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By A. M. Arthurs

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The PWM signal allows you to adjust the power to the motors in extremely fine resolution with minimal CPU overhead. The Rabbit 3000 on the CPU module has four on-chip PWM timers that can run independently of each other. A 10-bit PWM register lets you adjust the width of the pulse from zero to 100% in 1024 steps for each channel. I commonly prescale and adjust the repetition rate of the PWM channels. Although the PWM hardware on the Rabbit is easy to use, there are library calls to make it even easier.

Com Photo 1—The completed TeleBot bristles with sensors and wires. Besides the controller, the robot has a couple of bump sensors, an odometer made from a discarded mouse, a 915RF modem, and a digital compass to guide its way. 8-V NiCd battery pack, like those used for RC models. NOW FOR THE DETAILS The chassis in the kit is made of wood, and it glues together easily. com of glue adhere to it easily. The pieces in the kit are precut and predrilled, so you don’t have to do any of that. The transmission, which has 3-V DC motors mounted on the rear of the chassis, and is neatly out of the way.

Com. 1, 2002. Y X10 Protocol information, meltingpot. html. N Received bit == 1? circuitcellar. com/pub/Circuit_Cellar/2004/165. Error flag = 1 N Frames counter < FMAX? Bits counter = 1 Transmit bit flag == 1? Y Y Frames counter ++ N Prepare data bit and put to transmit port N Receive bit flag == 1? Y Process received bit Restore port pin direction to input Return Figure 7—The node communication protocol is implemented in the IRQ ISR. The node traps the preamble and selector bytes, counts the frame numbers, makes the bit-by-bit data reception or transmission, supports the remote node configuration, and checks the error conditions.

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