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Seeker PIC Processor Software
Seeker uses a PIC16F877A processor. This inexpensive processor does
most of the low-level hardware interface for sensor data acquisition and
servo/motor control. The PC communicates with the PIC using RS-232, sending
commands arbitrarily, and getting status update blocks about every 200ms.
All communication is initiated from the PC, and the PIC responds.
The PIC handles these low-level tasks:
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Ultrasonic echo timing and calculation
Laptop and PIC Source |
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IR Sensor reading and scaling to inches |
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Bumper switch reading |
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I2C Compass reading |
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Battery monitoring |
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Drive Shaft Odometer and Motor Speed feedback (closed
loop) |
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Servo control (Steering, Speed, Gear, Camera Pan /
Tilt) PWM timing
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Main Loop processing
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Timer Loop processing
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