From news.media.mit.edu!bloom-beacon.mit.edu!spool.mu.edu!uwm.edu!uwm.edu!usenet Wed Sep 29 11:48:43 EDT 1993 Article: 6538 of comp.robotics Path: news.media.mit.edu!bloom-beacon.mit.edu!spool.mu.edu!uwm.edu!uwm.edu!usenet From: rick@ee.uwm.edu (Rick Miller) Newsgroups: comp.robotics,alt.toys.hi-tech Subject: Re: RC servo control dilemma Followup-To: comp.robotics Date: 29 Sep 1993 14:31:45 GMT Organization: Just me. Lines: 132 Distribution: world Message-ID: <28c68hINN418@uwm.edu> References: <1993Sep28.221037.6975@ncsu.edu> NNTP-Posting-Host: 129.89.2.33 Summary: It would be simple with a Stamp. rmlegran@eos.ncsu.edu (RICHARD MARK LEGRAND) writes: >I think this is a FAQ, but it doesn't appear in the FAQ list. I would >like to control an RC servo (the one's by Futaba and the like) via a >parallel digital signal (4 bits will do). This sounds like a *perfect* application of the "BASIC Stamp" from PARALLAX. It's a little (1x2 inch) microcontroller you program in BASIC. It runs on anything from 5 to 12 volts (it has a built-in 5V regulator), has EIGHT I/O lines which can be used in any number of ways... PWM, pulses, serial, etc. You could use one line to control the servo, then you could use the rest of the lines for FIVE bits of parallel I/O (data[0..4], flash, ack). The program would be *trivial*: ' This software is hereby Copyright Rick Miller, 1993 ' distributed under the terms of the GNU Copyleft with ' NO WARRANTY NOR GUARANTEE OF MERCHANTABILITY OR FITNESS. ' USE AT YOUR OWN RISK. (Even *I* haven't tested it!) ' Note that I probably don't have the parallel port ' signal levels and timing quite right. ' Aliases for I/O lines: Symbol bit0 = 0 Symbol bit1 = 1 Symbol bit2 = 2 Symbol bit3 = 3 Symbol bit4 = 4 Symbol flash = 5 Symbol ack = 6 Symbol servo = 7 ' Variable allocation: Symbol value = b0 ' Use RAM byte 0 for "value". begin: let pins = 0 ' Clear the output lines. let dirs = %11000000 ' Line Function ' ---- -------- ' 0 Data bit 0 (Input) ' 1 Data bit 1 (Input) ' 2 Data bit 2 (Input) ' 3 Data bit 3 (Input) ' 4 Data bit 4 (Input) ' 5 Flash (Input) ' 6 Acknowledge (Output) ' 7 Servo Control (Output) let value = 100 ' Set initial pulsewidth to 1ms. ' Pulses will range between 1ms ' & 2ms with 5 bits of resolution. ' (That's 30us/step.) main: if flash = 1 then getval gosub outp goto main getval: let value = 100 if bit0 = 0 then getb1 let value = value + 3 getb1: if bit1 = 0 then getb2 let value = value + 6 getb2: if bit2 = 0 then getb3 let value = value + 12 getb3: if bit3 = 0 then getb4 let value = value + 24 getb4: if bit4 = 0 then getend let value = value + 48 getend: pulsout ack,100 ' This *should* ACK. goto main outp: pulsout servo,value ' Pulse "servo" line for "value". pause 20 ' Wait 1/50th second. return And here's the best part... The Parallax BASIC Stamp only costs [US]$39. I have no personal affiliation with Parallax, but I was mighty impressed by their little Stamp. Your only difficulty would be if you only intend to build *one* of these gizmos. You'll need special software and a cable to program the stamp's EEPROM, for which you'd have to shell out an extra [US]$100 !! (OUCH!) It's called the "development kit". The development kit also comes with a manual. You can contact Parallax for more info at: Postal: 3805 Atherton Road #102 Rocklin, CA 95765 USA Voice: +1 916 624 8333 FAX: +1 916 726 1905 BBS: +1 916 721 9607 (1200-14400bps, no parity, 8 data bits, 1 stop bit) They say: We invite you to call our BBS to try our software before purchasing the complete product. Prices are: BASIC Stamp [US]$ 39 (Pre-assembled microcontroller with 9-Volt battery clip and some prototyping space on it) BASIC Stamp Development Kit [US]$139 (One BASIC Stamp, editor/downloader software, download cable, and a manual) I'm going in with a few guys here at WEPCo. to get one development kit and a few extra Stamps for us to play with. I'll be tinkering in the robotic realm, while the others are looking at a TDD-modem application. Once I've gotten the development kit, I intend to reverse-engineer it and write a BASIC tokenizer and downloader in C, which I would then make freely available. I'll be running it under Linux, but it should be simple enough to port it to any other platform. (I always *wanted* to learn how to use "yacc"... ;-) RICK MILLER Voice: +1 414 221-3403 P.O. BOX 1759 FAX: +1 414 221-4744 MILWAUKEE, WI Send a postcard and I'll send one back. 53150-1759 USA Sendu bildkarton kaj mi retrosendos unu. From news.media.mit.edu!bloom-beacon.mit.edu!usc!howland.reston.ans.net!math.ohio-state.edu!magnus.acs.ohio-state.edu!mbattist Thu Oct 7 16:30:48 EDT 1993 Article: 6633 of comp.robotics Path: news.media.mit.edu!bloom-beacon.mit.edu!usc!howland.reston.ans.net!math.ohio-state.edu!magnus.acs.ohio-state.edu!mbattist From: mbattist@magnus.acs.ohio-state.edu (Mark A Battisti) Newsgroups: comp.robotics Subject: BASIC STAMP ORDER STATUS ********* Date: 7 Oct 1993 17:06:11 GMT Organization: The Ohio State University Lines: 132 Distribution: usa Message-ID: <291ia3$4fa@charm.magnus.acs.ohio-state.edu> NNTP-Posting-Host: magnusug.magnus.acs.ohio-state.edu Here is the latest info on the BASIC STAMP parts kit orders. I have sent out everything that I have gotten payment for. You should expect it in a week or so. It was mailed either tuesday or thursday (10/5 or 10/7). I have to applogize for one thing though: If anyone has ordered disks with software then you are not going to get exactly what you need. I mailed you the software that I had from the stamp that I bought a month ago without realizing that the software version had changed for the newer chips. The downloader software that you need is at the ftp site wpi.wpi.edu. (see below) if you are unable to get the file from there then you can send me the disk back and I will retuurn it with the correct software. I am sorry for the inconvenience. I was able to whip one of these kits tegether in about an hour and had no problems at all (other than the software version.) If you have data books then the pin outs will be easy for you to find for the transistor and voltage regulator, if not - here you go: ALL VIEWS BELOW ARE ***BOTTOM VIEW*** ----------- _______ / \ c=Collector / c b e \ b=base |_________| e=emmiter 2N3906 _______ / \ a=V in / a b c \ b=Ground |_________| c=V out (5 Volts) LM2936 ___________ | | r= resonator connection | r g r | g= ground |___________| Ceramic resonator If anyone has any problems wiring up their circuit then I can make some suggestions. If anyone has any problems with the shipment then let me know. Thanks, and enjoy. Below is the list (once again, and updated). John Stoffel has been kind enough to set up an ftp site for the BASIC stamp software and related info. He says: > I've setup an ftp site. Tell people that I will also accept > submissions here as well, but to please not flood me with tons of > email right yet. I'm very new to uControllers, so I won't be able to > tell how good stuff is off the bat. The info for the site is: Site: wpi.wpi.edu Number: 130.215.24.1 Dir: /stamp/ Maintainer: John Stoffel Email: john@wpi.edu You may have some fun poking around there and get some ideas before the hardware arrives. Careful though, I don't want you to get too excited and have a nervous breakdown because your kit hasn't arrived yet. :-) If you have any further questions don't hesitate to ask PAID Kits 9Volt Disk Manuals Aaron M. Pool y 4 2 1 Alan Mimms y 1 1 1 Andrew Herdman N 1 1 Art Makosinski y 6 3 1 Brian Sullivan y 4 4 1 1 Clif Cox y 1 1 1 1 Cliff Lum y 3 1 1 1 Daniel R. Mauch y 3 1 1 Dave Platt y 2 1 David Rowell y 2 2 1 PAID Kits 9Volt Disk Manuals Deryl Shields y 2 2 1 1 Detlef Jurkat y 2 1 Dr. Gary Maul N 1 Ed harris y 1 1 1 Ed Koch y 2 1 1 Ed Mauro y 1 1 1 Eric Putt N 2 Frank Richter y 2 2 1 Gary Muhonen y 2 2 1 1 Ian Crowther N 2 1 PAID Kits 9Volt Disk Manuals Ian Sherlock y 1 1 1 Jack Coats y 3 3 1 1 Jon. Andersson y 1 1 1 1 K. C. Lee y 5 1 Ken Chiang y 3 3 1 Ken. Atchinson y 2 2 1 1 Kevin Jones y 2 2 1 Kirk Bailey y 8 1 2 Mark Moorcroft y 1 1 Mic. Acharjee y 2 1 1 PAID Kits 9Volt Disk Manuals Michael Hughes y 2 2 1 Mike Gittelsohn y 2 2 1 1 Mike McCarty N 1 1 1 Pawel Wodnicki y 2 1 Prabal Dutta N 1 R.G. Keen y 2 1 1 Randy Hall y 1 1 1 1 Rich Catena y 1 1 Richard Cook y 4 4 1 2 Rodney Radford y 3 1 1 PAID Kits 9Volt Disk Manuals Roger Kelly y 2 2 1 Russ. Petersen y 2 1 1 1 Ryan Miller y 2 1 1 Steven Sweeney y 2 1 1 Toby B. Martin y 2 2 1 1 Tom Brusehaver y 3 2 1 1 Tom Saksa y 2 1 1 Vance Krupa y 4 TOTALS: 109 56 28 37 48 People Kits 9Volt Disks Manuals Take care. ........................................................................... ..Mark.Battisti.....................................1940.Summit.Street.#B.. ....................................................Columbus,.Ohio.43201... ..mbattist@magnus.acs.ohio-state.edu................(614).299.0317.........