. Nivel Físico#$97? ! - C ! ! !$--C !!7C!*-G! - D$F!- -! G !!"#$'>
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6. Conclusiones #G * A-- %&'@)* %&'() ! '&))) A - - -G!- . --$ - R*G R!! * - :(
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