B GIO DC V O TO TRNG I HC DUY TN TRUNG TM CEE

A. B.

C.
D. C. E. D. F.

A.
. Hin nay th ch yu s dng 3 loi chnh lp trnh v to ra cc sn phm l:Propeller ,SX Microcontroller, Basic Stamp.

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c gii thiu nm 2006. Propeller l loi chp c 32bit c kh nng x l nhanh. Ngn ng lp trnh: -ngn ng cao cp l Called SpinTM -ngn ng mc thp l ngn ng Assembly.

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c gii thiu nm 1997, tc x l ca chp SX rt cao. SX c th c lp trnh trong ngn ng mc thp ASSEMBLY hoc ngn ng SX/B.

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c gii thiu trong nm 1995 Basic Stamp d dng s dng

vi cc Microcontroller trn th trng. Vi kch thc nh gn, Basic Stamp s dng ngn ng PBASIC, bng cch s dng nhng lnh n gin nh FOR...NEXT v IF...THEN.....DO WHILELOOP.. Basic Stamp gii thiu rt nhu chc nng v cc sn phm nh: robottics, sensors, cc quy trnh kim sot v cc sn phm khc. Basic Stamp bao bao gm: Basic Stamp 1 v Basic Stamp 2. C cng chuyn i RS232 sang USB.

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H Basic Stamp bao bao gm: Basic Stamp 1 v Basic Stamp 2

BASIC Stamp 1 Starter Kit Stamp works Experiment Kit BASIC Stamp 1 Discovery Kit

Boe-Bot Robot Kit

SumoBot Robot Competition Kit Penguin Robot Kit

B.
Basic Stamp 2: Bao gm 6 Chp l

Basic Stamp

B.

B.

C.

D.
Basic Stamp c ng dng rt rng t nhng ci c bn n nhng ci phc tp, c dng trong cng vic nghin cu, ging dy v ng dng vo thc t v bn cnh c th tham gia thi u ti cc sn chi. Di y l mt s sn phm ng dng cc loi chip Basic Stamp nh sau:

Basic Stamp Analog And Digital. Smart Sensors.........

D.

D.

D.

E.

E.
-VSS: Chn GND -VDD: in p 5v -P0-P15: cc cng I/O -SIN,SOUT : Kt ni vi PC(TX,RX) -RES: Thit lp li d liu

E.1
ng c servo c thit k cho nhng h thng hi tip vng kn. Tn hiu ra ca ng c c ni vi mt mch iu khin. Khi ng c quay, vn tc v v tr s c hi tip v mch iu khin ny. Nu c bt k l do no ngn cn chuyn ng quay ca ng c, c cu hi tip s nhn thy tn hiu ra cha t c v tr mong mun. Mch iu khin tip tc chnh sai lch cho ng c t c im chnh xc.
CU TRC V CHC NNG

1. Motor 2. Bo mch in t 3. Dy ngun(red) 4. Dy tin hiu(Yellow or White) 5. Dy GND (Black) 6. B phn o in th 7. B truyn rng u ra 8. B phn gan banh xe 9. B phn vo bo v 10.Chip iu khin

E.1.1
Mt s tp lnh c bn: -PIN : l mt bin/ hng s/ biu thc* (0 15) ch r Chn I/O s dng -CON : Khai bo hng -DO..LOOP: C php: DO Biu thc LOOP -PULSOUT: C php: PULSOUT PIN,(Bin,hng s,biu thc) -FOR NEXT: C php: FOR Counter = StartValue TO EndValue Biu thc(s) NEXT Chnh thng s STOP cho ng c Servo: -Cu trc chng trnh: ' {$STAMP BS2} '{$PBASIC 2.5} Khai bo cc PIN s dng 2 ng c Servo Khai bo hng: thng s dng cho 2 ng c Main END Bi Tp: 1.Vit chng trnh chnh thng s STOP cho DC Servo. 2. Vit chng trnh iu khin cc hot ng ca DC Servo.

E.2
QTI sensor hot ng trn nguyn tc da vo h s ca b mt phn x, l s thay i b mt phn x nh sng trn sn.QTI sensor s dng 1 cm bin phn chiu hng ngoi l QRD1114 xc nh tnh phn x ca b mt trn sn m n di chuyn . Khi QTI sensor qua b mt ti ca sn, h s phn x ca n rt thp,cn khi qua b mt sng nh mu trng th h s phn x ca n rt cao v do s khc nhau ca hai b mt phn x nn chng phn bit c t cm bin u ra l mt Transistor quang
B mt phn x tt

B mt phn x km

E.2
QTI sensor hot ng trn nguyn tc da vo h s ca b mt phn x, l s thay i b mt phn x nh sng trn sn.QTI sensor s dng 1 cm bin phn chiu hng ngoi l QRD1114 xc nh tnh phn x ca b mt trn sn m n di chuyn . Khi QTI sensor qua b mt ti ca sn, h s phn x ca n rt thp,cn khi qua b mt sng nh mu trng th h s phn x ca n rt cao v do s khc nhau ca hai b mt phn x nn chng phn bit c t cm bin u ra l mt Transistor quang
B mt phn x tt

B mt phn x km

E.2
Cm bin c gi gn trong 1 module Cc cm bin QTI c kch hot bng cch t 5 V (VDD) trn chn W. Dng in qua tr 470 ohm lm sng Led.Tuy phn x ca mt sn th khn nng thu nhn ca QRD1114 l khc nhau nn c th phn bit c ang vng mu no.

E.2
Mt s tp lnh c bn: -VAR : Khai bo bin -GOSUB : Khai bo hng C php: GOSUB Address Address :kt thc bi RETURN tr v lnh gi trc . -DEBUG: Hin th thng tin ln mn hnh PC C php: DEBUG Outputdata{,outputdata,} -SELECT (bin,biu thc) CASE iu kin(s) Biu thc(s) CASE iu kin(s) Biu thc(s) ENDSELECT -HIGH: HIGH PIN PIN: L bin,hng,biu thc (0-15) c gn mc cao(1). -LOW: LOW PIN PIN: L bin,hng,biu thc (0-15) c gn mc thp(0). -RCTIME: RECTIME PIN,State,Variable State: Bin,hng,biu thc c ch nh gi tr (0 or 1).kt thc cu lnh gi tr c lu vo bin.

E.2
-LOOKDOWN : So snh C php: LOOKDOWN Bin,[ngng so snh],Bin(0 or 1) -PAUSE : Tm dng chng trnh trong 1 khong thi gian bt k. C php: PAUSE Thi gian -Cu trc chng trnh: ' {$STAMP BS2} '{$PBASIC 2.5} Khai bo cc PIN s dng sensor Khai bo bin Main END Chng trnh qut cm bin -Bi Tp: 1.Vit chng trnh v DEBUG 2 cm bin 2.Vit chng trnh v DEBUG 4 cm bin 3.Vit chng trnh d ng theo vch trng,r tri,r phi s dng QTI. 4.Vit chng trnh d ng kt hp cc thao tc.

F.

E.2
V b d IR ch thy cc tn hiu IR trong vng ln cn 38.5 kHz, n LED IR phi c bt v tt ti tn s Dng lnh: FREQOUT Pin, Duration, 38500 Tn s: 38.5 kHz Pin: 0-15 Duration: xc nh lng thi gin a ra tn hiu Chng trnh test cm bin: ' {$STAMP BS2} '{$PBASIC 2.5} Khai bo cc PIN s dng sensor Khai bo bin Main END Chng trnh qut cm bin Bi tp: 1.Vit chng trnh test cm bin 2.Vit chng trnh kt hp IR Sensor v DC Servo 3.Vit chng trnh Sumo_bot d

ng theo vch trng v cn ph.