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Summer Circuits 2007
Contents
Colophon 6
Alphanumski Puzzle 140
Elektor SHOP 145
Sneak Preview 148

SENSORS
A/D Converter for Robots 25
Bat’s Ear 30
CMUCam1 Vision System 18
CO Sensor 35
ACTUATORS
Compass Sensor for Lego Mindstorms NXT 36 12 V Bidirectional Motor Control 44
From Cassette Recorder to Robot Propulsion 26 3 Amp PWM DC Motor Controller* 50
An Inclinometer for your Robot 32 Catapult for Robots… or Other Uses 56
Complete Stepper Motor Driver 46
Controlling Servos 47
Driving Higher Power Motors 51
Driving Stepper Motors 59
Driving Stepper Motors: KISS 53
MotoBox* 40
PIC 12C508 Stepper Motor Controller 48
PIC Indicator Relay 55
Robot Footballer 54
Servo to Motor Conversion 58
zBot: 10-A Power Stage for DC Motor 45

IR Close Object Detector 27

Light Sensing with an LED 38
MICROCONTROLLERS
Light-seeking Robot 29 Low2 Cost USB Demo Board 75
An Obstacle Detecting Robot 10 LPC900 Programmer* 72
Overheat Detector Alarm/Switch 21
PIC or Basic Stamp IR Telemeter 21
PIR Sensor 28
Positioning with Photodiode Arrays 33
A Robot that won’t lose its bearings 24
Sensor for Line Following Robots 20
Simple D/A Converter for Robots 17
Sound Activated Switch 23
Stereo Robot Ears* 13
Ultrasonic Distant Obstacle Detector 37
Whiskers on Robots 34 Optimised STK200/300 Programmer 77
Wireless Pulse Sensor 12 Propeller Prototyping Board for BoeBot* 69
CONTENTS
Volume 33
July/August 2007
no. 367

Satnav for Robots 78 COMMUNICATIONS

Serial Interface for the Propeller* 81
Servo Control from a PC 68 2.4 GHz Antenna for Robotics Vehicles 110
‘Teaclipper’ Postage-Stamp Programmer 71 IR Communications using a UART 113
Which Brain for my Robot? 62 IR Remote Control with the R8C 115
Radio Remote Control
for PDAs and Smartphones 115
Receiver for RC5 Remote Controls 112
POWER SUPPLIES & CHARGERS Removed Pulse Detector 114
Robot Voice 117
3-A Wide-input
zBot: Wireless Link 114
Adjustable Switching Regulator 84
Deep Discharge Protection
for Rechargeable Cells 94
Dual Battery* 90 TIPS & TRICKS
Fast Charger for NiMH Batteries* 93
LDO Regulator with Soft Start or Tracking 95 Balancing Robot 118
Lithium Charger* 88 DIY Wheels 120
Mini Power Inverter 87 R8C Measures Negative Voltages 121
Multi-purpose NiCd & NiMH Charger 91

MISCELLANEOUS
Chaotic Fireflies 126
Clap Controlled Switcher 132
Colour Tamer 126
Football with Robots 138
Formula Flowcode Buggy 122
KiCAD: a high-level tool 134
New Lego Mindstorms NXT Motor Block 133
Philips ME Construction Kits 130

Paralleling LiPo Batteries 85

PWM Voltage Dropper 89
Switch-Mode 555 Supply 86
USB Converter* 82
Voltage Stabiliser 86
zBot: Solar/Battery Power Supply 83

MECHANICS
Antieu-robot 99
Babybot 100
Bolo 98
Hunter 104 A Robot with an Elephant’s Memory 131
Minimalist Motor 102 Stepped Volume Control 127
Robot MOPS 107 Walking Works! 128
Torque is Cheap 101
Trembly 104
Tribot 103 * PCB design included
 Subscriptions: Elektor Electronics (Publishing),
Regus Brentford, 1000 Great West Road, Brentford TW8 9HH, England.
Tel. (+44) 208 261 4509, fax: (+44) 208 261 4447
Internet: www.elektor-electronics.co.uk
Email: subscriptions@elektor-electronics.co.uk
Rates and terms are given on the Subscription Order Form

Volume 33, Number 367/368, July/August 2007 ISSN 0268/4519
Elektor Electronics aims at inspiring people to master electronics at any personal
level by presenting construction projects and spotting developments in
electronics and information technology.
Publishers: Elektor Electronics (Publishing), Regus Brentford,
1000 Great West Road, Brentford TW8 9HH, England. Tel. (+44) 208 261 4509,
fax: (+44) 208 261 4447 www.elektor-electronics.co.uk
The magazine is available from newsagents, bookshops and electronics retail outlets, or on
subscription. Elektor Electronics is published 11 times a year with a double issue for July & August.
Under the name Elektor and Elektuur, the magazine is also published in French, Spanish, German and
Dutch. Together with franchised editions the magazine is on circulation in more than 50 countries.
International Editor: Mat Heffels (m.heffels@segment.nl), Wisse Hettinga
(w.hettinga@segment.nl)
Editor: Jan Buiting (editor@elektor-electronics.co.uk)
International editorial staff: Harry Baggen, Thijs Beckers, Ernst Krempelsauer,
Jens Nickel, Guy Raedersdorf.
Design staff: Antoine Authier, Ton Giesberts, Paul Goossens,
Luc Lemmens, Jan Visser, Christian Vossen
Editorial secretariat: Hedwig Hennekens (secretariaat@segment.nl)
Graphic design / DTP: Giel Dols, Mart Schroijen
Managing Director / Publisher: Paul Snakkers
Marketing: Carlo van Nistelrooy
Head Office: Segment b.v. P.O. Box 75 NL-6190-AB Beek The Netherlands
Telephone: (+31) 46 4389444, Fax: (+31) 46 4370161
Distribution: Seymour, 2 East Poultry Street, London EC1A, England
Telephone:+44 207 429 4073
UK Advertising: Huson International Media, Cambridge House, Gogmore Lane,
Chertsey, Surrey KT16 9AP, England.
Telephone: +44 1932 564999, Fax: +44 1932 564998
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Internet: www.husonmedia.com
Advertising rates and terms available on request.
International Advertising: Frank van de Raadt, address as Head Office
Email: advertenties@elektuur.nl
Advertising rates and terms available on request.
Copyright Notice
The circuits described in this magazine are for domestic use only. All drawings, photographs, printed
circuit board layouts, programmed integrated circuits, disks, CD-ROMs, software carriers and article
texts published in our books and magazines (other than third-party advertisements) are copyright
Segment. b.v. and may not be reproduced or transmitted in any form or by any means, including
photocopying, scanning an recording, in whole or in part without prior written permission from
the Publishers. Such written permission must also be obtained before any part of this publication is
stored in a retrieval system of any nature. Patent protection may exist in respect of circuits, devices,
components etc. described in this magazine. The Publisher does not accept responsibility for failing
to identify such patent(s) or other protection. The submission of designs or articles implies permis-
sion to the Publishers to alter the text and design, and to use the contents in other Segment publica-
tions and activities. The Publishers cannot guarantee to return any material submitted to them.
Disclaimer
Prices and descriptions of publication-related items subject to change. Errors and omissions excluded.

Customer Services: Margriet Debeij (m.debeij@segment.nl) © Segment b.v. 2007 Printed in the Netherlands
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10 elektor electronics - 7-8/2007

VWLYH[PUNZLUZLVM[OLWVY[Z777HUK
7^LHSZVKLÄULH]HYPHISLºVIZ[HJSL» Full source listing for obstacle-detecting robot management program
;OLTHPUWYVNYHTJHU[OLUJVTTLUJL ‘ Obstacle avoider robot on a Rogue Blue base
PU[OLMVYTVMHJVU[PU\V\Z+V3VVW
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[OH[^LHYL\ZPUN Low 6 ‘ P6 output for PWM
Delay 1000
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[OL V[OLY KPYLJ- Obstacle =3
End if
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[OL YVIV[ NV MVY^HYKZ VY IHJR^HYKZ
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7-8/2007 - elektor electronics 11

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12 elektor electronics - 7-8/2007

Stereo Robot Ears
Get your robot to home-in
on a sound source
Claude Baumann & Laurent Kneip
Service robots of the future will most likely need
to act on spoken commands and be able to
recognise voices. This article takes a look at
one aspect of this behaviour namely locating
the position of a sound source using the cross-
correlation function. A technique is developed which
drastically cuts down on the number crunching
so that even a basic microcontroller fitted with
binaural sensors can pinpoint a continuous audio
signal with an accuracy of just 10 degrees.
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060040 - 13
Figure 1. The head acts as a low-pass filter
attenuating frequencies above 1 kHz.
The ear nearest the sound source will hear the
sound louder than the far ear.
7-8/2007 - elektor electronics
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Figure 2. A sound pressure wave from the side will not arrive at both ears at the same time. Points
LUJLZHUKNP]LZ\ZZVTLPUZPNO[PU[V[OL
in space where a sound source produces identical delays at the ears are on a hyperbola (red)
JVTWSL_WYVJLZZLZP[PZJHWHISLVM approaching the asymptote (white). The brain cannot identify the position but only approximate
;OLSPTP[ZVM0;+MVYSVJHSPZPUNHJVU[PU- the direction of a sound source anywhere along this line.
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+5V
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R3 R5 R8
47k 100k
22k

R18 R19 R20 C8

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C1 R4
10k

10k

10k

2 100n
1k C2 R7
1 6
1μ IC1.A 2k2
16V 3 7 14
1μ IC1.B
MICR 16V 5 R9
4 13
R6 MCLR RB7
10k

10k

12
VREF RB6 K3
VREF 17 IC2 11
RA0 RB5
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RA1 RB4
+5V R17 1 9
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SENSITIVITY
2 PIC16F88 8
IC1 = LM324N RA3 RB2
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47k 100k 100k
22k

6
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9
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8 13 X1
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C10 C9
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10k

10k

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+5V 060040 - 11

R1
47k

K1
C6 C7 4 VREF
POWER IC1
100μ 100n R2
11 C5
16V
33k

22μ
16V

Figure 3. The circuit has two audio channels each with an electret microphone and two-stage amplifier.
The two amplifier outputs are connected to the two A/D converter inputs on the microcontroller.

14 elektor electronics - 7-8/2007

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 R14
C3

C4
R11

R15

R16
C9

SL2
1

SL5
R9
C10 1

R10 R12
Q1

C8
14 IC1 8

R8
R13
18 10
IC2
1

R6

1 7

C7
SL7
1 9

SL3
R2 1
R20

R7
C6

SL6
R5

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R3

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JP1

SL4
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R4

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C1 060040-1
SL1

1 R17 1-040060
(c) Elekto r

Figure 4. Component layout of the binaural sensor PCB. Figure 5. Resolution of the sound source
The PCB files can be downloaded from [3]. bearing is a function of its azimuth.
The average value is approximately 9°.

Components list >OLU[OLZV\UKZV\YJLPZH[[OLL_[YLTL

Semiconductors
YPNO[VYSLM[VM[OLÄLSKHaPT\[OA$o ‡
Resistors IC1 = LM324
H[PTLKPMMLYLUJLVMoZHTWSLZ^PSSIL
IC2 = PIC16F88, programmed, order code
R1,R5,R12 = 47k7 TLHZ\YLK(TPUPT\TVMJHSJ\SH[PVUZ
060040-41 from Elektor SHOP
R2 = 33k7 HYLTHKLMVY[OLJVYYLSH[PVUJHSJ\SH[PVU
R3,R10 = 22k7
R4,R11 = 1k7 Miscellaneous >OLU[OLTPJYVWOVULZHYLTV\U[LKVU
R6,R9,R13,R16,R18,R19,R20 = 10k7 LP[OLYZPKLVMHZVSPKOLHK[OPZOHZ[OL
Q1 = 20MHz quartz crystal
R7, R14 = 2k72
DIL14 socket LMMLJ[VMPUJYLHZPUN[OLTPJYVWOVULZWHJ-
R8, R15 = 100k7 PUN[OLWYLZZ\YL^H]LMYVTVULZPKLULLKZ
DIL18 socket
R17 = 100k7 preset
Rx = 100k7
SL1,SL2,(SL4),SL5,SL6,SL7 = 2-way SIL [V [YH]LS HYV\UK [OL J\Y]L VM [OL OLHK
pinheader (SL4 bridged with a 100k ILMVYLP[YLHJOLZ[OLZLJVUKTPJYVWOVUL
resistor, see text)
SL3 = 6-way SIL pinheader
(ZZ\TPUN H ZWOLYL ^P[O TPJYVWOVULZ
Capacitors
JP1,JP2 = jumper TV\U[LKHSVUNHUH_PZ[OLHYJSLUN[OPZ
C1,C2,C3,C4 = 1μF 16 V
MicR, MicL = CZ034 electret microphone rôŸ^OLYLrPZ[OLYHKP\ZVM[OLOLHKHUK
C5 = 22μF 16 V
insert ZOV\SKILJOVZLUZV[OH[[OLHYJSLUN[OPZ
C6 = 100μF 16 V
PCB, ref. 060040-1, free artwork download
C7,C8 = 100nF UV[NYLH[LY[OHUJT
from Elektor website
C9,C10 = 22pF
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16 elektor electronics - 7-8/2007

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[1] www.convict.lu/Jeunes/RoboticsIntro.htm
Extreme right 22 2 ms 26
[2] www.ultimaterobolab.com Central 12 1.5 ms 16
[3] www.elektor-electronics.co.uk Extreme left 2 1 ms 6

Simple D/A Converter for Robots

Tilo Gockel
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17
CMUCam1 Vision System
Seattle Robotics give BoeBot (and other robots) vision!

Ken Gracey (Parallax, Inc.) ISL7S\NPU[OLOHYK^HYL\WSVHK[OLKLTV

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Table 1. Basic command set

Command Parameter(s) Description 1
\r none The ‘Enter’ or ‘Return’ key. Set the camera board into an idle state.
GM none (\r) Get the Mean colour value in the current image.
L1 value \r Control the green LED tracking Light.
Controls the Middle Mass mode which adds the centroid coordinates to the normal tracking
MM mode \r
data.
Controls the Noise Filter setting. It accepts a Boolean value 1 (default) or 0. A value of 1 enga-
NF active \r
ges the mode while a value of 0 deactivates it.
Puts the board into Poll Mode. Setting the mode parameter to 1 engages poll mode while 0
PM mode \r
(default) turns it off.
RS none (\r) ReSets the vision board. Note, on reset the first character is a /r.
Sets the Window size of the camera. It accepts the x and y Cartesian coordinates of the upper
SW [x y x2 y2] \r
left corner followed by the lower right of the window you wish to set.
[R min R max Gmin Gmax Track a Colour. Accepts the minimum and maximum RGB (CrYCb) values and outputs a type M
TC
B min B max]\r or C data packet (set by the MM command).
TW none (\r) Track the colour found in the central region of the current Window.
1 Complete descriptions may be found in the user manual.

18 elektor electronics - 7-8/2007

 Table 2. Advanced commands
Command Parameter(s) Description 1
[ reg1 value1 [reg2
Sets the Camera’s internal Register values directly. The register locations and possible settings
CR value2 ... reg16
can be found in the Omnivision documentation.
value16] ]\r
DF none (\r) Dump a Frame out the serial port to a computer.
DM value \r sets the Delay before packets that are transmitted over the serial port.
GV none (\r) Gets the current Version of the firmware from the camera.
puts the camera into Half-horizontal resolution Mode for the DF command and the LM com-
HM active \r
mand when dumping a bitmap image.
I1 none (\r) Uses the servo port as a digital Input.
Turns on Line Mode which uses the time between each frame to transmit more detailed data
LM active \r
about the image.
Engage the Raw serial transfer Mode. It reads the bit values of the first 3 (lsb) bits to configure
RM bit_flags \r
settings.
Lets you Set the position of servo 1. 0 turns the servo off and holds the line low. 1-127 will set the
S1 position \r
servo to that position while it is tracking or getting mean data.
SM value \r Used to enable the Switching Mode of colour tracking.
1 Complete descriptions may be found in the user manual.

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7-8/2007 - elektor electronics 19


Sensor for Line Following Robots
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Web references
[1] www.parallax.com
[2] www.stampsinclass.com
[3] www.seattlerobotics.com
[4] www.cs.cmu.edu/~cmucam
[5] www.milinst.com
[6] www.ubicom.com/processors/sx/
sx_family.html
[7] www.ovt.com
[8] www.seattlerobotics.com/video.htm
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with a PIC or 1
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C. Tavernier VCC
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7-8/2007 - elektor electronics 21

 Listing 1. Use of GP2Dxx with a Basic Stamp.

Vin con 0 ‘ Definition of control input

Vout con 1 ‘ Definition of data output
Measr var Byte ‘ Allocation of one byte for the result

Measr = 0 ‘ Initialization of variable « Measr »

Read:
Vin = 0 ‘ Validation of telemeter
Wait:
IF Vout = 0 THEN Wait ‘ Wait until result is available
SHIFTIN Vout, Vin, 2, [Measr]
Vin = 1 ‘ Put telemeter to sleep
Pause = 1 ‘ Pause as a precaution

‘ The result of the measurement is available in the variable ‘Measr’

]PKLVUVMMV\[W\[Z[OV\NO[OLZLHYLU»[ LX\HSS`HWWSPJHISL[VIV[OVM[OLT ;OPZPZ[OLJHZLPU[OL:OHYW[LSLTL[LYZ

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THJOPULJVKL

Listing 2. Use of GP2Dxx with a PIC controller.

Read
BCF PortA.0 ‘ Validation of telemeter
NOP
Wait
BTFSS PortA,1 ‘ Wait until result is available
GOTO Wait
BSF PortA,0 ‘ Vin goes High
CLRF Measr ‘ Initialization of the variable ‘Measr’
MOVLW 8 ‘ Get ready to read 8 bits
MOVWF Count
BCF Status,C ‘ Zero the carry
NOP
Readbit
BCF Porta.0 ‘ Make clock Low
NOP
NOP
RLF Measr,f ‘ Rotation of preceding bit
BTFSC PortA.1 ‘ Read data bit
BSF Measr,0
BSF PortA.0 ‘ Make clock High
NOP
NOP
DECFSZ Count,f ‘ Count down number of bits to read
GOTO Readbit

‘The result of the measure is available in the variable ‘Measr’

22 elektor electronics - 7-8/2007

 2 3
+5V 0.2 ms or less 1.5 ms or more 1.5 ms or more
70 ms or more 1 ms or more
PIC Power
Connector or VIN OFF
GP2Dxx Basic Stamp
1
D1
2 RA0 (PIC) or
P0 (Stamp)
3
1N4148
4 RA1 (PIC) or
P1 (Stamp) Output

MSB LSB LSB

070235 - 12 Example of distance measuring output (8-bit) 070235 - 13

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white surface (reflectivity: 90%)
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gray surface (reflectivity: 18%)
I`[OL[LSLTL[LYMVSSV^PUN[OLTLHZ-
Distance measuring output (DEC)

180
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160
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070235 - 14
(070235-I)
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=+*YLN\SH[LKWV^LYZ\WWS`WYV- 0M1 D1 RE1 ILMV\UKI`[YPHSHUKLYYVY
2SC945
]PKLKHYLSH`^P[O[OLZ\P[HISLJVPS]VS[- MIC1 (SSYLSL]HU[LSLJ[YPJHSZHML[`WYLJH\-
HNLPZ\ZLK [PVUZZOV\SKILVIZLY]LK^OLUJVU-
1N4007
>OLU `V\ MPYZ[ JVUULJ[ [OL Z\WWS` ULJ[PUNTHPUZWV^LYLKSVHKZ[V[OL
]VS[HNL [V [OL JPYJ\P[ [OL YLSH` ^PSS YLSH`JVU[HJ[Z
060379 - 11
ILLULYNPZLKILJH\ZLVM[OLLMMLJ[VM (060379-I)

7-8/2007 - elektor electronics 23

A Robot that won’t Lose its Bearings
C. Tavernier
*YLH[PUNHYVIV[JHWHISLVMMVSSV^PUNHU
L_HJ[ JV\YZL ^P[OV\[ ULLKPUN HU`
L_[LYUHSWO`ZPJHSOLSW·SPRLH
SPULTHYRLKVU[OLNYV\UK
MVY L_HTWSL · OHZ MVY
H SVUN [PTL ILLU H
]LY` [YPJR` VWLYH[PVU
[V HJOPL]L ;OHURZ [V
[OL IVVT PU HTH[L\Y
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OHUKHUK[V[OLKL]LS-
VWTLU[VMUL^ZLUZVYZVU
[OLV[OLYP[PZ[VKH`WVZZP-
ISL[VTHRLYVIV[Z^P[OM\UJ-
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OH]L ZLLTLK TVYL SPRL ZJPLUJL
ÄJ[PVU(UK[OPZPZQ\Z[^OH[^L»YL
WYVWVZPUNUV^^P[O[OLJVUZ[Y\J-
[PVUVMHYVIV[JHWHISLVMKL[LJ[-
PUN[LYYLZ[YPHSTHNUL[PJ5VY[OHUK
OLUJL[VMVSSV^HU`HUN\SHYKPYLJ-
[PVU^P[OYLZWLJ[[V[OH[L_HJ[S`HZ
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HJVTWHZZ;VKV[OPZP[\ZLZHZ\J-
JLZZVY[V[OLNVVKVSKULLKSLJVT-
WHZZPU[OLMVYTVMHTVK\SLTHKL
I`+L]HU[LJOJHSSLKH*47VY
*47: KLWLUKPUN VU ]LYZPVUZ
HUKKVJ\TLU[Z
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VM H ZTHSS YLHK`[V\ZL 7*) HZ
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HZ\P[HIS`WYVNYHTTLK70*-
TPJYVJVU[YVSSLY 0[ PZ JHWHISL VM
KLSP]LYPUN HUN\SHY WVZP[PVU PUMVYTH[PVU
^P[OYLZWLJ[[V[LYYLZ[YPHSTHNUL[PJ5VY[O
^P[OHUHJJ\YHJ`VM\W[VH‡;OPZ
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7>4ZPNUHS^OLYL[OL^PK[OVM[OLW\SZLZ
YLWYLZLU[Z[OPZHUNSL[OV\NOPU[OPZJHZL
[OLYLZVS\[PVUPZVUS`‡0[PZHSZVH]HPSHISL
]PHHU0*I\Z[OH[KLWLUKPUNVU^OPJO
YLNPZ[LYPZYLHKPU[OLTVK\SLJHUTHRL
[OPZHUNSLH]HPSHISLPU[OLMVYTVMHIP[
^VYKVMMLYPUNHWYLJPZPVUVM‡
0MHYVIV[PZÄ[[LK^P[OZ\JOHTVK\SLP[»Z
[OLUWVZZPISLH[HU`TVTLU[[VÄUKV\[
[OLHUNSLP[Z[YHQLJ[VY`PZTHRPUN^P[OTHN-
UL[PJ5VY[OHUKOLUJL[VZ[LLYP[L_HJ[S`
HZ`V\^V\SK`V\YZLSM\ZPUNHJVTWHZZ
;OLVUS`ºWYVISLT»[OH[TH`HYPZLPZ[OL
PU[LYMHJPUN VM [OL *47 TVK\SL ^P[O
[OLTPJYVJVU[YVSSLYÄ[[LKPU[OLYVIV[:V
PUVYKLY[VJH[LYMVY[OLNYLH[LZ[U\TILY
VMYVIV[PJJVUÄN\YH[PVUZWVZZPISL^L»YL
NVPUN[VZOV^`V\OV^[VLTWSV`IV[O
TLHUZVMKPHSVN\LVMMLYLKI`[OLTVK\SL!
24
•7VZP[PVUPZ[OLHUNSLPU
KLNYLLZ ^P[O YLZWLJ[ [V
THNUL[PJ5VY[O
•>PK[O PZ [OL ^PK[O
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TPSSPZLJVUKZ
9LHKPUNZ\JOPUMVYTH[PVU
^P[OH)HZPJ:[HTW00VYH
70*WYVNYHTTLKPU)HZPJ
HTV\U[Z[VQ\Z[[^VSPULZ
VMWYVNYHT!
PULSIN 0, 1, PULSE
POSITION = (PULSE –
500) / 50
;OLÄYZ[SPULLUHISLZ[OL
PUZ[Y\J[PVU PU LSIN [V
YLHK[OLOPNOK\YH[PVUVM[OLW\SZL
1 +U NLULYH[LKI`[OL*47TVK\SL
;OLZLJVUKSPULTLYLS`HWWSPLZ[OL
21
HIV]LYLSH[PVUZOPWNP]LU[OH[[OL
YLZVS\[PVUVM[OLTLHZ\YLTLU[WLY-
1 24
SOUT VIN MVYTLKI`PULSINPZMZPU[OL
2 1
3
SIN
22 2
JHZLVM[OL)HZPJ:[HTW00:V^L
ATN RES
3 [OLUOH]L[OLHUNSLPUKLNYLLZ^P[O
IC1
20
P15 P0
5 4
CMP03 YLZWLJ[[VTHNUL[PJ5VY[OPU[OL
19
P14 P1
6 5 or ]HYPHISLPOSITION
18 7 6 CMPS03
17
P13 P2
8 7
0M`V\^HU[NYLH[LYWYLJPZPVUVYPM
16
P12 P3
9 8 `V\YTPJYVJVU[YVSSLYKVLZOH]LHU
P11 P4
15
P10
BS2
P5
10 9 0*PU[LYMHJLH]HPSHISLP[»ZWVZZPISL
14
P9 P6
11 [V\ZL[OPZPU[LYMHJL[VKPHSVN\L^P[O
13 12 S1
P8 P7 [OL*47TVK\SLHZPZZOV^UI`
^H`VML_HTWSLPU-PN\YL0[OHZ
4 23
ILLUKLZPNULKMVYH*\ISVJ*)
VYH70*WYVNYHTTLKPU)HZPJ^P[O
070304 - 11 HJVTWPSLY[OH[OHZHU0*SPIYHY`
^OPJOPZ[OLJHZLMVYTVZ[VM[OLT
[OLZLKH`Z
[OL7>4ZPNUHSZHUK[OL0*I\Z ;OLVUS`WYLJH\[PVUZ[VIL[HRLU^P[O[OPZ
-PN\YLZOV^ZHJPYJ\P[MVY\ZPUN[OL7>4 JPYJ\P[JVUJLYU[OL0*I\ZW\SS\WYLZPZ-
ZPNUHSZ0[OHZILLUKLZPNULKMVY\ZL^P[O [VYZ^OPJOKVULLK[VILÄ[[LKHZ[OL`HYL
H)HZPJ:[HTW00I\[JHUIL[YHUZWVZLK UV[I\PS[PU[VLP[OLY[OL*47TVK\SL
MVYHU`70*TPJYVJVU[YVSSLYWYVNYHTTLKPU VY[OLTPJYVJVU[YVSSLY^OPJOL]LY[`WLP[
)HZPJ[OH[KVLZUV[OH]L0*M\UJ[PVUZ PZ0M`V\HYL\ZPUNH70*WYVNYHTTLKPU
0U[LYY\W[:WYLZLU[VUWPUVM[OL*47 )HZPJ`V\HSZVULLK[VLUZ\YL`V\JVY-
TVK\SLPZUV[PU]VS]LKPU[OLKPHSVN\L YLJ[S`JOVVZL[OLWVY[ZPU[LUKLK[VOHUKSL
WYVJLZZI\[THRLZP[WVZZPISL[VJHSPIYH[L [OL:+(HUK:*3ZPNUHSZVM[OL0*I\Z
[OLTVK\SLHZWLYHWYVJLK\YLNP]LUPU[OL HZJLY[HPU)HZPJJVTWPSLYZPTWVZLYLZ[YPJ-
KVJ\TLU[H[PVU^OPJO^L^VU»[YLWYVK\JL [PVUZOLYL
OLYLHZP[PZWLYMLJ[S`Z[YHPNO[MVY^HYK ;VILPUHWVZP[PVU[V^YP[L[OLJVYYLZWVUK-
;OLPUMVYTH[PVUZ\WWSPLKI`[OL*47 PUNWYVNYHTHSS`V\[OLUULLK[VRUV^PZ
TVK\SLPZHZ\JJLZZPVUVMOPNOW\SZLZZLW- [OH[[OL0*HKKYLZZVM[OL*47TVK-
HYH[LKI`SV^Z[H[LZVMTZK\YH[PVU;OL \SLPZ*HUK[OH[MV\YTHPUYLNPZ[LYZHYL
^PK[OVM[OLOPNOW\SZLZPUKPJH[LZ[OLHUNSL HJJLZZPISL[V\Z[OYV\NO[OPZHKKYLZZ!
VM[OLWYPUJPWHSH_PZVM[OLTVK\SL^P[O •YLNPZ[LYJVU[HPUZ[OLTVK\SL»ZZVM[^HYL
YLZWLJ[[V5VY[OHJJVYKPUN[V[OLMVSSV^- ]LYZPVUU\TILY"
PUNYLSH[PVUZOPW! •YLNPZ[LYJVU[HPUZ[OLHUNSLJVKLKPU
VULI`[L/LUJL[OPZ]HS\LJOHUNLZMYVT
7VZP[PVU$>PK[O¶ô ¶ JVYYLZWVUKPUN [V H JPYJSL MYVT
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^OLYL! •YLNPZ[LYZ HUK  JVU[HPU [OL HUNSL
elektor electronics - 7-8/2007
JVKLK[OPZ[PTLPU[^VI`[LZPU
[OLMVYTVMHU\TILYIL[^LLU
HUK L_WYLZZLKPUKLJP-
THS^OPJOPZPUMHJ[[OLHUNSLPU
KLNYLLZT\S[PWSPLKI`
Position16
2 ;OL ]HYPHISL Temp PZ UV[ \ZLK
+U
MVY HU`[OPUN I\[ PZ YLX\PYLK
I` [OL WHY[PJ\SHY Z`U[H_ VM [OL
21 R1 R2 0*PUZ[Y\J[PVUZVM[OL*\ISVJ»Z
)HZPJ )` [OL ZHTL [VRLU [OL

4k7

4k7
1 24
SOUT VIN
-YVT[OH[WVPU[VUYLHKPUN[OPZ 2 1 JVUZ[HU[[OH[T\Z[ILWYLZLU[
SIN
PUMVYTH[PVU ]PH HU 0 * I\Z PZ 3
ATN RES
22 2 PU[OLI2CREAD PUZ[Y\J[PVUZOHZ
X\P[LZ[YHPNO[MVY^HYKHZZOV^U IC1 3
UVWHY[PJ\SHYTLHUPUN
5 20 4
PU[OL]LY`ZOVY[SPZ[PUNILSV^ P0 P15 CMP03 /LUJLPM`V\\ZL[OPZSPZ[PUN^P[OH
6 19 5 or
^YP[[LUMVY[OL)HZPJSHUN\HNLVM 7
P1 P14
18 6 CMPS03 70*WYVNYHTTLKPU)HZPJHZSPNO[
P2 P13
[OL*\ISVJ! 8
P3 P12
17 7 HKHW[H[PVUTPNO[WYV]LULJLZZHY`
9
P4 P11
16 8 KLWLUKPUNVU[OLJVTWPSLY`V\
10 CB220 15 9
I2CSTART P5 P10 HYL\ZPUN
11 14 SCL
Temp = I2CWRITE (&HC0) 12
P6 P9
13 SDA S1
:V^OL[OLY`V\JOVVZL[OL7>4
P7 P8
Temp = I2CWRITE(0) VY0*]LYZPVUMVYPU[LYMHJPUN^P[O
I2CSTART 4 23
[OL*47TVK\SLP[NP]LZ`V\
Temp = I2CWRITE(&HC1) WVZP[PVUPUMVYTH[PVUHIV\[`V\Y
Version = I2CREAD(0) YVIV[»Z[YHQLJ[VY`^P[OYLZWLJ[[V
070304 - 12
Temp = I2CWRITE(&HC1) THNUL[PJ5VY[O(SS[OH[YLTHPUZ
Position8 = I2CREAD(0) MVY`V\[VKVPZ[VTHRLNVVK\ZL
Temp = I2CWRITE(&HC1) VMP[ZV`V\YYVIV[^VU»[ºSVZLP[Z
P o s i t i o n 1 6. b y t e 1 = ILHYPUNZ»
I2CREAD(0) (070304-I)
Temp = I2CWRITE(&HC1) 3
P o s i t i o n 1 6. b y t e 0 = Pin 9 - 0V GND Web Links
I2CREAD(0)
Pin 8 - No Connect Devantech
Pin 7 - 50/60 Hz http://www.robot-electro-
;OL MPYZ[ [OYLL PUZ[Y\J[PVUZ
HKKYLZZ[OLTVK\SLHUKZLSLJ[ Pin 6 - Calibrate nics.co.uk/shop/Compass_
CMPS032004.htm
[OLÄYZ[YLNPZ[LY[VILYLHK;OL Pin 5 - No Connect
UL_[PUZ[Y\J[PVUZYLHK[OLMV\Y Pin 4 - PWM A little background reading:
WYL]PV\ZS`KLZJYPILK YLNPZ[LYZ Pin 3 - SDA http://zedomax.com/blog/zedo-
PUZ\JJLZZPVU[O\ZTHRPUN[OL Pin 2 - SCL max-diy-hack-lets-make-a-digital-
ZVM[^HYL]LYZPVUU\TILYH]HPS- compass/
Pin 1 - +5V
HISLPU[OL]HYPHISLVersion http://zedomax.com/
[OLIP[JVKLKHUNSLPU[OL]HY- blog/2006/08/16/digital-compass-
070304 - 13
PHISLPosition8HUK[OL using-cmps03/
IP[HUNSLPU[OLIP[]HYPHISL

A/D Converter for Robots

Tilo Gockel
operating sequence
;OL;3* *7HUHSVN\L[VKPNP[HSJVU-
1 2 3 4 5 6 7 8 8 1 2 3 4 5 6 7
]LY[LY(+MYVT;L_HZ0UZ[Y\TLU[ZPZH Don’t Care
I/O
NVVKJOVPJLMVYHWWSPJH[PVUZPU[OLÄLSKVM CLOCK
Access tconv Access Sample
Sample
YVIV[PJZLZWLJPHSS`[OVZL\ZPUNJVT- tsu(CS)
Cycle B
Cycle B (see Note A)
Cycle C Cycle C
tsu(CS)
WH[PISLTPJYVJVU[YVSSLYZ;OLZLWHY[PJ\SHY
CS
JVU]LY[LYZHYLYLHKPS`H]HPSHISLSV^JVZ[
HUKLHZ`[V\ZL twH(CS)
Hi-Z State
Hi-Z State
( X\PJR SVVR H[ [OL ;3* KH[H ZOLL[ DATA A7 A6 A5 A4 A3 A2 A1 A0 B7 B6 B5 B4 B3 B2 B1 B0
OUT
PUKPJH[LZ[OL[PTPUN^H]LMVYTZMVY[OL0 A7 B7
6*SVJR+(;(6<;HUK*:ZPNUHSZ-PN- MSB
Previous Conversion Data A
LSB MSB
Conversion Data B
MSB LSB MSB
\YL(JPYJ\P[[V[LZ[[OLJVU]LY[LY^HZ (see Note B) ten
ten
X\PJRS`JVUZ[Y\J[LK\ZPUNH]HYPHISLYLZPZ-
NOTES: A. The conversion cycle, which requires 36 internal system clock periods (17 Ms maximum), is initiated with the eighth I/O clock pulse
[VYHZHWV[LU[PHSKP]PKLY-PN\YLZOV^Z trailing edge after CS goes low for the channel whose address exists in memory at the time.
B. The most significant bit (A7) is automatically placed on the DATA OUT bus after CS is brought low. The remaining seven bits (A6–A0)
[OLZPTWSLPU[LYMHJLIL[^LLUH;3* *7 are clocked out on the first seven I/O clock falling edges. B7–B0 follows in the same manner.
HUKHJVTWH[PISLTPJYVJVU[YVSSLY
( ZOVY[ M\UJ[PVU ^OPJO YLHKZ [OL ZLYPHS

7-8/2007 - elektor electronics 25

 unsigned char count;
unsigned char addat = 0;
+5VDC P1_B2 = 0; // clk
MC51 P3_B0 = 0; // Chip Select
P3_B0 = 1; //
//_wait(); // > 20 usek (50kHz)
P3_B0 = 0;
1 8
for(count = 0; count
REF+ VCC
< 8; count++){
TLC549 addat = addat << 1;
7
I/O CLOCK Px.x if (P1_B3 == 1) ++addat;
DATA OUT
6 P1_B2 = 1;
A7 A6 A5 A4 A3 A2 A1 A0 Px.x
2 //_wait();
ANALOG 5
Px.x P1_B2 = 0;
10k }
3 4
REF- GND return addat;
}
070134 - 12
(ZHUL_HTWSL[^V;3* (+JVU]LY[-
LYZJHUIL^PYLK[VHTPJYVJVU[YVSSLY[V
TLHZ\YL[OLHTV\U[VMSPNO[MHSSPUNVU[V
KH[H MYVT [OL ;3*  HUK YL[\YUZ [OL LUV\NOUV[[VULLKP[MHZ[LYWYVJLZZVYZ [^V3PNO[+LWLUKHU[9LZPZ[VYZ3+9;OPZ
]HS\LHKKH[PZNP]LUILSV^;LZ[Z^P[OHU TH`YLX\PYLP[I\[P[OHZILLUºJVTTLU[LK HWWSPJH[PVU^PSSYLX\PYL[^VVM[OLPU[LY-
(; :*VU[YVSSLY)VHYK[OL,SLR[VY V\[» PU [OPZ SPZ[PUN ;OL HJ[\HS M\UJ[PVU MHJLJVUULJ[PVUZZOV^UPU-PN\YL*VU-
,SLJ[YVUPJZ+LJLTILY-SHZO4PJYV ^YP[[LUPU*PZ! ULJ[[OL3+9LP[OLYPUWSHJLVM[OL]HYPHISL
)VHYKPUKPJH[LK[OH[[OLF^HP[JHUIL YLZPZ[VYVYPUWHYHSSLS[VP[
VTP[[LKILJH\ZL[OLJVU[YVSSLYY\UZZSV^S` unsigned char ReadADC1() { (070134-I)

From Cassette Recorder

to Robot Propulsion
B. Broussas 1 [VYX\L0M`V\KVU»[MHUJ`I\PSKPUNZ\JO
+6V
HKL]PJL`V\YZLSMP[»ZWVZZPISL[V\ZL[OL
;OLYLHYLJ\YYLU[S`[OYLLWYPUJPWHSTL[O- C1 ºNLHYIV_LZ»ZVSKHZRP[ZI`]HYPV\ZYVIV[-
VKZMVY[OLWYVW\SZPVUVMHTVIPSLYVIV[! PJZVYTVKLSSPUNYL[HPSLYZI\[L_WLYPLUJL
10M
[OLTVKPÄLKYHKPVJVU[YVSZLY]V[OLZ[LW- 16V ZOV^Z [OLZL HYL \Z\HSS` KLZPNULK MVY
WLY TV[VY HUK [OL +* TV[VY (SS OH]L 7
Z[HUKHYK+*TV[VYZHUKHYL\UZ\P[HISL
HK]HU[HNLZHUKKPZHK]HU[HNLZ^OPJOHYL MVYJVTWHYH[P]LS`I\SRPLYZ[LWWLYTV[VYZ
1 8
PTWVY[HU[[VILMHTPSPHY^P[OILMVYLTHR- IN1 IN1
IC1
OUT1 M1 4VYLV]LYKYP]PUNZ[LWWLYZVISPNLZ\Z[V
PUN`V\YJOVPJL 3
VCONT NC
6
M \ZLLP[OLYHZWLJPHSPaLK0*VYHJVSSLJ-
;OLTVKPÄLKYHKPVJVU[YVSZLY]VVMMLYZ 4 LB1630
OUT2
5 [PVUVMSVNPJ0*ZPUHZZVJPH[PVU^P[OWV^LY
IN2 IN2
U\TLYV\ZHK]HU[HNLZ[OLTHPUVULILPUN [YHUZPZ[VYZ
400mA max.
[OH[P[VMMLYZYLSH[P]LS`OPNO[YHJ[P]LWV^LY 2 :VPM`V\HYLMVYJLK[VMHSSIHJRVUL_[LYUHS
^P[OV\[ULLKPUNHYLK\JPUNNLHYIV_HZ YLK\J[PVUMVYL_HTWSLILJH\ZL`V\KVU»[
[OPZPZHSYLHK`JVU[HPULK^P[OPU[OLZLY]V 070303 - 11 ^HU[[V\ZLHZLY]V[OL+*TV[VY[OLU
JHZL :V HSS `V\ OH]L [V KV PZ TV\U[ P[ ILJVTLZ [OL UH[\YHS JOVPJL LZWLJPHSS`
VU[V[OLYVIV[HUKÄ_[OL^OLLSZKPYLJ[S` ZPUJLJLY[HPUºNLHYIV_»RP[ZHYLZVSK^P[O
VU[VP[ZZOHM[>OH[»ZTVYLHYHKPVJVU[YVS TZL_WLYPLUJLZOV^Z[OH[KPMMLYLUJLZ Z\JOTV[VYZ:VHSS[OH[YLTHPUZPZ[VKYP]L
ZLY]VPZWV^LYLKMYVT=^OPJOPZWHY-
[PJ\SHYS`OHUK`MVYYVIV[Z\ZPUNMV\Y=
YLJOHYNLHISLIH[[LYPLZ
;OLTHQVYKYH^IHJRVM[OLYHKPVJVU[YVS
ZLY]VSPLZUV[ZVT\JOPUP[ZW\SZLKYP]L
TVKLMVY^OPJO]HYPV\ZZVS\[PVUZHYLWYV-
WVZLKLSZL^OLYLPU[OPZPZZ\LHZPU[OLSHJR
VMWYLJPZPVUPU[OLILOH]PV\YVM[OLZLY]V
^P[OYLZWLJ[[V[OLW\SZL^PK[O(S[OV\NO
[OLVYL[PJHSS`[OLZLY]VY\UZH[TH_PT\T
ZWLLK PU VUL KPYLJ[PVU VY [OL V[OLY MVY
W\SZLZVMVYTZHUKZ[VWZMVYW\SZLZVM
26
VM¶PU[OLW\SZL^PK[OULLKLKHYL
ZVTL[PTLZLUJV\U[LYLK;OLZLKPMMLYLUJLZ
THRLP[ULJLZZHY`[VJHSPIYH[L[OLWYVW\S-
ZPVUJVU[YVSWYVNYHTZVMYVIV[ZÄ[[LK^P[O
ZLY]VZVUHUPUKP]PK\HSIHZPZ[OLYLI`Y\S-
PUNV\[HU`YLWYVK\JPIPSP[`MYVTVULTVKLS
VMYVIV[[VHUV[OLY
:[LWWLYTV[VYZKVUV[Z\MMLYMYVT[OLZL
KYH^IHJRZI\[KVU»[\Z\HSS`PUJS\KLHU`
I\PS[PUTLJOHUPJHSYLK\J[PVUTLHUPUN
`V\OH]L[VWYV]PKLL_[LYUHSYLK\J[PVUPM
`V\KVU»[^HU[[VLUK\W^P[O[VVSP[[SL
[OLTJVYYLJ[S`
(S[OV\NO JVU]LU[PVUHS [YHUZPZ[VYIHZLK
JPYJ\P[ZHYLZ[PSS\ZHISL[OLYLPZHSZVVUL
]LY` ZPTWSL ZVS\[PVU KPYLJ[S` PUZWPYLK
I`[OLVSKJHZZL[[LYLJVYKLYZPU^OPJO
+*TV[VYZ^LYL^PKLS`\ZLK0[PU]VS]LZ
\ZPUNHU3)0*THKLI`:HU`V^OPJO
JHUILJHUUPIHSPaLKMYVTTHU`JHZZL[[L
YLJVYKLYZ[OH[OH]LILLU[OYV^UV\[VY
LSZLIV\NO[UL^MYVT3L_[YVUPJMVYL_HT-
WSL^^^SL_[YVUPJMY
(]HPSHISL PU HU WPU +07 WHJRHNL [OL
elektor electronics - 7-8/2007
3) PZ YPKPJ\SV\ZS` ZPTWS` [V WYVNYHTTLKPU)HZPJVMILPUNHISL
Truth table
\ZLHZZOV^UPU-PN\YL0UMHJ[ for LB1630 motor control IC. [VNLULYH[LJVU[PU\V\Z7>4ZPNUHSZ
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7-8/2007 - elektor electronics 27

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7-8/2007 - elektor electronics 29

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JVU[YVSZLY]VZHUKZV^PSSULLKHQVJRL`
^OLLSH[[OLMYVU[HUKVYYLHY
;OLTVKPÄJH[PVU[VJVU]LY[[OLZLY]VZPU[V
WYVW\SZPVUTV[VYZPZL_WSHPULKLSZL^OLYL
PU[OPZPZZ\LI\[PM`V\OH]LHU`KV\I[Z
HIV\[KVPUNP[`V\YZLSMHZVMX\P[LYLJLU[S`
`V\JHUHSZVUV^I\`Z\JOZLY]VZHSYLHK`
WYLTVKPÄLKI`[OLPYTHU\MHJ[\YLY;HRL
HSVVRH[3L_[YVUPJMVYL_HTWSLMVY[OPZ
^^^SL_[YVUPJMY
-VYV\YYVIV[»ZºIYHPU»[VZOV^`V\P[»ZUV[
HS^H`ZULJLZZHY`[V\ZL[OL]LY`SH[LZ[
IP[TPJYVJVU[YVSSLY^L»]LKLJPKLK[V\ZL
[OLZTHSSLZ[VM[OL)HZPJ:[HTWZ[OL)HZPJ
:[HTW0
;OLJVTWSL[LJPYJ\P[SVVRZSPRL-PN\YL
;OL [^V WVY[Z 7 HUK 7 VM [OL )HZPJ
:[HTW0HYL\ZLK[VKYP]L[OLYPNO[HUKSLM[
WYVW\SZPVUZLY]VZ;OLIYPNO[ULZZPZTLHZ-
\YLK\ZPUN[^VWOV[VYLZPZ[VYZVY3+9ZZ[PSS
JHSSLK*K:JLSSZPUZVTLSP[LYH[\YLJVU-
ULJ[LK [V WVY[Z 7 HUK 7 VM [OL )HZPJ
:[HTW0;OLVKKTVKLVMJVUULJ[PVU\ZLK
OLYLTHRLZP[WVZZPISL[V\ZLHUPUZ[Y\J[PVU
ZWLJPÄJ[V[OL)HZPJ:[HTW0[OLPUZ[Y\J[PVU
POT^OPJOTLHZ\YLZ[OLJOHYNPUN[PTLVMH
JHWHJP[VYJVUULJ[LK[VVULVMP[ZWVY[ZPL
[OLYLI`[OLYLZPZ[HUJLVM[OL3+9HUK[O\Z
[OLIYPNO[ULZZMHSSPUNVUP[
Bat’s Ear
Alexander Wiedekind-Klein
.LUH\NLUVTTLUPZ[;VILWYLJPZL[OPZ
\S[YHZVUPJ KPZ[HUJL TLHZ\YPUN KL]PJL PZ
TVYL[OHUQ\Z[HULHYZPUJLP[NLULYH[LZ
W\SZLZVMZV\UKH[R/aHZ^LSSHZSPZ-
30
-VY[OLYVIV[[VILHISL[VOLHK[V^HYKZ
[OL IYPNO[LZ[ WHY[ VM [OL YVVT ^OLYL P[
PZ VWLYH[PUN [OLZL [^V 3+9Z T\Z[ IL
TV\U[LK WVPU[PUN MVY^HYKZ ZLWHYH[LK
MYVTLHJOV[OLYI`HZTHSSWPLJLVMJHYK-
IVHYKVYVWHX\L7*)PUZ\JOH^H`[OL`
JHU»[IV[OYLJLP]L[OLZHTLPSS\TPUH[PVU
;OL HZZLTIS` JHU IL WV^LYLK I` MV\Y
= IH[[LYPLZ ;OPZ ]VS[HNL PZ HWWSPLK
KPYLJ[S`[V[OLZLY]VZHUK[V[OL\UYLN\-
SH[LK 7>9 PUW\[ VM [OL )HZPJ :[HTW0
>H[JOV\[<UKLYUVJPYJ\TZ[HUJLZJVU-
ULJ[ [OL ZLY]V Z\WWSPLZ MYVT [OL )HZPJ
:[HTW0»Z=V\[W\[¶P[ZI\PS[PU=
YLN\SH[VY^V\SKU»[HWWYLJPH[LP[
;OLZVM[^HYLWHY[VMV\YYVIV[PZH[SLHZ[
HZZPTWSLHZ[OLOHYK^HYLWHY[HZ`V\JHU
Q\KNLMYVT[OLSPZ[PUNILSV^!
3PZ[PUN
PINS = 0
DIRS = %00001111
SYMBOL RightStop = 150
SYMBOL LeftSTop = 150
SYMBOL Move = 30
SYMBOL LightDif = b2
SYMBOL RightLDR = b6
SYMBOL LeftLDR = b7
Main :
POT 7, 128, LeftLDR
POT 6, 128, RightLDR
LightDif = RightLDR – LeftLDR
b0 = RightSto p + Move
- LightDif
b1 = LeftStop - Move + LightDif
PULSOUT 0, b0
PULSOUT 1, b1
GOTO Main
;OPZSPZ[PUNPZ]LY`LHZ`[VHUHS`ZL(M[LYHU
PUP[PHSWOHZL[VKLÄUL[OLSHILSZ\ZLKHUK
[OLYLZLY]H[PVUVM[OL9(4PU[OL)HZPJ
:[HTW0^LNVVU[VTLHZ\YL[OLSPNO[\ZPUN
[OLPUZ[Y\J[PVUPOT;OPZPUZ[Y\J[PVUYL[\YUZ
PU[OL]HYPHISLLeftLDRVYRightLDRH
U\TILYYLWYLZLU[PUN[OLYLZPZ[HUJLVM[OL
3+9ZJVUULJ[LK[V7HUK7KP]PKLKI`
HJVUZ[HU[JHSSLKHZJHSPUNMHJ[VY@V\TH`
ULLK[VHKQ\Z[[OPZWHYHTL[LY[VZ\P[[OL
JOHYHJ[LYPZ[PJZVM[OL3+9Z`V\\ZL
;OL]HS\LZ[O\ZVI[HPULKHYLZ\I[YHJ[LK
[LUPUNMVY[OLPYYLÅLJ[PVUZ;OLJPYJ\P[PU
-PN\YLPZKP]PKLKPU[V[^VWHY[Z([[OL
[VWPZ[OLR/aVZJPSSH[VYHUKHºW\ZO
W\SS»V\[W\[Z[HNLI\PS[HYV\UK0**HUK
0*+;OLVZJPSSH[VYPZZ^P[JOLKVUHUK
VMMHJJVYKPUN[V[OL=SVNPJSL]LSVUH
VULMYVT[OLV[OLY[V`PLSKPUMVYTH[PVU
HIV\[[OLKPMMLYLUJLPUSPNO[PUNIL[^LLU
[OL[^VJLSSZ;OLJHSJ\SH[PVUVM[OLW\SZL
SLUN[OZ[VILHWWSPLK[V[OLZLY]VZJHU
[OLUILWLYMVYTLKUV[PUN[OH[Right-
StopHUKLeftStopHYL[OL]HS\LZTHR-
PUNP[WVZZPISL[VTHRL[OLZLY]VZZ[VWHUK
[OH[MovePZHWHYHTL[LYPU[LUKLK[VZL[
[OLIHZPJZWLLKVM[OLZLY]VZ[V^OPJOPZ
HKKLKVYZ\I[YHJ[LK[OLYLZ\S[VM[OLKPM-
MLYLUJLPUPSS\TPUH[PVU
/LUJL MVY L_HTWSL PM LightDif OHZ
[OL]HS\LI^PSSIL¶
PL^OPSLI^PSSIL¶
PL.P]LU[OH[[OLYLZVS\[PVUVM[OL
PULSOUTW\SZLPZ›Z[OLWYVNYHT^PSS
[O\ZNLULYH[LTZW\SZLZMVYVULZLY]V
HUKTZVULZMVY[OLV[OLYJH\ZPUN[OL
YVIV[[V[\YU[V^HYKZ[OLKPYLJ[PVUVM[OL
3+9[OH[PZYLJLP]PUN[OLTVZ[SPNO[
:V[OPZWYVNYHTPZM\SS`M\UJ[PVUHSI\[NP]LU
[OLZWYLHKPU[OLJOHYHJ[LYPZ[PJZVMIV[O[OL
ZLY]VZ^P[OYLZWLJ[[V[OLPYKYP]LW\SZLZHUK
[OLYLZPZ[HUJLVM[OL3+9ZP[^PSS\UKV\I[-
LKS`ILULJLZZHY`MVY`V\[V[^LHRJLY[HPU
U\TLYPJHSWHYHTL[LYZHNHPU[VVI[HPUZH[PZ-
MHJ[VY`YLZ\S[Z;VKVZVUV[L[OH[!
•RightStopHUKLeftStopHYLLX\HS[V
VM[OLW\SZL^PK[O[OH[THRLZ[OLYPNO[
HUKSLM[ZLY]VZZ[VW
•Move SL[Z `V\ KLMPUL [OL YV[H[PVUHS
ZWLLK VM [OL ZLY]VZ ^OLU [OL YVIV[ PZ
NVPUNZ[YHPNO[HOLHK0[PZLX\HS[VVM
[OLKPMMLYLUJLIL[^LLU[OLW\SZL^PK[OMVY
Z[VWHUK[OLW\SZL^PK[OKLZPYLKMVYTV]-
PUNZ[YHPNO[HOLHK
•;OLJVLMÄJPLU[Z\ZLKPU[OLPOT
PUZ[Y\J[PVUZJHUHSZVILHKQ\Z[LKIL[^LLU
HUKPUVYKLY[VVI[HPUZH[PZMHJ[VY`
ILOH]PV\YVM[OLYVIV[NP]LU[OL3+9Z
\ZLKHUK[OLHTIPLU[SPNO[PU[OLWSHJL
^OLYL[OLYVIV[PZVWLYH[PUN
5V[L[VV[OH[PM`V\YYVIV[ZLLTZ[VZO`
H^H` MYVT [OL SPNO[ PUZ[LHK VM TV]PUN
[V^HYKZP[`V\»]LWYVIHIS`YL]LYZLK[OL
^PYPUNIL[^LLU[OLYPNO[HUKSLM[ZLY]VZ
VYYPNO[HUKSLM[3+9ZHSS[OPZPZYLSH[P]LVM
JV\YZLKLWLUKPUNVU^OH[`V\JHSSMYVU[
HUKIHJRVU[OLYVIV[
5V^P[»ZV]LY[V`V\
(070306-I)
JVU[YVSPUW\[WPUVM27PZHKQ\Z[LK[V
ZL[[OLVZJPSSH[VYMYLX\LUJ`L_HJ[S`LX\HS
[V[OLYLZVUHU[MYLX\LUJ`VM[OL\S[YHZVUPJ
[YHUZK\JLYUVTPUHSS`R/a
9LÅLJ[LKZPNUHSZHYLHTWSPÄLKI`0*(
HUK0**YLJ[PÄLKI`+HUKI\MMLYLK
elektor electronics - 7-8/2007
I`0*+;OPZJPYJ\P[MVYTZ
[OLHUHSVN\LMYVU[LUKHUK 1
R5 C1
PZJVUULJ[LK[VHTPJYVJVU- 470k

[YVSSLYMVYZ\IZLX\LU[ZPNUHS 150p

V+ P1
WYVJLZZPUN >L ^PSS SVVR 10k
ILSV^ H[ [OL MHJ[VYZ [OH[ R1

39k
ULLK[VILIVYULPUTPUK
^OLUJVUZPKLYPUN[OLKPN- IC1.A IC1.B IC1.C US TX
14 11 C5 2 5 8 (40kHz)
P[HSZPNUHSWYVJLZZPUNHSNV- IC1 IC2 1 r1
3
6 r1
4
9 r1
10

YP[OT[VIL\ZLK 7 4 100n
US
+5V
+5V
IC1.D
(M[LYHI\YZ[VM\S[YHZV\UK R9
12
11 STI
r1
SH Z [ PUN  H W W Y V_PTH[ LS` 13

22k
1
TZ PZ [YHUZTP[[LK ^L IC1 = CD4001 +5V
ZHTWSL[OLLU]LSVWLVM[OL IC2 = TL084 2
YLJLP]LKZPNUHSHZKLSP]LYLK 3
GND
I`[OLHUHSVN\LMYVU[LUK 4
C3 CONTROL
MVY HWWYV_PTH[LS` TZ
C6
0U[OPZ[PTLZV\UK[YH]LSZ R3 10p
HWWYV_PTH[LS`THUKZV 56k R6 10p
^LOH]LHTH_PT\TYHUNL C7 R7
2
100k
13
VMTILJH\ZL[OLZV\UK 3k9
1
C2 R2
9 14
100n IC2.A 4k7 D1 IC2.D
T\Z[ [YH]LS [V [OL KPZ[HU[ 3
100n IC2.C
8 12
V+
VIQLJ[HUKIHJR-PN\YL US RX 10
LL4448
(40kHz)
ZOV^Z H [`WPJHS YLJLP]LK US R4
C4
ZPNUHS ;OL NYLLU YLJ[HU- 180k
6
7
N\SHY W\SZL YLWYLZLU[ Z 4M7 IC2.B
25V 5
[OL ZPNUHS H[ [OL JVU[YVS R8 R10
C8
PUW\[WPUVM2^OPJO C9

22k
180k

Z^P[JOLZVU[OLVZJPSSH[VY 4M7
25V 100n
MVY[OLTZW\SZLWLYPVK
070281 - 11
+\YPUN[OPZ[PTL[^LJHU
HSYLHK`ZLLZVTLZPNUHSH[
[OLV\[W\[VM[OLYLJLP]LY
HZP[PZPTWVZZPISL[VH]VPKZVTLKPYLJ[ -PN\YL 0U [OPZ JHZL P[
YLJLW[PVUVM[OL[YHUZTP[[LKW\SZL;OPZ X\PJRS` ILJVTLZ HWWHY- 2
control input
LMMLJ[OHZ[VIL[HRLUPU[VHJJV\U[PUZ\I- LU[[OH[PM^L\ZLKHZPTWSL
ZLX\LU[WYVJLZZPUN [OYLZOVSKKL[LJ[VYPUWSHJL
analogue output
VM [OL TPJYVJVU[YVSSLY P[ t1
;OLZLJVUKWLHRPU[OLZPNUHSHM[LY[PTL[ ^V\SKILPTWVZZPISL[VNL[
PZHYLÅLJ[PVUMYVTHUVIQLJ[;OL[PTLPZ YLSPHISLYLZ\S[Z(TPJYVJVU-
WYVWVY[PVUHS[V[OLKPZ[HUJL[V[OLVIQLJ[ [YVSSLY^P[OºPU[LSSPNLU[»ZVM[-
4LHZ\YLTLU[VM[PTL[ JVTTLUJLZH[[OL ^HYLJV\SKMVYL_HTWSLIL
TPKKSLVM[OL[YHUZTP[I\YZ[PLHWWYV_P- WYVNYHTTLK [V JHSJ\SH[L t2 time 070281 - 12
TH[LS`TZHM[LY[OLVZJPSSH[VYPZLUH- [OLKPZ[HUJL[V[OLULHYLZ[
ISLKHUKÄUPZOLZ^OLU[OLHTWSP[\KLVM VIQLJ[VY[VYLWVY[[OLKPZ-
[OLYLÅLJ[LKZPNUHSYLHJOLZP[ZWLHR]HS\L [HUJLZ [V ZL]LYHS VIQLJ[Z 3
control input
0UHPY[OLKPZ[HUJL[V[OLVIQLJ[TLHZ\YLK ZPT\S[HULV\ZS`
PUJLU[PTL[YLZPZLHZ`[VJHSJ\SH[L![VH strong refection
NVVKHWWYV_PTH[PVUP[PZLX\HS[V[OL[PTL :PUJL[OLVUS`JVUULJ[PVUZ t1

[V[OLYLÅLJ[PVUPUTPSSPZLJVUKZT\S[PWSPLK
I`-VYL_HTWSLH[PTLVMTZMVY[ 
JVYYLZWVUKZ[VHKPZ[HUJLVMJT
0M HU VIQLJ[ PZ ]LY` ULHY [OL YLMSLJ[LK
ZV\UK^PSSIL]LY`SV\KHUKILYLJLP]LK
[V[OLJPYJ\P[HYLH=Z\W-
WS` HUK NYV\UK H JVU[YVS
ZPNUHSMVY[OL[YHUZTP[[LYHUK analogue output
[OLHUHSVN\LLU]LSVWLZPN-
UHSYL[\YULKI`[OLYLJLP]LY
t2 time
[V[OLWYVJLZZPUNOHYK^HYL 070281 - 13

HM[LYH]LY`ZOVY[[PTLWVZZPIS`^OPSL[OL P[PZZ[YHPNO[MVY^HYK[V^PYL
W\SZLPZZ[PSSILPUN[YHUZTP[[LK-PN\YL \WMV\YJVWPLZVM[OLJPYJ\P[
0U[OPZJHZLP[PZILZ[[VTLHZ\YL[OL[PTL TV\U[LKH[YPNO[HUNSLZ[V 4
control input
[HRLUMVY[OLYLJLP]LKZPNUHS[VYLHJOOHSM VUL HUV[OLY 0U H YVIV[-
P[Z TH_PT\T HTWSP[\KL MYVT ^OLU [OL PJZ HWWSPJH[PVU [OPZ ^V\SK t1 analogue output
VZJPSSH[VYPZZ^P[JOLKVU;OPZ[PTLJHU NP]L[OLYVIV[[OLHIPSP[`[V 1st maximum
1rd maximum
[OLUIL\ZLK[VMVYTHULZ[PTH[LMVY[OL KL[LJ[VIQLJ[ZPUHU`WVZP- 2nd maximum
KPZ[HUJL[V[OLVIQLJ[ [PVUYLSH[P]L[VP[ZLSM
(070281-I)
0M[OLYLPZHU\TILYVMYLÅLJ[PUNVIQLJ[Z
H[KPMMLYLU[KPZ[HUJLZ[OLYL^PSSILZL]LYHS time 070281 - 14
YLMSLJ[LK W\SZLZ VM KPMMLYLU[ HTWSP[\KLZ

7-8/2007 - elektor electronics 31

An Inclinometer for Your Robot
C. Tavernier

www.tavernier-c.com

0M`V\YTVIPSLYVIV[»ZZVSLM\UJ[PVUPZ[V
YVHTHIV\[[OL[PSPUNVY^VVKLUMSVVYZ
VM`V\YOVTLP[»ZUV[]LY`SPRLS`[VOH]L
T\JOULLKVM[OLZLUZVY^L»YLNVPUN[V
ILKLZJYPIPUNPU[OPZHY[PJSL/V^L]LYPM
P[OHZ[VJVUMYVU[[OLOHYZOYLHSP[PLZVM[OL
NYV\UKVM[OLV\[ZPKL^VYSK^P[OP[ZOVSLZ
HUKI\TWZHUPUJSPUVTL[LYTH`WYV]L
L_[YLTLS`\ZLM\SPUVYKLYMVYP[UV[
[V RLLS V]LY H[ [OL MPYZ[ L]LY ZV MVYTKLWLUKPUNVU[OL[`WLVM0*
ZSPNO[\UL]LUULZZ 1 JOVZLU
+6V...+12V
)LMVYL LSLJ[YVUPJZ RUL^ OV^ [V -VYV\YYVIV[PJZHWWSPJH[PVU^LOH]L
R2
HJJVTWSPZOHSS[OLMLH[Z[OH[^LHYL KLJPKLK[VHKVW[HYLSH[P]LS`PUL_-
47 7

\ZLK[V[VKH`HUPUJSPUVTL[LY^HZ WLUZP]LHJJLSLYVTL[LYPU[OLMVYTVM
HW\YLS`TLJOHUPJHSZ`Z[LT^P[O [OL(+?3MYVT(UHSVN+L]PJLZ
HSS[OLKPMÄJ\S[PLZVMPTWSLTLU[H- C1 C4 +VUV[LYPNO[H^H`OV^L]LY[OH[
[PVUJ\TILYZVTLULZZHUKSHJRVM 100n 10n
[OPZ0*PZUVSVUNLYILPUNWYVK\JLK
HJJ\YHJ`[OPZPTWSPLK4PNO[HZ^LSS 8
2 8
X
I\[ PZ Z[PSS ^PKLS` H]HPSHISL MYVT
1
ZH`[OH[P[Z\ZLPUHUHTH[L\YYVIV[ VDD IC2.A YL[HPSLYZ0MP[ZOV\SKL]LU[\HSS`KPZHW-
2 7 3
^HZPMUV[PTWVZZPISLH[SLHZ[]LY` R1
BIAS XOUT WLHYJVTWSL[LS`P[JV\SKILYLWSHJLK
KPMÄJ\S[ IC1 I`[OL(+?3T\JOTVYLYLJLU[
220k

4 5
NC NC IC2 = OP284
-VYHML^`LHYZUV^[OPZOHZUV ADXL311
HUKLSLJ[YPJHSS`JVTWH[PISLVUS`[OL
SVUNLY ILLU [OL JHZL [OHURZ [V 1
ST YOUT
6 5
Y WPUV\[ILPUNKPMMLYLU[
7
[OLTHYRL[PUNI`(UHSVN+L]PJLZ COM IC2.B ;OL(+?3HJ[\HSS`PUJS\KLZ[^V
6
VMºZVSPKZ[H[L»HJJLSLYVTL[LYZPL 3
4
OPNOS`ZLUZP[P]LHJJLSLYVTL[LYZH[
WYVK\JLKPU[OLMVYTVM0*Z^P[O C2 C3 YPNO[HUNSLZ^P[OWVZP[PVUPUNIL[-
UV]PZPISLTV]PUNWHY[Z [LY[OHU‡)LJH\ZLVM[OPZHUK
47n 47n
0UMHJ[P[»ZZ[PSSPTWVZZPISL[VTLHZ- PMP[PZWSHJLKWHYHSSLS[V[OLZ\YMHJL
\YLHJJLSLYH[PVU^P[OV\[LTWSV`- 070305 - 11
VM[OL,HY[OP[PZPUÅ\LUJLKI`[OL
PUNZVTLRPUKVMTV]PUNWHY[I\[ HJJLSLYH[PVUK\L[V[OL,HY[O»ZNYH]-
UV^HKH`Z[OPZJVUZPZ[ZVMHTPU\[L P[`HUKZVJHUPUKPJH[LSLM[YPNO[
WVS`ZPSPJVUZ[Y\J[\YLZ\ZWLUKLKI` PUJSPUH[PVUYVSSVYMVY^HYKIHJR-
MV\YZWYPUNZVM[OLZHTLTH[LYPHSHIV]L H]HPSHISL H[ [OL HJJLSLYVTL[LY 0* V\[- ^HYK[PS[0U[OPZ^H`^LJYLH[LHK\HS
[OLJOPWVM[OLHJJLSLYVTL[LY0*>OLU W\[PUMVYTH[PVUYLMSLJ[PUN[OLHJJLSLYH- H_PZPUJSPUVTL[LY
[OPZTVIPSLLSLTLU[PZZ\IQLJ[LK[VHJJLS- [PVUYLNPZ[LYLK·PUHUHSVN\LVYKPNP[HS ;OLZLPUJSPUH[PVUZJHUILL_WSVP[LKPUHU
LYH[PVU P[ KLMVYTZ HIZVS\[L MVYT PM ^L
HUK [OPZ KLMVYTH[PVU ^HU[[VRUV^L_HJ[S`
PZ YL]LHSLK I` H ]HYP- 2 [OLHUNSLIL[^LLU[OL
+6V...+12V
H[PVU PU [OL JHWHJP- PUJSPUVTL[LY OLUJL
[ H U J L  I L [ ^ L L U  H R2 [OL0*JHYY`PUNP[HUK
20
47 7

WSH[L SVJH[LK VU [OL [OLNYV\UKVYPUHYLS-

TVIPSL LSLTLU[ HUK 1
MCLR H[P]LMVYTPM^L^HU[
11 18
[^VÄ_LKWSH[LZVU[OL C1 C4 RC0 RC7 Q\Z[HSPTP[PUKPJH[PVU
12 IC3 RC6 17
JOPW P[ZLSM ;^V V\[ 13
RC1
16
VM^OH[[OLYVIV[JHU
100n 10n RC2 RC5
VMWOHZL ZX\HYL^H]L 2 8 14 15 ^P[OZ[HUKILMVYLP[[VW-
8 RC3/SCL RC4/SDA
ZPNUHSZHYLHWWSPLK[V VDD IC2.A
1
PIC16F876
WSLZV]LY
[OLÄ_LKWSH[LZ>OLU 2
BIAS XOUT
7 3 9
OSC1 RB0
21
R1 10 22
[OL TVIPSL WSH[L PZ IC1 OSC2 RB1 C5 0U [OL JHZL VM [OL
220k

4 5 2 23
NC NC RA0/AN0 RB2
Z\IQLJ[LK[VHJJLSLYH- IC2 = OP284
3 24 10M
( + ? 3   V Y  [ O L
ADXL311 RA1/AN1 RB3
[PVUHUKTV]LZ[OLZL 1
ST YOUT
6 5 4
RA2/AN2 RB4
25 16V (+?3[OLHIZVS\[L
ILJVTL \UIHSHUJLK COM IC2.B
7 5
RA3/AN3 RB5
26 PUJSPUH[PVUPZNP]LUI`
6 6 27
HUKWOHZLKLTVK\SH- 3 RA4/T0CKI RB6 [OLLX\H[PVUZ!
4 7 28
[PVU `PLSKZ H ]VS[HNL C2 C3
RA5/AN4 RB7

WYVWVY[PVUHS [V [OL ;PS[$HYJZPU(? (?

47n 47n 8 19
HJJLSLYH[PVU
6MJV\YZL[OL\ZLYPZ HUK
070305 - 12
X\P[L \UH^HYL VM HSS
[OPZNVPUNVUI\[OHZ 9VSS$HYJZPU(Y(@

32 elektor electronics - 7-8/2007

^OLYL( ?HUK(YHYL Q\Z[[^VPUZ[Y\J[PVUZ[V
[OLHUHSVN\L]VS[HNLZ 3 HJJLZZ [OL [PS[ VY YVSS
Z\WWSPLKI`[OLHJJLS- R2 PUMVYTH[PVU

47 7
LYVTL[LY ^OLU P[ PZ :V MVY L_HTWSL `V\
PUJSPULKHUK( ?HUK 21 ^V\SK^YP[L
(@[OL]VS[HNLZZ\W- C1 C4 +6V...+12V
1 24
WSPLK ^OLU P[ PZ WLY- 2
SOUT VIN tilt = Adin(0)
100n 10n SIN
MLJ[S`OVYPaVU[HS 2 8 3 22 tilt = tilt – 512
8 ATN RES
( Z ZOV^U PU -PN- VDD IC2.A
1
IC3 ‘ adjust accord-
\YL[OLHJJLSLYVT- 2
BIAS XOUT
7 3 5
P0 P15
20
ing to the voltage
R1 6 19
L[LYHWWSPJH[PVUJPYJ\P[ 220k
4
IC1
5 7
P1 P14
18
output
NC NC IC2 = OP284
KVLZU»[ HTV\U[ [V 8
P2 P13
17 ‘ when the incli-
ADXL311 P3 P12
]LY`T\JO;OLVUS` 1
ST YOUT
6 5 9
P4 P11
16 n o m ete r is
PTWVY[HU[ LSLTLU[Z COM IC2.B
7 10
P5
CB220
P10
15 horizontal
6 11 14
HYLPUMHJ[JHWHJP[VYZ 3 P6 P9
4 12 13
*HUK*^OPJOÄS- C2 C3
P7 P8 [VYLJV]LY[OL[PS[PUMVY-
[LY[OLHJJLSLYVTL[LY TH[PVU\ZPUNH*\ISVJ
4 23
47n 47n
V\[W\[]VS[HNL0[HJ[\- *)
HSS`OHZHWHZZIHUKVM >OPSL`V\TPNO[^YP[L
070305 - 13
ZL]LYHSR/aHUKJHU MVYL_HTWSL
[OLYLMVYLYLHJ[[V]LY`
MHZ[]PIYH[PVUZUV[H[ t i l t =
HSS^OH[^L^HU[PUHUHWWSPJH[PVUHZHU \YLTV\U[LKVUH[PU`ôTT7*) Adc _ Read(0)
PUJSPUVTL[LY>P[O[OL]HS\LZJOVZLUOLYL ZLLWOV[V tilt = tilt - 512 ‘ adjust
[OLWHZZIHUKPZYLZ[YPJ[LK[V/aLHZ- <ZPUNV\YHJJLSLYVTL[LYHZHUPUJSPUVT- according to the voltage output
PS`LUV\NO L[LYPU]VS]LZTLHZ\YPUNP[ZHUHSVN\LV\[- ‘ w h e n t h e i n c li n o m et e r is
;OL[^VVWHTWZHYYHUNLKHZMVSSV^LYZ W\[]VS[HNLZVUIV[OH_LZHUKZ\I[YHJ[- horizontal
H]VPKHU`L_[LYUHSPUÅ\LUJLVU[OLZLÄS[LY PUNMYVT[OLT[OL]VS[HNLZH[YLZ[[OH[PZ
JHWHJP[VYZHUKHSSV^[OLHJJLSLYVTL[LY[V ^OLU[OL0*ZVJRL[PZWLYMLJ[S`WHYHSSLS[V [VYLJV]LY[OL[PS[PUMVYTH[PVU^P[OH70*
ILJVUULJ[LK^P[OV\[ZWLJPHSWYLJH\[PVUZ [OLNYV\UK WYVNYHTTLK PU )HZPJ PU [OPZ L_HTWSL
[VHU`TPJYVJVU[YVSSLYVY(+*PUW\[ -PN\YLZOV^ZHUL_HTWSLVM[OL\ZLVM 4PRYV)HZPJJVTWPSLYHUKIP[(+*
;OL VUS` TPUVY WYVISLT `V\ TPNO[ [OPZPUJSPUVTL[LY^P[OH70*TPJYVJVU[YVS- ;OLZHTLPUZ[Y\J[PVUZ^PSSVI]PV\ZS`IL\ZLK
LUJV\U[LYJVUZ[Y\J[PUN[OPZWYVQLJ[PZ[OH[ SLY ^P[O H I\PS[PU (+* ^OPSL -PN\YL MVYYVSSI\[\ZPUNHUHSVN\LJOHUULSPM`V\
[OLHJJLSLYVTL[LYPZPUHU:4+WHJRHNL ZOV^Z[OLZHTL[`WLVMJPYJ\P[[OPZ[PTL OH]LHKVW[LK[OLJPYJ\P[KPHNYHTZVM-PN-
^OPJOPZUV[HS^H`ZLHZ`MVYZVSKLYPUNVU[V ^P[OH*\ISVJ*) \YLZVY;OLUP[VUS`YLTHPUZMVY`V\[V
HUHTH[L\Y7*);OLYLPZUV^HTVK\SL >L HYL UV[ NP]PUN `V\ H WYVNYHT MVY L_WSVP[[OPZKH[H[VWYL]LU[`V\YYVIV[»ZMHSS-
YLM(JJLSMYVT3L_[YVUPJ^^^SL_[YVUPJ L_WSVP[PUN[OLPUMVYTH[PVUZ\WWSPLKI`[OL PUNV]LYVU[LYYHPU[OH[»Z[VVZ[LLWMVYP[
MY[OH[PUJS\KLZHSS[OLJVTWVULU[ZPU-PN- PUJSPUVTL[LYHZPUIV[OJHZLZHSPRLP[[HRLZ (070305-I)

Positioning with Photodiode Arrays

Pascal Choquet
0UK\Z[YPHSWYVK\J[PVUSPULYVIV[ZYLX\PYL
OPNOYLZVS\[PVU ZLUZVYZ [V TLHZ\YL [OL
WVZP[PVUVMYVIV[PJHJ[\H[VYZZV[OH[[OL
[VVSZJHUILHJJ\YH[LS`N\PKLKVU[V[OL
^VYRWPLJL(WOV[VKPVKLHYYH`[VNL[OLY
^P[OHUL_[LYUHSSPNO[ZV\YJLPZVM[LU\ZLK
HZHZLUZVYPU[OPZHWWSPJH[PVU;OPZJOPW
JVU[HPUZHSPULVMWOV[VKPVKLZ[VNL[OLY
^P[OHZLYPLZVMZHTWSLHUKOVSK:/JPY-
J\P[Z^OPJO[HRLHZUHWZOV[VM[OLYLHKPUNZ
VMLHJOWOV[VKPVKLZH[[OLZHTLPUZ[HU[
[OLOPNOLZ[ZLUZP[P]P[`
;OL HJJVTWHU`PUN [HISL SPZ[Z [OL TVZ[
PTWVY[HU[ WYVWLY[PLZ VM ZVTL JVTTVU
HYYH`Z;OLZLUZP[P]P[`PZKLWLUKHU[VU[OL
HJ[P]LKPVKLZ\YMHJLHYLHHUK[OLPU[LNYH-
[PVU[PTL
-YVT[OLV\[ZPKL[OLZLHYYH`ZSVVR]LY`
ZPTWSLHWHY[MYVT[OL[^VZ\WWS`JVU-
ULJ[PVUZ[OLYLHYLVUS`[OYLLZPNUHSZMVY
JVUULJ[PVU[VHTPJYVJVU[YVSSLY!(JSVJR
PUW\[*32HZ[HY[PTW\SZL:0PUW\[HUK
HUHUHSVN\LV\[W\[ZPNUHS(6(6ZOV\SK
PUKP]PK\HSWP_LS^PSSILV\[W\[H[(6;OL
TPJYVJVU[YVSSLYYLHKZLHJOSL]LSHUKZ[VYLZ
P[Z]HS\L
( MLH[\YL VM [OL 43?  [`WL HYYH`
PZ [OH[ [OL MPYZ[ [^V ]HS\LZ YLHK V\[ HYL
K\TTPLZ[OLÄYZ[VM[OLYLHS]HS\LZ
HWWLHYZH[[OL[OPYKJSVJRLKNL;OL[^V
]HS\LZHM[LY[OL[O]HS\LHYLHSZVK\T-
TPLZ[OLYLHKV\[[OLYLMVYLYLX\PYLZ
JSVJRLKNLZPU[V[HS[VYLHKHSS[OLKH[HHUK
[OLÄUHSYKLKNLYLPUP[PHSPZLZ[OLZOPM[
YLNPZ[LY;OLNHPUVM[OLWP_LSZH[LP[OLY
HUK[OLUV\[W\[Z[OLZLPU[LNYH[LKHUHSVN\L
]HS\LZZLYPHSS`MYVTHZPUNSLV\[W\[;OL:
/JPYJ\P[ZHYLPTWVY[HU[ILJH\ZL[OLZLUZP-
[P]P[`VMLHJOLSLTLU[[V[OLSPNO[X\HU[HPZ
KLWLUKLU[VU[OLPU[LNYH[PVUWLYPVK"^P[O-
V\[[OL:/[OLSHZ[LSLTLU[^V\SKZOV^
7-8/2007 - elektor electronics
ILSVHKLK^P[OH£YLZPZ[VY[VNYV\UK
;VYLHKV\[[OLHYYH`]HS\LZ[OLJVU[YVSSLY
ÄYZ[S`NLULYH[LZ[OLJSVJRZPNUHSHUK[OLU
ZL[Z:0OPNO^P[OZ\MÄJPLU[ZL[\W[PTL
ILMVYL H YPZPUN JSVJR LKNL 6U Z\JJLZ-
ZP]LMHSSPUNJSVJRLKNLZ[OL]HS\LVMLHJO
LUKVM[OLHYYH`PZHIV\[NYLH[LY[OHU
[OVZLPU[OLJLU[YLJVZPUL^LPNO[PUN[OPZ
JVTWLUZH[LZMVY[OLSPNO[SVZZL_WLYPLUJLK
H[[OLLKNLZ^OLU[OLHYYH`PSS\TPUH[PVUPZ
WYV]PKLKI`HZPUNSL3,+
;OLPU[LNYH[PVUWLYPVKILNPUZH[[OL[O
33
 JSVJRLKNLHUKJVU[PU\LZ\U[PS[OLUL_[
+5V
:0ZPNUHS;OLV\[W\[]HS\LZHYL[OLYLZ\S[
VM[OLWYL]PV\ZPU[LNYH[PVUWLYPVKZVPM[OL
R2
HYYH`PZUV[JVU[PU\V\ZS`ZJHUULK[OLUP[
C6 C5 PZULJLZZHY`[VTHRL[^VJVTWSL[LZJHUZ

10k
100n 100n [VNL[TLHUPUNM\SYLZ\S[Z;OLÄYZ[ZJHU
20 J`JSLHM[LYWV^LY\WPZ\ZLK[VPUP[PHSPZL
K1
1
KPNP[HSSL]LSZVU[OLJOPW[OL]HS\LZYLHK
MCLR/VPP
IC3 HYLPU]HSPKHUKZOV\SKILKPZJHYKLK;OL
C3
7
RA5/AN4/SS/LVDIN 1M PU[LNYH[PVU[PTLPZLX\HS[V[OLWP_LSJV\U[
6
5
RA4/T0CKI TPU\ZKP]PKLKI`[OLJSVJRMYLX\LUJ`
RA3/AN3/VREF+ 25V
4 4
RA2/AN2/VREF-
2 ;OLZLUZP[P]P[`JHUILLHZPS`JVU[YVSSLKI`
V+
3
RA1/AN1 C1
1
C1+
16 [OLTPJYVJVU[YVSSLY
2
IC2 RA0/AN0
3 3 IC1
A OUT PIC18F242 1M C1– K2
1 21
RB0/INT0 RC7/RX/DT
18 25V 12
R1OUT R1IN
13 ;OLJPYJ\P[KPHNYHTZOV^UOLYLJVUZPZ[ZVM
SI RX
CLK
2 22
RB1/INT1 RC6/TX/CK
17 11
T1IN T1OUT
14
TX [OLWOV[VKPVKLHYYH`[VNL[OLY^P[OHIHZPJ
23 16 10 7
MLX90255
24
RB2/INT2 RC5/SDO
15 9
T2IN T2OUT
8
70*TPJYVJVU[YVSSLYHUKHKYP]LYJOPWMVY
RB3/CCP2 RC4/SDI/SDA R2OUT R2IN
25 14 4 HU9:ZLYPHSPU[LYMHJLJVUULJ[PVU;OL
5 RB4 RC3/SCK/SCL C2 C2+
26
RB5/PGM RC2/CCP1
13
MAX232 H\[OVYOHZWYVK\JLKHWYVNYHT^YP[[LUPU
27 12 5 15
RB6/PGC RC1/T1OSI/CCP2 1M
25V
C2–
V-
*^OPJOJHUIL\ZLKPU[OLJVU[YVSSLY;OL
28 11
RB7/PGD RC0/T1OSO/T1CKI
6 ZV\YJLÄSLZaPWHYLH]HPSHISL
OSC1 OSC2 C4
8 9 10 19
[VKV^USVHKMYLLVMJOHYNLMYVT[OLEle-
R1 X1
1M R[VY,SLJ[YVUPJZ^LIZP[L(ZJHUJ`JSLPZ
3307

25V
PUP[PH[LK\ZPUNH[LYTPUHSWYVNYHTI`LU[LY-
C10 C9
PUNº:[YN:»;OL]HS\LZHYLZLWHYH[LK^P[O
15p 15p ZLTPJVSVUZZV[OL`JHUILLHZPS`\ZLKPU
4.9152MHz
070314 - 11
HU,_JLS[HISL

7OV[VKPVKLHYYH`ZJHUIL\ZLKPUYVIV[-
Photodiode Array properties PJZMVYPTHNPUNIHZLKVU[OLWPUOVSLJHT-
Array MLX90255 TLS1301 TLS1401 TLS208R LYHWYPUJPWSL[OL`OH]LHSZVILLU\ZLK
PUSPULMVSSV^PUNHWWSPJH[PVUZ^OLYL[OL`
Pixel (* see text): 128 (+ 4*) 102 128 512
VMMLYNVVKYLZVS\[PVUHUKJHUILTV\U[LK
Pitch (DPI): 385 300 400 200 YLSH[P]LS`MHYH^H`MYVT[OLÅVVY;VNL[OLY
Weighting: Cosine Equal Equal Equal ^P[OHWYPZTVYVW[PJHSNYH[PUN[OLHYYH`
JHUIL\ZLK[VWLYMVYTZPTWSL`L[WYLJPZL
Length x width (μm): 200 x 66 85 x 77 63,5 x 55,5 120 x 70
JVSV\YYLJVNUP[PVU
Output (V): 0.125 - 2.4 0 - 2.0 0 - 2.0 0 - 2.0 (070314-I)

Whiskers on Robots
Alexander Wiede-
kind-Klein
:VTL[PTLZ ZVWOPZ[P-
JH[LKZLUZVYZIHZLKVU
]PKLV JHTLYHZ PUMYH-
YLK VY \S[YHZV\UK HYL
UV[X\P[L\W[V[OLQVI
HUK^LOH]L[VYLZVY[[V
ZVTL^OH[TVYLWYPTP-
[P]L Z^P[JO[`WL ZLU-
ZVYZ ;OLZL ^VYR SPRL
HUHUPTHS»Z^OPZRLYZVY
ºHU[LUUHL» VU PUZLJ[Z
KL[LJ[PUNULHYI`VIQLJ[Z
PU [OL LU]PYVUTLU[
>OLUKPZ[\YILKHZLU-
ZVYZLUKZHW\SZL[V[OL
YVIV[[VPUKPJH[L[OH[HUVIQLJ[PZWYLZLU[
:LUZVYZ[OH[HYLIV[OZLUZP[P]LHUKYVI\Z[
JVUK\J[P]L ;OL PKLH
1
JV\SKUV[ILTVYLZPT-
WSL! ^L WHZZ [OL ^PYL
[OYV\NO H TL[HS [\IL
HUK^OLU[OL^PYLPZPU
JVU[HJ[^P[OHUVIQLJ[
PU [OL LU]PYVUTLU[
P[ ILUKZ HUK [OL [^V
THRLLSLJ[YPJHSJVU[HJ[
9LZWVUZP]LULZZHUKZLU-
ZP[P]P[` KLWLUK JOPLMS`
VU[OLSLUN[OHUKZ[PMM-
ULZZVM[OLWPLJLVMN\P-
[HYZ[YPUN\ZLK
+VP[`V\YZLSMJVUZ[Y\J-
[PVUZOV\SKUV[WYLZLU[
NYLH[KPMÄJ\S[PLZL]LU[V
[OLTVZ[TLJOHUVWOV-
JHUILTHKL\ZPUNZ[LLSN\P[HYZ[YPUNZ;OL IPJYLHKLY!ZLL-PN\YL>LWYVJLLKHZ
TH[LYPHSPZ]LY`ÅL_PISLHZ^LSSHZILPUN MVSSV^Z

34 elektor electronics - 7-8/2007

 2 3 +5V

10k
IC1 = 74HC74
4
S
SENSOR INPUT
2 5
D Q
^P[OPU[OL[\IL\ZPUNOV[TLS[NS\L)L IC1.A
3 6
*\[HSLUN[OVMZ[LLSN\P[HYZ[YPUNJT JHYLM\SUV[[VHSSV^[VVT\JONS\L[VY\U C Q

[VJTPZLUV\NOHUKZH^VMMHSLUN[O
VM HIV\[ JT VM TT KPHTL[LY IYHZZ
[\IL+LI\YY[OLLKNLZPUZPKLHUKV\[
:VSKLYH^PYL[VVULLUKVM[OLIYHZZ
[\ILHUKHUV[OLY^PYL[V[OLLUKVM[OL
N\P[HYZ[YPUN0UZ\SH[L[OLQVPU[VU[OLN\P[HY
Z[YPUN\ZPUNOLH[ZOYPUR[\IPUN
:SPKL[OLZ[YPUNPU[V[OL[\ILZV[OH[VUS`
HIV\[[OLÄYZ[TTMYVT[OLLUKVM[OL
[\ILPZPUZ\SH[LK-P_[OLZ[YPUNJLU[YHSS`
KV^UPUZPKL[OL[\IL R
1
RESET
;OLYLZ\S[ZOV\SKSVVRSPRL-PN\YL6M
JV\YZL`V\HYLMYLL[VL_WLYPTLU[^P[O 070282 - 11
]HYPH[PVUZVU[OPZJVUZ[Y\J[PVU
(Z^LOH]LKLZJYPILKP[[OPZYVIV[^OPZRLY
PZLZZLU[PHSS`Q\Z[HZPTWSLZ^P[JOJVU[HJ[ HZZOV^UPU-PN\YL;OLTPJYVJVU[YVSSLY
;VLUZ\YL[OH[L]LU[OLNLU[SLZ[JVSSPZPVU PU[OLYVIV[JHU[OLUYLHK[OLZ[H[LVM[OL
KVLZUV[WHZZ\UUV[PJLK^LYLJVTTLUK ÅPWÅVWH[P[ZSLPZ\YLHUK[OLUYLZL[P[
[OH[`V\\ZL[OL^OPZRLY[V[YPNNLYHÅPWÅVW (070282-I)

CO Sensor
Cap / Working electrode
Active charcoal filter terminal
Gas inlet Gas inlet
Backing Catalyst
Layer Layer
Gasket

Separator
Gas diffusion (immersed by liquid
control film Gas sensing layer alkaline electrolyte)

Washer

Water
Can /
Counterelectrode
terminal

C1
070187 - 12
22M
R2
100k

Figure 1. Internal structure of the sensor.

IC1
2
Uout
working 1
AD708
3
;OL-PNHYV;.:ZLUZVYPZHJHYIVU MYPLUKS`HUK[OLOV\ZPUNPZSLHRWYVVM;OL
TGS5042

TVUV_PKL ZLUZVY [OH[ PZ \ZLK WYPTHYPS` ZLUZVYJHUTLHZ\YL*6JVUJLU[YH[PVU\W R1

PUPUK\Z[YPHSHWWSPJH[PVUZZ\JOHZZTVRL [VHUKP[OHZH[LTWLYH[\YLYHUNLVM¶
1k

KL[LJ[VYZÄYLKL[LJ[PVULX\PWTLU[HUK ¢*[V¢*;OLOV\ZPUNOHZ[OLZHTL
]LU[PSH[PVUJVU[YVSSLYZMVYPUKVVYJHYWHYRZ MVYTHZHU((IH[[LY` counter

HUK[OLSPRL;OLZLUZVYPZX\P[LZ\P[HISLMVY 070187 - 11

\ZLPUIH[[LY`WV^LYLKHWWSPJH[PVUZHUKP[ (ML^ZWLJPÄJH[PVUZ!
OHZZL]LYHSHK]HU[HNLZV]LYJVU]LU[PVUHS • :\P[HISL MVY \ZL PU IH[[LY`WV^LYLK
ZLUZVYZ;OLLSLJ[YVS`[LPZLU]PYVUTLU[HSS` LX\PWTLU[ Figure 2. A simple sample application circuit.

7-8/2007 - elektor electronics 35

•/PNOZLUZP[P]P[`HUKHJJ\YHJ`MVY*6
•3PULHYYLSH[PVUZOPWIL[^LLU*6JVUJLU-
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•3V^ZLUZP[P]P[`[VL[OHUVS
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-PN\YLZOV^Z[OLPU[LYUHSZ[Y\J[\YLVM[OL
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PUHZVY[VMÄSTHUKZL]LYHSZ\WWVY[PUNSH`-
LYZ(SSVM[OPZPZWHJRHNLKPUHJ`SPUKYPJHS
Z[HPUSLZZZ[LLSOV\ZPUN;OLSV^LYJVTWHY[-
TLU[PZÄSSLK^P[O^H[LYHUK[OLJHWLUK
PZÄSSLK^P[OHUHJ[P]H[LKJOHYJVHSÄS[LY
-PN\YLZOV^Z[OLZJOLTH[PJKPHNYHTVMH
IHZPJHWWSPJH[PVUJPYJ\P[MVY[OL;.:
;OLZLUZVYNLULYH[LZHUL_[YLTLS`ZTHSS
J\YYLU[^OPJOPZJVU]LY[LKPU[VH]VS[HNL
I`HUPUZ[Y\TLU[H[PVUHTWSPMPLYMVYTLK
I`0*HUK99LZPZ[VY9PZULJLZZHY`[V
WYL]LU[WVSHYPZH[PVUVM[OLZLUZVY^OPJO
TPNO[V[OLY^PZLVJJ\Y^OLU[OLJPYJ\P[PZ
Z^P[JOLKVMM
0[PZLZZLU[PHS[VH]VPKHWWS`PUNH]VS[HNL
[V[OLZLUZVY\UKLYHU`JVUKP[PVUZ+VPUN
ZV^V\SKWLYTHULU[S`KHTHNL[OLZLUZVY
;OL]VS[HNLHJYVZZ[OLZLUZVYT\Z[HS^H`Z
ILSLZZ[OHUT=
:VTLWV[LU[PHSHWWSPJH[PVUZMVY[OL
ZLUZVYHYL!
•9LZPKLU[PHS*6KL[LJ[VYZ
•*6TVUP[VYZMVYPUK\Z[YPHSHWWSPJH[PVUZ
•=LU[PSH[PVUJVU[YVSMVYPUKVVYJHYWHYRZ
(070187-I)

Compass Sensor
for Lego Mindstorms NXT
Zeno Otten
(ML^`LHYZHNVHJVUZPKLYHISLHTV\U[VM
H[[LU[PVU^HZKL]V[LKPU,SLR[VY,SLJ[YVU-
PJZ[V[OLJVUZ[Y\J[PVUVMZLUZVYZMVY[OL
PU[LSSPNLU[JVU[YVSIYPJR9*?MYVT3LNV
4PUKZ[VYTZBD
;OLYLPZUV^HZ\JJLZZVY;OL5?;PZ[OL
OLHY[VM[OLUL^4PUKZ[VYTZ<ZPUN[OPZ
Z`Z[LTJVTW\[LYOVII`PZ[ZJHUKL]LSVW
I\PSKHUKPUWHY[PJ\SHYWYVNYHTU\TLY-
V\ZYVIV[Z[V[OLPYOLHY[»ZJVU[LU[
>P[O[OLJVTWHZZZLUZVY[OH[PZKLZJYPILK
OLYL[OL5?;JHUKL[LYTPULP[ZKPYLJ[PVU
^P[OHUHJJ\YHJ`KV^U[VHML^KLNYLLZ
;OPZHSSV^ZHYVIV[[VILI\PS[[OH[»ZJHWH-
ISLVMUH]PNH[PVU
;OL JVTWHU` +L]HU[LJ BD Z\WWSPLZ
+V
NXT 4V3 4
1
+5V
CMPS03
82k
HUKJVUZ\TLZHIV\[T(;OPZTVK-
\SLPZLTPULU[S`Z\P[HISLMVY\ZL^P[O[OL
5?;
;OLUL^5?;OHZ[OLVW[PVUVMJVUULJ[-
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HSSV^Z H ZLUZVY [V IL JVUULJ[LK [V [OL
5?;\ZPUNHU91WS\N
;OL5?;KVLZUV[OH]LPU[LYUHS
W\SS\WYLZPZ[VYZVU[OL0*I\Z:V
[OLZLOH]L[VILHKKLKL_[LYUHSS`
3LNVZ\NNLZ[YLZPZ[VYZ^P[OH]HS\L
VMR£VUIV[O[OLKH[HSPUL:+(
HZ^LSSHZ[OLJSVJRSPUL:*3
:VM[^HYL
;OLZ[HUKHYK3LNV4PUKZ[VYTZZVM[^HYL
PZ IHZLK PU KYHNNPUN NYHWOPJHS M\UJ-
[PVUISVJRZ6US`[OLWHYHTL[LYZJHUIL
JOHUNLK ^OPSL [OL M\UJ[PVUHSP[` VM [OL
ISVJRZPZÄ_LK
5V[,_HJ[*5?*PZHWYVNYHTTPUNSHU-
N\HNLMVY[OL5?;[OH[OHZHZ[YVUNYLZLT-

82k

Robot Compass
Module
SCL
2 SCL
2 9
I C NXT SCL 5
2
I C NXT SDA 6
SDA
GND
NXT GND 3
H YLHK`[VNV JVTWHZZ TVK\SL [`WL
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070156 - 11 ;OL JVTWPSLY )YPJ? BD JHU IL KV^U-
SVHKLKMYLLPZZPTWSL[V\ZLHUKVMMLYZ
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;OLWYVNYHTJVTWHZZU_J^OPJOJHUIL
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PJZ^LIZP[LHZÄSLU\TILYaPW
JVU[PU\HSS`YLHKZ[OLJVTWHZZZLUZVY;OL References
TLHZ\YLK]HS\LZHYL[OLUWYVJLZZLKI`
[1] Compass sensor for Lego RCX, Elektor
[OLYVIV[^OV^PSSZLX\LU[PHSS`ºWVPU[»[V Electronics July/August 2002
5VY[O:V\[O,HZ[HUK>LZ[;OL]HS\LZ
TLHZ\YLKI`[OLLSLJ[YVUPJJVTWHZZJHU [2] Devantec: http://www.robot-electronics.
co.uk/shop/Compass_CMPS032004.htm
HSZVILYLHKMYVT[OLKPZWSH`VU[OL5?;
IYPJR [3] BricX: http://bricxcc.sourceforge.net/

36 elektor electronics - 7-8/2007

Ultrasonic
Distant Obstacle Detector
B. Broussas
1
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070236 - 11
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070236 - 12

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(070236-I)

7-8/2007 - elektor electronics 37

Light Sensing with an LED
Andreas Grün
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HWWSPJH[PVUZ
(070356-I)
Web link
[1] www.merl.com/publications/TR2003-035/

070356 - 11
Listing Example program:
#include <avr/io.h>
#include <avr/interrupt.h>
2
#define LEDPIN 0x40 // LED on PB6
I photo
int main()
{
unsigned char cr=0,cb=0;
DDRB = 0x00; // PORTB input
DDRA = 0xff; // PORTA output for display LEDs
070356 - 12
PORTA = 0; // off
PORTB = LEDPIN; // PB6 hi

3 sei();
VCC
while(1)
{
if((PINB & LEDPIN) == 0) // discharge complete
{
PORTB = LEDPIN; // PB6 hi

// multiple times
070356 - 13 to get enough charging time
DDRB |= LEDPIN; // PB6 output and hi, charges LED
DDRB |= LEDPIN; // PB6 output and hi, charges LED
DDRB |= LEDPIN; // PB6 output and hi, charges LED
4 DDRB |= LEDPIN; // PB6 output and hi, charges LED

DDRB &= ~LEDPIN; // PB6 input, still charging w/ pullup

IN
PORTB = 0; // switch off pullup
PORTA ^= LEDPIN; // toggle PORTA for display LEDs
}
}

return(0);
070356 - 14
}

38 elektor electronics - 7-8/2007

7-8/2007 - elektor electronics 39
 MotoBox
Drives stepper, DC and servo motors
Joseph Zamnit (MCAST, Malta)

Before a robot moves, no matter if that’s walking, swimming,

cruising a maze or tearing up asphalt, you need to address the
interfacing and driving of different types of motors. Developing
the relevant algorithms will increase project development time
as tweaks and adaptations seem to be necessary for each
new application. This project solves these issues by presenting
a generic motor driver board that can drive three different
types of motors, stepper, DC and servo, without having to
program the algorithm for each motor. MotoBox is ideal
for newcomers to robotics as well as for old hands
who can use the board for prototyping and
development. The board can also be used with
two different types of motors simultaneously!

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p e c i fi catio JY`Z[HS[VIL\ZLKHZ[OLZLYPHS [OLTVK\SLUV[[VZOHYL[OLWV^LYZV\YJL
o B o x S
Mot m o to rs:
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es o f
s 3 typ r moto
rs
• Drive p p e JVU[YVSSLYZ^OPSL769;(PZ [OLTV[VY
lar ste
• bipo rs \ZLK MVY ]HYPV\Z M\UJ[PVUZ
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• DC m ,1 [V YLHK [OL ]HS\L VM [OL (4(?PZ\ZLK[VPU[LYMHJL[OLTVK\SL
motors 600,N
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sing s e
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• and s e o moto
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to 2A( D
• Easy g, up to WYVNYHTTPUNJVUULJ[VY TPJYVJVU[YVSSLY[VPU[LYWYL[UVPZLHZKH[H
n it o ri n
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• Curr (stepper m o r’ PZHSZVPUJS\KLKPUVYKLY HUKTH`YLZ\S[PULYYVULV\ZVWLYH[PVU;OL
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• Indiv WSLKI`HU-JHWHJP[VY WYV]PKLKI`[OL3 LHJOKYP]PUNHZPUNSL

40 elektor electronics - 7-8/2007

 +5V Vsup Vsup

C19 C17

100n 100n D1 D2 D3 D4

GND GND

4
VCC1

VCC2
6
5 2 K6
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IC6C D5 D6

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R1
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63V 25V

10k

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330
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C12
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4k7
10k
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2
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10k
+5V C4 5W
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100n
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470

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14
C9
R13

VDD
1u 25V C16 C18

330
2

17 6
RA0/AN0 RB0/INT
100n 100n D7 D8 D9 D10
VDD

18 7
16 1 RA1/AN1 RB1/RX/DT
VCC C1+ C7 1 8
K3 C22 C3 RA2/AN2/VREF IC1 RB2/TX/CK GND GND
D15

4
1u 2 9
1 IC3 3 25V RA3/AN3/CMP1 PIC16F628-04/P RB3/CCP1

VCC1

VCC2
100n 14 C1- 3 10 6
6 10u 25V 11 RA4/T0CKI/CMP2 RB4/PGM
T1OUT T1IN 4 11 5 2 K5
2 7 10 RA5/MCLR/VPP RB5 1A1 1Y1 5
T2OUT T2IN 15 12 7 3
7 13 12 RA6/OSC2/CLKOUT RB6/T1OSO/T1CKI/PGC 1A2 1Y2
R1IN R1OUT 16 13 6 1 4
11 3 8 9 RA7/OSC1/CLKIN RB7/T1OSI/PGD 1EN IC5 1E
R2IN R2OUT K10
8 4 3
VSS

C2+ C6 10 13
10 4 2A1 L298KV 2Y1
MAX232CPE 12 14 2
9 15 5 2A2 2Y2
5

GND C2- 1u 11 15 K9
VEE

5 25V 2EN 2E 1
D11 D12

GND
GND R2
6x 1N5400
6

D Connector 9 C8

10k

8
GND
1u 25V
K4
GND K2
D13
GND
C14
1N4148
C11 C10
R15 220n R8
4k7

GND 100n 100n R7

4k7
10k

GND 5
+5V
7
IC6B
6
R6 R10
C15
0R22
10k

5W
100n
070129 - 11
GND

Figure 1. Circuit diagram of Motobox, the ‘one size fits all’ controller for motors typically used in robots.

TV[VY;OL3 PZHK\HSOHSMIYPKNLKYP]LY KP[PVUMVYHZWLJPÄLK[PTLILMVYLZ^P[JOPUN L_V[PJ JVTWVULU[Z [V ZV\YJL ^P[O [OL

JHWHISL VM ( WLY JOHUULS ^P[O ZLWH- VMM[OLHMMLJ[LKJOHUULS WVZZPISLL_JLW[PVUVM[OLJSPWVUOLH[ZPUR
YH[LLUHISPUNHUKJ\YYLU[ZLUZPUNMVYLHJO ·I\[[OLU[OH[»ZH]HPSHISLMYVT4V\ZLY
IYPKNL0[PZZ\P[LK[VKYP]PUNKPMMLYLU[[`WLZ ;OYV\NOOVSLJVTWVULU[ZHYL\ZLKPU[OL
VMTV[VYZ0U[OPZWYVQLJ[[OL3 PZLUH- *VUZ[Y\J[PVU WYVQLJ[ [V ZPTWSPM` JVUZ[Y\J[PVU HUK HSS
ISLKI`[OLTPJYVJVU[YVSSLYHUK[OL,UHISL .VVK UL^Z! [OL WYVQLJ[ KVLZ UV[ OH]L JVTWVULU[ZHYLLHZ`[VVI[HPUHZ^LSSHZ
SPULPZW\SSLK3V^VUWV^LY\W[VLUZ\YL
[OH[[OL0*PZKPZHISLK+LJV\WSPUNJHWHJP-
[VYZU-LHJOHYLWSHJLKULHY[OL0* Table 1. Driver options chart
(+*HTWSPÄLYPZI\PS[HYV\UK[OL34 Motor header function
^OPJOZLUZLZ[OL]VS[HNLHJYVZZ[OLZLUZL Output
YLZPZ[VY 0[ PZ MVSSV^LK I` H SV^WHZZ MPS- Motor 1 Motor 2
[LY HUK H I\MMLY HTWSPMPLY ^OVZL NHPU μC Pin RB3 RB2 RB1 RB0 RB7 RB6 RB5 RB4
KLJYLHZLZ^P[OMYLX\LUJ`ÄS[LYZHU`UVPZL Header pin 2 3 4 5 2 3 4 5
+*TV[VYZNLULYH[LZWPRLZ^OLU[OLHYTH- Mode
[\YLTHRLZJVU[HJ[^P[O[OLJVTT\[H[VY
Each output Each
^OPJOPZYLÅLJ[LKHZHJ\YYLU[ZWPRLHUK Stepper driver
drives a motor phase output drives a motor phase
HWWLHYZ HJYVZZ [OL ZLUZL YLZPZ[VY *\Y-
YLU[ZWPRLZTH`JH\ZL[OLTPJYVJVU[YVS- DC motor driver (1)    
SLY[VKL[LJ[HZOVY[JPYJ\P[HUK[O\ZZ[VW Servo driver (2) (3) P(4) P(4) (3) (3) P(4) P(4) (3)
[OLTV[VY;OLÄS[LY^PSSZTVV[OV\[HU` (1) Differential drive
]VS[HNLZWPRLZ0UHKKP[PVUHUHSNVYP[OT (2) Use the ground pin on the connectors for the servo
PZ PTWSLTLU[LK PU [OL TPJYVJVU[YVSSLY (3) Allows 2 servos to driven simultaneously with the same signal
ÄYT^HYL[OH[KL[LJ[ZHUV]LYJ\YYLU[JVU- (4) Used to power servo motor

7-8/2007 - elektor electronics 41

TV\U[VU[OL7*)VM^OPJO[OLJVTWV-
ULU[V]LYSH`PZZOV^UPU-PN\YL
;OLYL»ZSP[[SL[VZH`VU[OLJVTWVULU[Z
\ZLKL_JLW[[OH[[OLæYLZPZ[VYPZ

K2
WYLMLYHIS` UV[ VM [OL ^PYL^V\UK [`WL

K4
6 9

C11
HUK[OLIPJVSV\Y3,+ZOH]L[^VWPUZ

C13
UV[[OYLL0M`V\KVUV[LU]PZHNLPU[LY-

C10

C12
MHJPUN [OL IVHYK [V H 7* [OL Z\I+ 1 5

K3

R3
R4
C22
C9

D16
C7
JVUULJ[VY TH` IL SLM[ V\[ /V^L]LY

C15
R6
C3

R15
R12
R17
R16

IC6
D13
[OL4(?ZOV\SKHS^H`ZILWYLZLU[
3PRL^PZL0*HUK0*ZOV\SKHS^H`ZIL

R14
IC1
IC3
ZVSKLYLK[V[OL7*)

C14
C4

C21

R8
R7

C20
C8
C6

C23
+Y`[LZ[PUN

R11

R2
6UJL[OLJPYJ\P[OHZILLUJVUZ[Y\J[LKP[

C5

IC2
D14

D15
ZOV\SK IL [LZ[LK MVY JVYYLJ[ VWLYH[PVU

R1

R13
7V^LY \W [OL JPYJ\P[ ^P[O UVUL VM [OL

C2
R5
R9
0*ZPUZLY[LK+ZOV\SKSPNO[\W*OLJR

C17
R10
C18

C1
PM[OLYLPZ=VU[OLYLSL]HU[ZVJRL[WPUZ

K1
IC4

IC5
MVY0*0*0*0*HUK0*;OLZ\WWS`
]VS[HNLZOV\SKHSZVILWYLZLU[VU0*HUK

D12
0*ZVJRL[WPU0M[OPZPZJVYYLJ[Z^P[JO 1 15 1 15

D9
D6

D3
C16

C19
VMMHUKPUZLY[[OLWYVNYHTTLKTPJYVJVU-
[YVSSLYHUK[OLYLZ[VM[OL0*Z;OLTPJYV-
JVU[YVSSLYJHUILWYVNYHTTLKPUJPYJ\P[
\ZPUNJVUULJ[VY2
D2

D8
D4

D7

D10
0M [OL IVHYK PZ [V IL JVU[YVSSLK MYVT
HUV[OLYTPJYVJVU[YVSSLYJVUULJ[VY2TH`
D1

IL\ZLK;OPZPZHZ[YHPNO[[OYV\NOJVUULJ-
[VYHUK[OL;YHUZTP[9LJLP]LZPNUHSZT\Z[
D11
ILJYVZZLKILMVYLILPUNJVUULJ[LK[V[OL
D5

IVHYK0M[OLMLTHSLZ\I+JVUULJ[VYPZ
NVPUN[VIL\ZLK[OLZPNUHSZHYLJYVZZLK K6 K7 K8 K5 K10 K9
V]LYVU[OLIVHYKP[ZLSM

4V[VYZNL[JVUULJ[LK¯
Figure 2. Component mounting plan of the PCB designed for Motobox. The copper track layout is a
;OLILZ[^H`[VM\SS`[LZ[[OLIVHYKPZ[V
free download from the Elektor website.
JVUULJ[P[[V[OL7*HUK\ZL/`WLY;LYTPUHS
[VZLUKJVTTHUKZ([[HJOHTV[VYHJJVYK-
PUN[VVULVM[OLJVUÄN\YH[PVUZZOV^UPU HULYYVULV\ZJVTTHUK;OLJVTTHUK \W^OLU[OLZ`Z[LTPZ^VYRPUNJVYYLJ[S`
-PN\YLPUVYKLY[V[LZ[[OLIVHYK<ZL[OL I\MMLYPZJSLHYLKHUK[OLIVHYK^HP[ZMVY HUKYLK^OLU[OLTV[VYKYP]LYOHZILLU
TV[VYKYP]LYVW[PVUZJOHY[;HISL[VJVU- HUL^JVTTHUK;OL3,+Z^PSS[\YUSPNO[ [\YULKVMM
ULJ[[OLTV[VY[V[OLJVYYLJ[WPUZ

Table 2. Command syntax

¯HUKJVU[YVSSLK Command Command Description
(ZZVVUHZ[OLIVHYKPZWV^LYLK\WJVY- 1 ST1FOR Stepper 1 cw
YLJ[S`P[^PSSYL[\YU[OLJOHYHJ[LYº0»[V[OL 2 ST1BAK Stepper 1 ccw
/VZ[[VZPNUHS[OH[P[»ZILLUPUP[PHSPZLKHUK
3 ST2FOR Stepper 2 cw
PZ^HP[PUNMVYHJVTTHUK(SSJVTTHUKZ
4 ST2BAK Stepper 2 ccw
HYLZP_JOHYHJ[LYZSVUN`V\JHUÄUK[OLT
SPZ[LKPU;HISL 5 STBFOR Both steppers cw — simultaneously
6 STBBAK Both steppers ccw — simultaneously
3L[»ZHZZ\TLH+*TV[VYOHZILLUJVU- 7 STSYNC Get both steppers in same position in case of slip
ULJ[LK[V[OLIVHYK-VY[OLTV[VY[V[\YU 8 AMSTOP Emergency stop. Stop All motors — e.g. overcurrent
PU [OL MVY^HYK KPYLJ[PVU [OL JVTTHUK 9 ST1FXX Turn stepper 1 xx (999 steps max) positions cw
º+*-69»OHZ[VIL[`WLKPUSV^LYJHZL
10 ST1BXX Turn stepper 1 xx (999 steps max) positions ccw
VY\WWLYJHZL;OLZVM[^HYL^PSSJVU]LY[
HSSSL[[LYZ[V\WWLYJHZL>OLU[OLJVT- 11 ST2FXX Turn stepper 2 xx (999 steps max) positions cw
THUKOHZILLUZLU[P[^PSSILL_LJ\[LK 12 ST2BXX Turn stepper 2 xx (999 steps max) positions ccw
[OLJOHYHJ[LYº(»PUKPJH[PUN[OH[YLJLW[PVU 13 DC2FOR DC motor 2 ON/cw
PZHJRUV^SLKNLKHUK[OLHJ[\HSJVTTHUK 14 DC2BAK DC motor 2 ON/ccw
PZLJOVLK;OPZPZ]LY`\ZLM\S^OLU[OL 15 DC2OFF DC motor 2 OFF
IVHYKPZ\ZLK^P[OHK\TI[LYTPUHS0M
16 DC1FOR DC motor 1 ON/cw
[OLJVTTHUKOHZILLUZLU[PUJVYYLJ[S`
17 DC1BAK DC motor 1 ON/ccw
[OLSL[[LYº,»^PSSILZLU[IHJRPUKPJH[PUN

42 elektor electronics - 7-8/2007

 ,]LUPMZ[LWZSLZZ[OHU^PSSILKVUL[OL
SLHKPUNaLYVT\Z[ILWYV]PKLK
;OL+*ZLY]VTV[VYHUKZ[H[\ZJVTTHUKZ
HYLL_LJ\[LKPTTLKPH[LS`I\[[OLZ[LWWLY
TV[VYJVTTHUKZHYLZ\IQLJ[[VHKLSH`
KLMH\S[TZZV[OLJVTTHUK^PSSIL
HJRUV^SLKNLKHM[LY[OLZ[LWWLYTV[VYOHZ
ILLUHJ[\H[LK:LUKPUNHJVTTHUK^P[OPU
[OPZPU[LY]HS^PSSJH\ZLP[[VNL[SVZ[HUK
^PSSILUV[L_LJ\[LK;OL[`WLVMTV[VYPU
\ZLJHUILYLHKIHJRH[HU`[PTL\ZPUN[OL
JVTTHUKº4;@7,?»^OPJO^PSSYL[\YUH
JOHYHJ[LYKLWLUKPUNVU[OL[`WLVMTV[VY
ILPUN\ZLK

6]LYSVHKPUNZWPRLZZ\YNLZ¯
;OYV\NO [OL HUHSVN\L JVTWHYH[VY [OL
ZVM[^HYLZLJ[PVU^PSSJVU[PU\V\ZS`TVUP-
[VY[OLJ\YYLU[JVUZ\TLK;OLIVHYK^PSS
Z^P[JOVMM[OLTV[VYZPM[OLJ\YYLU[JVU-
Z\TW[PVUL_JLLKZ[OLZWLJPÄJH[PVUZMVY[OL
TV[VY[`WLPU\ZL

:PTWSLÄS[LYPUN[HRLZWSHJLZV[OH[[OL
JVU[YVSSLY^PSSUV[Z^P[JOVMM[OLTV[VYZ
H[ºQ\Z[HU`»J\YYLU[ZWPRL9HWPKVUHUK

COMPONENTS LIST
Resistors
R1-R4,R6,R7 = 10k7
R5,R8,R15 = 4k77
R9,R10 = 0.227 5W
R11,R13 = 3307
R12,R14 = 4707
R16 = 5k76
R17 = 1k75

Capacitors
:[LWWLYTV[VYJVTTHUKZHSSV^[OLZWPU- TH_PT\T Z[LWZ>OLU[OPZJVTTHUK
C1 = 100μF 40V radial
KSL[VIL[\YULKJ^JSVJR^PZLHUKJJ^ PZ ZLSLJ[LKHKPNP[U\TILYT\Z[WYV- C2-C5,C10,C11,C13,C15-C19,C21 = 100nF
JV\U[LYJSVJR^PZLI`HU\TILYVMZ[LWZ ]PKLKMVYL_HTWSL[VTV]LZ[LWZ C6-C9 = 1μF 25V radial
C12,C14 = 220nF
C20 = 47μF 25V radial
18 DC1OFF DC motor 1 OFF C22 = 10μF 25V radial
C23 = 100nF
19 DCBFOR DC both motors cw
20 DCBBAK DC both motors ccw
Semiconductors
21 DCBOFF DC both motor OFF D1-D12 = 1N5400
22 SV2FOR Servo 1 cw D13 = 1N4148
D14,D15 = bicolour LED, 5mm, 2 terminals
23 SV2BAK Servo 1 ccw
D16 = LED, 5mm
24 SV2MID Servo 1 centre position IC1 = PIC16F628-04/P, programmed, order
25 SV2HLD Servo 1 hold code 070129-41
IC2 = 78L05
26 SV1FOR Servo 2 cw IC3 = MAX232
27 SV1BAK Servo 2 ccw IC4,IC5 = L298N with heatsink for
Multiwatt15 case (mouser.com)
28 SV1MID Servo 2 centre position
IC6 = LM358
29 SV1HLD Servo 2 hold K1,K5-K10 = 2-way PCB terminal block,
30 MTYPEX Return motor type lead pitch 5mm
K2 = 3-way SIL pinheader
31 STDELX Configure stepper motor delay K3 = 9-way sub-D socket (female),
32 ECHOST Configure echo. Default = ON angled pins, PCB mount
K4 = 4- way SIL pinheader
33 AMONXX All motors ON
PCB, ref. 070129-1
34 MONOFF Do not monitor current consumption PIC source & hex code files, free
download # 070129-11.zip from Elektor
35 CMONON Monitor current consumption
website.
36 RESUME Enable Motors after overcurrent condition

7-8/2007 - elektor electronics 43

 Power supply Power supply Power supply

2 3
2 2
3 1
Serial Serial Serial
input input input
Motor M Motor M Motor M
Board Board Board
4 4
5 3
5 6

070129 - 12

Figure 3. How to connect up your motors.

VMM Z^P[JOPUN VM +* TV[VYZ ^PSS JH\ZL
SHYNL J\YYLU[ ZWPRLZ ^OPJO TH` JH\ZL
[OLJVU[YVSSLY[VZO\[KV^U[OLWHY[PJ-
\SHYTV[VYKYP]LY@V\JHUKPZHISL[OL
J\YYLU[ TVUP[VYPUN I\[ [OPZ PZ UV[ YLJ-
ILZLU[HUK[Y`[VNL[[OLTV[VY\UZ[\JR Author’s websites and email address
MYVTP[ZJ\YYLU[WVZP[PVU http://telecomms.no-ip.org
www.mcast.edu.mt
:VM[^HYL jozamm@gmail.com

VTTLUKLK6]LYJ\YYLU[JHUJH\ZL[OL ;OL ZV\YJL JVKL HUK OL_ JVKL MVY [OL

3 [VV]LYOLH[HUKNL[KLZ[YV`LK( 70*-(PZH]HPSHISLHZHMYLLKV^U- Web links
º9,:<4,»JVTTHUKOHZ[VILZLU[HM[LY SVHKMYVT[OL,SLR[VY,SLJ[YVUPJZ^LIZP[L
www.microchip.com
[OLTV[VYKYP]LYOHZILLUZ^P[JOLKVMM[V ;OL MPSL U\TILY PZ  aPW 1\S`
YLZ\TLTV[VYVWLYH[PVUZ(NYHJLWLYPVK (\N\Z[ www.st.com/stonline/products/literature/
PZNP]LU[VLUHISLHUV[OLYJVTTHUK[V (070129-I)
ds/1773.pdf

12 V Bidirectional Motor Control

Stefan Brandstetter
;OPZ ZPTWSL JPYJ\P[ KYP]LZ +* TR1
R1 R3
T1 T2
TV[VYZ^P[OHTH_PT\TJ\YYLU[
150 7

150 7

D1 D2
VM ( HUK JHU IL I\PS[ ^P[O
R9
YLHKPS`H]HPSHISLJVTWVULU[Z 1k
230V
;OLV\[W\[]VS[HNLPZHKQ\Z[HISL C2
IL[^LLU  HUK = HUK [OL D4 D3
WVSHYP[` JHU IL JOHUNLK ZV 1M

[OH[UV[VUS`TV[VYZWLLKI\[ 18V
1A5
4x 1N5401
P1.A R7 R8 P1.B
HSZVYV[H[PVUKPYLJ[PVUJHUIL C1
0747

0747

HKQ\Z[LK I` [\YUPUN H RUVI BC327 1W 1W

BC327
1000M 40V T5 T6
;OL JPYJ\P[ PZ HSZV PKLHS HZ H 2k2 D5 R5 R6 D6 2k2
JVU[YVSSLY MVY H +* TVKLS 150 7 150 7
YHPS^H` VY ZTHSS SV^]VS[HNL R2 T3 T4 R4

OVII`[VVS
150 7

150 7

7V^LYMVY[OLJPYJ\P[PZZ\WWSPLK BAT42 BAT42

I` H = THPUZ [YHUZMVYTLY
YH[LKH[(+PVKLZ+[V+
YLJ[PM`[OLZ\WWS`HUKJHWHJP[VY
*WYV]PKLZZTVV[OPUN[VNP]L
H+*V\[W\[]VS[HNLVMHYV\UK
= ( JSHZZPJ º/» IYPKNL
JVUMPN\YH[PVUPZTHKL\W^P[O[YHUZPZ[VYZ
T1, T2 = BDW93C; BD901; BD679
070104 - 11
T3, T4 = BDW94C; BD902; BD680
;; HUK;;;YHUZPZ[VYZ; HUK; [OLJ\YYLU[ZLUZLHUKSPTP[PUNTLJOHUPZT
[VNL[OLY^P[OYLZPZ[VYZ9HUK9WYV]PKL ;OLTH_PT\TV\[W\[J\YYLU[SPTP[JHUIL

44 elektor electronics - 7-8/2007

JOHUNLKMYVT(I`\ZPUNKPMMLYLU[]HS\L
YLZPZ[VYZMVY9HUK9!
I6<;$=R
^OLYL9NP]LZ[OL]HS\LMVY9HUK9-VY
PUJYLHZLKJ\YYLU[SPTP[[OLTHPUZ[YHUZMVY-
TLYHUKKPVKLZ^PSSULLK[VILJOHUNLK[V
JVWL^P[O[OLL_[YHJ\YYLU[HZ^LSSHZ[OL
MV\Y[YHUZPZ[VYZ\ZLKPU[OLIYPKNLJVUÄ-
N\YH[PVU4V[VYZWLLKJVU[YVSHUKKPYLJ-
[PVUPZJVU[YVSSLKI`H[^PUNHUNLKSPULHY
WV[ 7 ;OL [^V [YHJRZ VM 7 [VNL[OLY
^P[O99HUK99MVYT[^VHKQ\Z[H-
ISLWV[LU[PHSKP]PKLYUL[^VYRZ>PYPUN[V
[OL[YHJRLUKZHYLYL]LYZLKZV[OH[HZ[OL
WV[ PZ [\YULK [OL V\[W\[ ]VS[HNL VM VUL
WV[LU[PHSKP]PKLYPUJYLHZLZ^OPSL[OLV[OLY
KLJYLHZLZHUK]PJL]LYZH0U[OLTPK^H`
WVZP[PVUIV[OKP]PKLYZHYLH[[OLZHTL]VS-
[HNL ZV [OLYL PZ UV WV[LU[PHS KPMMLYLUJL
HUK[OLTV[VYPZZ[H[PVUHY`(Z[OLWV[PZ
YV[H[LK[OLWV[LU[PHSKPMMLYLUJLHJYVZZ[OL
TV[VYPUJYLHZLZHUKP[Y\UZMHZ[LY;OL]VS-
[HNLKYVWHJYVZZ+HUK+PZLX\HS[V
[OLMVY^HYK]VS[HNLKYVW=),VM[OLIYPKNL
[YHUZPZ[VYZHUKLUZ\YLZ[OH[[OLTV[VYKVLZ
UV[VZJPSSH[LPU[OLVMMWVZP[PVU^P[O[OLWV[
H[P[ZTPKWVPU[
(070104-I)

zBot: 10-A Power Stage for DC Motor

0U JHZL VM H ZVM[^HYL JYHZO P[ HIV\[ T£ VUS` :\JO H MH[HS LYYVY
JV\SKOHWWLU[OH[[^VVYL ^V\SK KLZ[YV` [OL 46:-,;Z ;OL SVNPJ
TVYL46:-,;ZHYL M\UJ[PVUZJVUÄN\YLKOLYLLMMLJ[P]LS`H]VPK
Z^P[JOLKVU PSSLNHSZ[H[LZ
PUJVY- ;VJVU[YVS[OL+*TV[VY[OYLLZPNUHSZHYL
ULLKLK!+097>4HUK:;67+09JVU-
[YVSZ[OLKPYLJ[PVUVM[OLTV[VYYL]VS\[PVU
7>4 [OL ZWLLK HUK :;67 IYHRLZ [OL
TV[VY
;OLZVM[^HYLTVK\SLMVY[OL+*TV[VYPZ
JHSSLKdcm.c
(070172-I)

YLJ[S` [1] The complete document called

MVYL_HT- Zbot — the Robot Experimental Platform
WSL;HUK;0U[OH[JHZL[OL is available for free downloading from the
J\YYLU[[OYV\NO[OL[YHUZPZ[VYZPZSPTP[LK Elektor Electronics website. The file number is
I`[OLPU[LYUHSYLZPZ[VYZVM[OL46:-,;Z 070172-11.zip (July/August 2007).
Jens
Altenburg
U+
0M`V\SVVRH[[OLJOHZZPZVM[OLa)V[]LOP-
JSL`V\»SSÄUK[^VWHY[ZYLX\PYPUNPU[LS-
SPNLU[JVU[YVS![OLZ[LLYPUNZLY]VHUK[OL 14 14
C11

+*TV[VY IC7 = 74HCT00

IC7 IC8
R18 R17 IC8 = 74HCT125
;OLZVJHSSLK/IYPKNLPZ[OLUVYTHSJPYJ\P[ 7 7
10k

10k

RFP30P06 RFP30P06
MVYLSLJ[YVUPJJVU[YVSVMYL]VS\[PVUZWLLK
T4 T5
HUKKPYLJ[PVU;OL+*TV[VYVMH;HTP`H D2 D1

JHYPZWV^LYM\SLUV\NO[VWYVWLSa)V[H[ STOP IC7.A T3 T6 IC7.D

1 R15 R18 12
\W[VTPSLZWLYOV\Y;OLTV[VY[OLU 2 &
3
10k 10k
11
& 13
1N4001 1N4001
JVUZ\TLZTVYL[OHU(ZV^LJOVVZL BC337 BC337
OPNOJ\YYLU[WV^LY46:-,;ZMVY[OLKYP]LY
M
Z[HNL;OLYLHYLSV[ZVMKPMMLYLU[KL]PJLZ[V
JOVVZLMYVT
;OL46:-,;^LYLX\PYLOHZ[VZ\WWS`[OL IC8
BUK101 T7 T8 BUK101 IC8
D5 D6
TH_PT\TTV[VYJ\YYLU[HUKPTWVY[HU[S` 2 3 6 5
P[OHZ[VILZ^P[JOLK^P[ONH[L]VS[HNLZVM EN EN
R14 R21
HIV\[=0U[OPZJHZL[OLTPJYVJVU[YVS- 1 4
10k

10k

1N4001 1N4001
SLYZ^P[JOLZ[OLWV^LYZ[HNLºSV^ZPKL»
KPYLJ[S`-VYOPNOZPKLKYP]PUNSL]LSZOPM[LYZ
HYLULJLZZHY` IC7.C
;OLZJOLTH[PJVM[OL/IYPKNLWV^LYZ[HNL PWR
9
&
8
10
ZOV^ZHML^PU]LY[LYZ5(5+NH[LZHUK
[^V[YPZ[H[LHISLKYP]LYZ;OLZLSVNPJM\UJ- DIR 4
IC7.B

[PVUZHYL]LY`PTWVY[HU[HZ[OLLHZPLY^H` 5 &
6

070172 - 11
PLKPYLJ[S`JVU[YVSSPUNHSSMV\Y46:-,;
OHZHMH[HSKPZHK]HU[HNL

7-8/2007 - elektor electronics 45

Complete Stepper Motor Driver
+5V

R2 R3 R4 R5 R6 R7
C5
10k

10k

10k

10k

10k

10k
20
10M
16V
1
RST 9
IC2 DS
8 19 1 16
T0/P3.4 P1.7 I1 O1
13 18 2 15
P1.1/IN– P1.6 I2 O2
14 17 3 14
P1.2 P1.5 I3 IC3 O3 M1
15 16 4 13 M
P1.3 P1.4 I4 O4
AT89C2051 5 12
I5 O5
12 2 6 ULN2003 11
P1.0/IN+ RXD/P3.0 I6 O6
3 7 10
TXD/P3.1 I7 O7
9 6
T1/P3.5 INT0/P3.2 GND
11 7
P3.7 INT1/P3.3 8 R8 R9
X1 X0 Table 1

10k

10k
M1 = 5V Stepper Motor
10 5 4
X1 Step angle Steps per
(degrees) revolution
R1
S1 S2 S3 S4 C4 C3
0.72 500
8k2

IC1
33p 12MHz 33p +9V 7805 +5V 1.8 200

HALF FULL RIGHT LEFT

2.0 180
STEP STEP C1 C2 2.5 144
47M 100n
5.0 72
16V
7.5 48
070228 - 11
15 24

Hesam Moshiri ISPLZ,]LY`Z[LWWLYTV[VYOHZVULWLYTH- PTWVY[HU[S`PU[OLU\TILYVMZ[LWZ[OH[

ULU[S`THNUL[PJH_SLJHSSLK[OLrotor;OPZ THRL\WVULJVTWSL[LZWPUKSLYL]VS\[PVU
>P[O[OPZJPYJ\P[`V\JHUTHRLHZ[LWWLY PZZ\YYV\UKLKI`HÄ_LKWHY[JHSSLK[OL ;OPZ WYVWLY[` HSZV KL[LYTPULK [OL Z[LW
TV[VYKVQ\Z[HIV\[HU`[OPUNP[^PSSULLK stator<Z\HSS`Z[LWWLYTV[VYZOH]LMV\Y HUNSLHZZOV^UPU;HISL
[VKVPUYVIV[PJZHWWSPJH[PVU!YV[H[PVU[V Z[H[VY^PYLZ^P[O[^VVYVULJVTTVU^PYL -VYL_HTWSLMVYHTV[VYZWLJPÄLKHZOH]-
[OLSLM[VYYPNO[PUM\SSZ[LWVYOHSMZ[LW ^OPJOPZUVYTHSS`JVUULJ[LK[V[OLWVZP- PUNHKLNYLLHUNSL$
TVKL [P]LZ\WWS`]VS[HNL W\SZLZMVYHJVTWSL[LZWPUKSLYL]VS\[PVU
:[LWWLYTV[VYZJVU]LY[LSLJ[YPJHSW\SZLZ ;^VW\SZPUNZJOLTLZHYLH]HPSHISL[VKYP]L
PU[VTLJOHUPJHSTV]LTLU[0UHWWSPJH- )` HWWS`PUN H JVU[YVSSLK ZLX\LUJL VM [OLTV[VY!ºM\SSZ[LW»VYºOHSMZ[LW»;OL[^V
[PVUZSPRLOHYKKPZRZWYPU[LYZHUKWOV[V- W\SZLZ[V[OLPUKP]PK\HSZ[H[VY^PUKPUNZ TVKLZ HYL Z\TTHYPaLK PU ;HISL HUK
JVWPLYZ [V TLU[PVU I\[ H ML^ Z[LWWLY [OLYV[VY^PSSZ[HY[[VYV[H[L:[LWWLYTV[VYZ ;HISLYLZWLJ[P]LS`
TV[VYZHYL\ZLKMVYYV[H[PVUHUKVYHJJ\- TH`KPMMLYPUZPaLZOHWLWV^LYZ\WWS` (WWS`PUNOHSMZ[LWW\SZLZ[V[OLTV[VY^PSS
YH[LWVZP[PVUJVU[YVSVMTLJOHUPJHSHZZLT- ]VS[HNL JVZ[ HJJ\YHJ` HUK ZV VU I\[ PUJYLHZL[OLHJJ\YHJ`H[^OPJO[OLZWPU-

Table 2. Full-step mode.

Rotation to the right Rotation to the left
Step Winding A Winding B Winding C Winding D
(cw) (ccw)

§ £
1 1 0 0 0
2 0 1 0 0
3 0 0 1 0
4 0 0 0 1

Table 3. Half-step mode.

Rotation to the right Rotation to the left
Step Winding A Winding B Winding C Winding D
(cw) (ccw)
1 1 0 0 0
2 1 1 0 0

§ £
3 0 1 0 0
4 0 1 1 0
5 0 0 1 0
6 0 0 1 1
7 0 0 0 1
8 1 0 0 1

46 elektor electronics - 7-8/2007

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(070228-I)

Controlling Servos
Using a PIC
programmed in
Basic, a Basic
Stamp or a Cubloc
C. Tavernier
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ILHISL[VTHRL\ZLVM[OLT
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1
1.5 ms
JVSV\YJVKLK^PYLZ;OLYLKHUKISHJR
^PYLZHYLMVYWV^LYPUNP[H[IL[^LLU
centred HUK=;OL[OPYK^PYL`LSSV^VY^OP[L
10 ... 20 ms
VYPUWYHJ[PJLHU`JVSV\YV[OLY[OHUYLK
VYISHJRPZ\ZLK[VJVU]L`JVTTHUKZ
[V[OLZLY]VPU[OLMVYTVMW\SZL^PK[O
1 ms TVK\SH[LK7>4ZPNUHSZ
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- 45 n
PUNWYPUJPWSLVM[OLZLW\SZLZHUK[OL
10 ... 20 ms LMMLJ[[OL`OH]LVU[OLWVZP[PVUVM[OL
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ILYLWLH[LKH[Z\JOHYH[L[OH[[OLYL
2 ms PZUV[TVYL[OHU¶TZZLWHYH[PVU
IL[^LLU[^VZ\JJLZZP]LW\SZLZ
+45 n
0U[OLVY`[OPZYLWL[P[PVUPZUV[HIZV-
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IL HISL [V THPU[HPU [OL WVZP[PVU ZL[
070238 - 11
I`[OL^PK[OVM[OLW\SZLZYLJLP]LK
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or 5V[PJLMYVT[OLÄN\YL!
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•HTZW\SZLWSHJLZ[OLZLY]VPUP[Z
servo WVZP[PVUYLMLYYLK[VHZJLU[YLKVYYLZ["
P0 (Stamp) red
white, yellow
•HTZW\SZLTHRLZ[OLZLY]V[\YU[V
VSS
black P[ZTH_PT\THU[PJSVJR^PZLWVZP[PVU
P5 (Cubloc)
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070238- 12
[VV\Z\HSS`YLWYLZLU[ZHUHUNSLVM‡
^P[OYLZWLJ[[VP[ZYLZ[WVZP[PVU

7-8/2007 - elektor electronics 47

0U[LYTLKPH[L WVZP[PVUZ JHU IL VI[HPULK
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PIC12C508 Stepper Motor Controller
C. Tavernier
1
www.tavernier-c.com
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48
^P[OH]HYPHISLK\YH[PVUMYVTô›Z
Listing 1 [Vô›ZKLWLUKPUNVU[OLJOHUN-
‘ Basic Stamp I and II or in PUN]HS\LVM[OLSVVW]HYPHISLI^OPSL
Basic programmed PIC version [OLZWHJPUNIL[^LLU[OLZLW\SZLZPZZL[H[
TZI`TLHUZVM[OLPUZ[Y\J[PVU7(<:,
loop: ;OPZ WYVNYHT PZ ^YP[[LU OLYL PU )HZPJ
for b2 = 100 to 200 :[HTW0SHUN\HNLI\[[YHUZWVZPUNP[MVY
for b3 = 1 to 5 )HZPJ:[HTW00VYMVY\ZL^P[OH70*WYV-
pulsout NYHTTLKPU)HZPJVUS`YLX\PYLZTVKPÄJH-
0,b2 ‘ servo connected to port P0 [PVUVM[OLLUK]HS\LZHUK[OLSVVW]HYP-
pause 15 HISLIPUJYLTLU[;OLYLZVS\[PVUVM[OL
next PUZ[Y\J[PVU7<3:6<;PZUV^›ZPUZ[LHK
next VM›ZZV[OL]HYPV\Z]HS\LZULLK[VIL
goto loop T\S[PWSPLKI`
<ZPUNHZLY]V^P[OH*\ISVJMYVT*VTÄSL
;LJOUVSVN`PZQ\Z[HZZPTWSLI\[\ZLZHU
Listing 2 PUZ[Y\J[PVUJHSSLK7>4HZWLY3PZ[PUN
‘ Cubloc Version 0U[OPZ[`WLVMHWWSPJH[PVU[OLHK]HU[HNL
VM[OL*\ISVJV]LY[OL)HZPJ:[HTWPZ[OH[
Const Device = CB220 [OL7>4JVTTHUKNLULYH[LZ[OLW\SZLZ
Dim Position As Integer PUKLÄUP[LS`L]LUPM[OLWYVNYHTJVU[PU\LZ
Low 5
VU[VZVTL[OPUNLSZL0U[OLJHZLVM[OL
‘ Servo is connected to port P5
Do
)HZPJ :[HTW [OL PUZ[Y\J[PVU 7<3:6<;
For Position = 2300 to NLULYH[LZVUS`VULW\SZLHUKZVOHZ[V
Position = 4300 Step 20 IL JHSSLK MYVT H SVVW PU VYKLY [V WYV-
Pwm 0, Position, 32768 K\JL[OLTJVU[PU\V\ZS`WYL]LU[PUN[OL
Delay 100 )HZPJ:[HTWMYVTKVPUNHU`[OPUNLSZL0M
Next `V\KVU»[^HU[[V\ZLH*\ISVJHUV[OLY
Loop ZVS\[PVUJVUZPZ[ZPU\ZPUNHZWLJPHSPaLK0*
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TPJ[YVUPJZJVT^OPJOJHUJVU[YVS\W[V
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‡ZLL3PZ[PUN :\TTLY*PYJ\P[ZLKP[PVU
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7805 +U
W\SZLZ[VILNLULYH[LKJVU[PU\V\ZS`
C2 C1 C3 C4
MVYHZSVUNHZ^L^HU[[OLTV[VY[V
Y\U LP[OLY YLX\PYPUN HU HKKP[PVUHS
47M
16V
10n 220n 470M
25V
WYVNYHTTHISL VZJPSSH[VY VY \ZPUN
\WYLZV\YJLZMYVT[OLYVIV[»ZTHPU
TPJYVJVU[YVSSLY
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HWWYVHJO ^P[O [OPZ Z[LWWLY TV[VY
10k
GP0
7
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6
GP1 GP1 PUN[OLTV[VY[\YUPUVULKPYLJ[PVUVY
5
L
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GP2/T0CK
HUV[OLY\UKLY[OLJVU[YVSVMHZPT-
R GP3/MCLR
GP4/OSC2
3 WSLSVNPJSL]LS(UKHZ[OLWYVW\S-
GP4
GP5/OSC1
2
GP5
ZPVUTV[VYZPUYVIV[Z\Z\HSS`NVPU
WHPYZ^L»YLL]LUNVPUN[VVMMLYHK\HS
8
12C508 KYP]LYI`KP]LY[PUNH]LY`JVTTVU
HUKPUL_WLUZP]L0*MYVTP[ZVYPNPUHS
070302 - 11 M\UJ[PVU
:PUJLHZ[LWWLYTV[VY\ZLKMVYWYV-
W\SZPVUKVLZU»[ULLK[VILHJJ\YH[L
elektor electronics - 7-8/2007
PU[LYTZVMWVZP[PVUPUNHUKOLUJL ZOV^UPU-PN\YL;OPZ\ZLZHZ[HUK-
2
PU[OLWYLJPZPVUVM[OLZ[LWZZPTWSL +U HYK<35\Z\HSS`\ZLK[VKYP]L
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T4 0*PZHISL[VWYVWLYS`KYP]LHU`RPUKVM
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[OL]VS[HNLYLX\PYLKKVLZU»[L_JLLK
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T3 0UHKKP[PVUHZ[OL<35JVU[HPUZ
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VULKPYLJ[PVUHYIP[YHYPS`[V[OLSLM[ D1...D8 = 1N4004 M1 M YVIV[WYVW\SZPVUTV[VYZ!VULVU[OL
^OLUJL[OLSHILS3^OPSLPM[OL9 SLM[HUKVULVU[OLYPNO[THYRLK4(
L3 L4
PUW\[PZ[HRLUSV^P[[\YUZ[OLV[OLY HUK4)PU[OPZÄN\YL
^H` 0M IV[O PUW\[Z HYL [HRLU [V D6 *VUZ[Y\J[PUNVULVYV[OLYVM[OLZL
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T2
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R3
OHZWYPVYP[`HUKZV[OLTV[VY[\YUZ GP4 1k
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PU[OH[KPYLJ[PVU D3 NYHTTLK^P[O[OLÄSL[OH[`V\»SSÄUK
;OL TV[VY»Z ZWLLK VM YV[H[PVU PZ PUVIQLJ[MVYTHZ^LSSHZPUZV\YJL
R4 D4
Ä_LKI\[ZPUJL^LHYLNP]PUN`V\ GP5 1k
MVYT PU JHZL `V\»K SPRL [V TVKPM`
[OL ZV\YJL SPZ[PUN VM [OL ZVM[^HYL T1
D5 P[ VU [OL ,SLR[VY ^LIZP[L HZ ^LSS
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KVLZU»[Z\P[`V\VYPUKLLKL]LU[V 0M `V\ I\PSK [OL [YHUZPZ[VY WV^LY
PUJS\KL [OL WVZZPIPSP[` VM L_[LYUHS 070302 - 12 HTWSPÄLYUV[L[OH[;¶;KVU»[ULLK
HKQ\Z[TLU[PMULJLZZHY` HOLH[ZPURHZSVUNHZ[OLTV[VYJVU-
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JHUZLLP[\ZLZH70**TPJYVJVU[YVS- Table 1. Programming step duration WSH[LHML^JT2;VZPTWSPM`TLJOHUPJHS
SLYMYVT4PJYVJOPW<ZLKOLYLPUPU[LYUHS by modifying a constant used in the JVUZ[Y\J[PVUP[JHUILJVTTVU[V[OLMV\Y
JSVJRHUKYLZL[JPYJ\P[TVKLP[ULLKZUV program. [YHUZPZ[VYZI\[PU[OPZJHZL`V\»SSULLK[V
L_[LYUHSJVTWVULU[ZMVY[OLZLM\UJ[PVUZ Binary Step duration \ZL[OLZ[HUKHYKPUZ\SH[PUNHJJLZZVYPLZVM
ZVHSSP[ZWVY[SPULZHYLH]HPSHISL constant TPJH^HZOLYZHUKZOV\SKLYLK^HZOLYZHZ
7HYHSSLSWVY[Z.7HUK.7HYL\ZLKHZ [OLJVSSLJ[VYZVM[OLZL[YHUZPZ[VYZHYLJVU-
10010010 1 ms
PUW\[ZHUKHZ.7KVLZUV[OH]LHUPU[LY- ULJ[LK[V[OLTL[HSWHY[ZVM[OLPYJHZLZ
UHSW\SS\WYLZPZ[VY[OPZPZWLYMVYTLKI` 10010011 2 ms 0M`V\JVUZ[Y\J[[OL<35IHZLK]LY-
9 7HYHSSLS WVY[Z .7 .7 .7 HUK 10010100 4 ms ZPVU[OLYLHYLUVZWLJPHSWYLJH\[PVUZ[VIL
.7HYL\ZLKHZV\[W\[ZMVYNLULYH[PUN 10010101 8 ms
VIZLY]LKV[OLY[OHU[VUV[L_JLLK[OL0*»Z
[OLW\SZLZMVY[OLTV[VY^PUKPUNZ;OLZL TH_PT\TJ\YYLU[JHWHJP[`VMT(
JHUILHTWSPÄLKI`[^V[`WLZVMWV^LY 10010110 16 ms (Z ^L HYL WYV]PKPUN `V\ ^P[O [OL M\SS
Z[HNLZKLWLUKPUNVU[OL[`WLHUKU\TILY 10010111 32 ms ZV\YJLSPZ[PUNVM[OLZVM[^HYLWYVNYHTTLK
VMTV[VYZ[VILKYP]LU"^L»SS[HRLHSVVRH[ PU[V[OL*`V\»SSILHISL[VTVKPM`
[OVZLJPYJ\P[ZPUHTVTLU[ P[[VZ\P[`V\YULLKZ0M`V\HYL\UMHTPSPHY
;OL*ULLKZ[VILWV^LYLK ^P[O70*TPJYVJVU[YVSSLYHZZLTISLY
MYVT=KLYP]LKMYVT[OLTV[VY 3 +U OLYLHYL[OLKL[HPSZ`V\»SSULLKMVY
Z\WWS`I`TLHUZVMHJVU]LU[PVUHS [OL TVZ[ PTWVY[HU[ TVKPMPJH[PVU
[LYTPUHS]VS[HNLYLN\SH[VY0* `V\TPNO[^HU[[VTHRL!JOHUNPUN
0M[OLJVU[YVSSLYPZVUS`PU[LUKLK [OLZWLLKVM[OLJVU[YVSW\SZLZ[V
MVYHZPUNSLTV[VYVYPM[OLTV[VY [OLTV[VYZHUK[O\Z[OLPYZWLLK
L2 L1
[V IL KYP]LU KYH^Z TVYL [OHU VMYV[H[PVU;OLJVU[YVS^VYKTH`
T(WLY^PUKPUN[OLWV^LY 10 MA M ILMV\UKPU;HISL
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1
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18 ;V KV [OPZ HSS `V\ OH]L [V KV PZ
2 17 L3 L4
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3
I2
IC1
O2
16
TVKPM`[OLIPUHY`JVUZ[HU[VU[OL
I3 O3 +U M
IPWVSHY[YHUZPZ[VYZ[OH[NP]LU[OLPY GP4A
4
I4 O4
15 SPUL!
GP5A
JOHYHJ[LYPZ[PJZHYLHISL[VZ^P[JO GP0B
5
I5 O5
14
6 ULN2803 13
J\YYLU[Z VM ( +PVKLZ +¶+ GP1B
7
I6 O6
12
MOVLW B’10010101’
GP4B I7 O7
JSPW[OLZW\YPV\ZZWPRLZNLULYH[LK GP5B
8
I8 O8
11 L6 L5

I` [OL HIY\W[ Z^P[JOPUN VM [OL VEE

Q\Z[ HIV]L [OL SPUL JVU[HPUPUN
9 MB M
J\YYLU[PU[OLTV[VY^PUKPUNZHUK 67;065PU[OLZV\YJLSPZ[PUN>P[O
WYV[LJ[[OL[YHUZPZ[VYZ L7 L8 [OLVYPNPUHS]HS\L[OLK\YH[PVUVM
/V^L]LYPM[OLTV[VY\ZLKKYH^Z VUL Z[LW PZ TZ I\[ [OL [HISL
SLZZ [OHU T( HUK TVYL HIV]LPUKPJH[LZ^OH[JVUZ[HU[[V
PTWVY[HU[S`PM`V\ULLK[VKYP]L \ZLHJJVYKPUN[V[OLZ[LWK\YH[PVU
[^VTV[VYZVM[OPZ[`WLHULSLNHU[ 070302 - 13 [OH[`V\TH`^HU[
HUKPUNLUPV\ZZVS\[PVUL_PZ[ZHZ (070302-I)

7-8/2007 - elektor electronics 49

 3 Amp PWM DC Motor Controller
Rajkumar Sharma

;OPZJPYJ\P[PZPU[LUKLKMVYTV[PVUJVU[YVS
HWWSPJH[PVUZ H JVTTVU VJJ\YYLUJL PU
YVIV[PJZ;OPZHMMVYKHISL7>4+*4V[VY
JVU[YVSSLYJHUJVU[YVSHU`74+*TV[VY
ZWLJPÄLKH[=[V=HUK(TWZTH_
4V[VYKPYLJ[PVUPZJVU[YVSSLK^P[OHZSPKL
Z^P[JOHUKTV[VYZWLLK^P[OHUVYKPUHY`
WV[LU[PVTL[LY
;OL JPYJ\P[ KPHNYHT PU -PN\YL ZOV^Z
0*Z[`WL34+HUK:.H[[OL
OLHY[ VM [OL JPYJ\P[ ;OL :. PZ H
W\SZL^PK[OTVK\SH[VYJVU[YVSJPYJ\P[HUK
[OL34+HU/)YPKNL[VLUHISL[OL
TV[VY[VILY\UPUIV[OKPYLJ[PVUZ
;OL :. HMMVYKZ MYLX\LUJ` JVU[YVS
HUKK\[`J`JSLJVU[YVS;OLVZJPSSH[VYMYL-
X\LUJ`PZKL[LYTPULKI`[OLJVTWVULU[Z
H[[HJOLK[VWPUZHUK7YLZL[7ZLY]LZ
[VHKQ\Z[[OLMYLX\LUJ`IL[^LLUR/a
HUKR/a(S[OV\NOP[PZNLULYHSS`YLJ- VCC1 VCC2 VCC2
R1
VTTLUKLK[VZ[H`HIV]LR/aHZV[O- 10k

LY^PZL [OL TV[VY ^PSS WYVK\JL H\KPISL C1

15

16
R4
VCC

VREF

ZV\UKPUZVTLJHZLZ[OH[»ZQ\Z[UV[WVZ-

18k
100n
3 13
ZPISLKLWLUKPUNVU[OLTV[VY`V\»YL\ZPUN R3
6
SYNC VC
4 GND

6
2k2 RT OSC OUT C2

VS
7V[7KL[LYTPULZ[OLK\[`J`JSL^OPJO 2 IC1 11
9
5
T BS1
1

100n K1
JHU IL HKQ\Z[LK MYVT  [V  [V 1
IN+
IN-
OUT A
OUT B
14
PWM
IC2 OUT1
2
9 10
LMMLJ[P]LS`JVU[YVS[OLTV[VYZWLLK»0U[LY- 7
CMPEN
3
OUT2
P1 P2 DISC SG3525AN DIR LMD18200 C4
UHS[YHUZPZ[VYZHYL\ZLKPUHZ\JOH^H`HZ 5 8 8 11

GND
CT SS CS BS2

B
[VVI[HPUK\[`J`JSL;OLPU[LYUHS
GND

R6 100n
SD

4
10k 100k C3
KYP]LY[YHUZPZ[VYZHYLNYV\UKLKI`WPUZ
2k7
12

10

HUKMVYHS[LYUH[LVZJPSSH[VYJ`JSLZ7PU 18n

VM[OL0*PZ[OL9,-=[LYTPUHS^OPJONP]LZ GND GND

=V\[9LZPZ[VY9MLLKZ[OLZ\W- IC3
L7805ACV VCC1 VCC1 VCC2
WS`]VS[HNL[VHU
1 2 R2
R5 R7
18k

K2 K3
1k5
330
3

C8 C5 C9 C6 C7
es
S1

Featur voltage 12 V to 30 V D utput

C 0 100u 63V 100n 100n D1 0 100u 63V 100n D2

ly o
r supp nuou s
ti KHz
• Moto p s co n to 35.1
rs u p to 3 a m o m 1.16 kHz GND GND GND
060339 - 11
e fr
• Deliv s ta ble 1
y ad ju
M fr e q uenc b le by p
ot
• PW
o u s ly ad ju s ta
u
conti n
• PWM %
0 to 10 0
cycle
• Duty y switc
h
ntrol b
D ir e c tion co n
S1

• ctio IC2
d prote C2 C4
ed loa K1
• S hort
tdown
a l s hu
• Therm ents 1 11 R7 K3
m po n C1 C7
M D co
• No S R4
R5
R2

r
ntrolle P2
icroco
• No m IC1 R6 C6
PU[LYUHS D1 D2
VWLUJVSSLJ[VY [YHUZPZ[VY R1
MVY;;3SL]LS7>4V\[W\[ P1
C9 C5 K2
4V]PUNVU[V[OL34+ZSPKLZ^P[JO 1 3 2
R3
:VUOLHKLY:NV]LYUZ[OL+PYLJ[PVU
JVU[YVSPUW\[WPU[VJOHUNL[OLKPYLJ- IC3 C8
[PVUVM[OLTV[VYMYVTJ^[VJJ^VY]PJL C3
]LYZH9PZJVUULJ[LK[V[OLYTHSÅHNWPU
;WPU ^OPJOPZUV[\ZLKOLYL;OLM\UJ-
2
[PVUTH`IL\ZLK[VÅHNH^HYUPUN^OLU

50 elektor electronics - 7-8/2007

[OL JOPW [LTWLYH[\YL PZ  KLNYLLZ
;OL0*PZH\[VTH[PJHSS`ZO\[KV^U^OLU COMPONENTS LIST C3 = 18nF
C6,C8 = 100μF 63V
 KLNYLLZ * PZ YLHJOLK 7PU VM [OL
34+PZ[OLJ\YYLU[ZLUZLPUW\[9 Resistors
JVUULJ[Z [OPZ WPU [V NYV\UK ;OL )YHRL Semiconductors
R1 = 10k7
PUW\[WPUPZOHYK^PYLK[VNYV\UK* D1,D2 = LED
R2,R4 = 18k7
IC1 = SG3525AN
HUK*H[[OLTV[VYV\[W\[HYLºIVV[Z[YHW» R3 = 2k72
IC2 = LMD18200
JHWHJP[VYZ7PUZHUKHYL[OL/)YPKNL R5 = 3307
IC3 = L7805ACV
V\[W\[ZWV^LYPUN[OL+*TV[VY R6 = 2k77
R7 = 1k75
0U[OLWV^LYZ\WWS`ZLJ[PVUJHWHJP[VYZ* P1 = 10k7 potentiometer Miscellaneous
[OYV\NO* ZLY]L[VZ\WWYLZZUVPZLVU[OL P2 = 100k7 preset
K1,K2,K3 = 2-way PCB terminal block, lead
[^VZ\WWS`YHPSZ;OL3(*=]VS[HNL pitch 5mm
YLN\SH[VYMVY[OLSVNPJZ\WWS`HJJLW[ZHU` Capacitors S1 = slide switch
\UZ[HIPSPZLK+*]VS[HNLIL[^LLU=[V C1,C2,C4,C5,C7, C9, = 100nF
PCB, ref. 060339-1
=HWWSPLK[V2;OLV[OLYZ\WWS`JVU- from www.thepcbshop.com
ULJ[VY2PZMVY[OLTV[VYWV^LY;OL
JHWHJP[` VM [OL TV[VY Z\WWS` VM JV\YZL
KLWLUKZVU[OLTV[VY\ZLK0M[OLTV[VY 0M`V\^HU[[VPU[LYMHJL[OLKYP]LY^P[OH YLX\PYLHTV[VYVMZVTLRPUK;OLIVHYK
PZ ZWLJPMPLK H[ = [OLU 9 ZOV\SK IL ZV\YJL Z\WWS`PUN = ZPTWS` YLTV]L OHZILLUKLZPNULKMVYJVTWHJ[ULZZ^OPZ[
R£HUKPMP[PZ=[OLUR£ZOV\SK WV[LU[PVTL[LY7HUKHWWS`[OLHUHSVN\L \ZPUN SLHKLK JVTWVULU[Z VUS` PL UV
ILÄ[[LK0M`V\^HU[[V\ZLHOLH]`K\[` ]VS[HNL[VWPUVM0* :4+ZPUZPNO[OLYL;OLJVWWLY[YHJRSH`-
TV[VYJVUZ\TPUNTVYL[OHUHIV\[(P[ -PN\YLZOV^Z[OL7*)KLZPNULKMVY[OL V\[ HUK JVTWVULU[ TV\U[PUN WSHU HYL
TH`IL^VY[O^OPSL[VZ[YLUN[OLU[OLJVW- KYP]LY ^OPJO ZOV\SK MP[ THU` HWWSPJH- JVU[HPULKPUMYLLKV^USVHKUV 
WLY[YHJRZ[VMYVT22^P[OSLUN[OZVM [PVUZH[JY\JPHSSVJH[PVUZPUHYVIV[(M[LY aPWMYVTV\Y^LIZP[L
TT2ZVSPKJVWWLY^PYL HSSTVZ[MVYTZVMTV[PVUVMHYVIV[^PSS (060339-I)

Driving Higher Power DC Motors

1 2 +VS

OUT 1 OUT 2 OUT 3 OUT 4

control control
2 1 100n

2 3 4 13 14
+VSS
9
Vref
+U M A B

100n

RE2 RE1 1 2 3 4

IN 1 5 12 IN 4

M1

IN 2 7 10 IN 3
M
EN A 6 11 EN B

1 8 15

SENSE A SENSE B

070317 - 11 RSA RSB

070317 - 12

B. Broussas
+YP]PUN [OL ºZTHSS» TV[VYZ [OH[ TH` IL
\ZLKPUYVIV[PJZKVLZU»[\Z\HSS`WVZLT\JO
VMHWYVISLT:LY]VTV[VYZHJ[\HSS`OH]L
[OLPYV^UKYP]LLSLJ[YVUPJZZ[LWWLYTV[VYZ
JHU IL LHZPS` KYP]LU I` JVU]LU[PVUHS
WV^LY[YHUZPZ[VYZVYI`<350*ZHZ
OHZILLUZOV^ULSZL^OLYLPU[OPZPZZ\L
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Z[HY[ZKYH^PUN(VYTVYLVYP[ZZ\WWS`
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NL[ZTVYLJVTWSPJH[LK·HSS[OLTVYLZV
ILJH\ZLTHU`VM`V\KVU»[T\JOJHYLMVY
WV^LYLSLJ[YVUPJZ:V[OPZHY[PJSLOVWLZ[V
NP]L`V\HML^PKLHZVYYLZLHYJOWH[OZMVY
KYP]PUNZ\JOTV[VYZ
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WV^LY+*TV[VYPZUVULV[OLY[OHU[OL
NVVKVSKYLSH`VY[VILWYLJPZLWHPYVM
YLSH`Z(ZSVUNHZ`V\^PYL[OLTHZZOV^U
PU -PN\YL `V\ OH]L JVU[YVS V]LY [OL
VWLYH[PUNKPYLJ[PVUKLWLUKPUNVU^OPJO
YLSH`PZLUNHNLKHUK^OPJOPZUV[HZ^LSS
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PU[OLZHTLWVZP[PVU0U[OPZZP[\H[PVU[OL
TV[VYPZZOVY[JPYJ\P[LKHUKPZIYHRLKI`

7-8/2007 - elektor electronics 51

 JVUULJ[PVUZ[VLHY[OVY[V[OLZ\WWS`YHPS
3
HZPUKPJH[LKPU-PN\YL)`Q\NNSPUN^P[O
+U L +U M
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C2 M2 JVU[YVS HUK LUHISL PUW\[Z VM [OL 3 
D2
100n M `V\JHUL]LUOH]L[^VVW[PVUZMVYTV[VY
Z[VWWPUNHZPUKPJH[LKPU[OL[HISLILSV^!
[OLºMYLL^OLLS»VY\UIYHRLKTVKLVY[OL
IN2(4) IN2(4)
IYHRLKTVKLHZZLLUWYL]PV\ZS`^P[O[OL
+VSS +VS
IN1(3) 1
/2 L298
YLSH`JPYJ\P[;HISLZOV^Z[OLYLSL]HU[
IN1(3)
SVNPJSL]LSJVTIPUH[PVUZ
OUT2(4)
C1 0M[OLKPYLJ[PVUVMYV[H[PVUVM[OLTV[VY
ENA(B)
ENA(B)
OHZ[VILHISL[VILJOHUNLKP[PZULJLZ-
GND 100n
ZHY`[V\ZLHIYPKNLVY/JVUULJ[PVUHZ
OUT1(3)
ZOV^UPU-PN\YL5V[L[OH[P[PZWVZZPISL
D1, D2 = BY252; 1N5402 M1 [VKYP]L[^VTV[VYZPU[OPZ^H`MYVTVUL
D1
M 3 ZPUJL[OL0*JVU[HPUZMV\YHTWSPÄ-
LYZ:VHZPUNSL3 PZ\Z\HSS`LUV\NOMVY
[OLYPNO[HUKSLM[WYVW\SZPVUTV[VYZVMH
070317 - 13 TVIPSLYVIV[
(S[OV\NO[OLJPYJ\P[KVLZOH]LWYV[LJ[PVU
HNHPUZ[ V]LYOLH[PUN IL H^HYL [OH[ `V\
JHUPUJYLHZLP[ZVWLYH[PUNZHML[`I`TVUP-
P[ZV^UIHJRLTMLSLJ[YVTV[P]LMVYJL ZOV^Z -PN\YL [OPZ 0* PUJS\KLZ MV\Y [VYPUN[OLJ\YYLU[KYH^UI`[OLTV[VYZ
9LSH`ZJHWHISLVMZ^P[JOPUN(HUK`L[ IYPKNL WV^LY HTWSPMPLYZ WYLJLKLK I` ;VKV[OPZHSS[OH[`V\OH]L[VKVPZ[V
VUS`YLX\PYPUN=HUKHML^[LUZVMT( SVNPJJVU[YVSJPYJ\P[Y`6YPNPUHSS`KLZPNULK Ä[H]LY`SV^]HS\LYLZPZ[VYIL[^LLU[OL
MVY[OLPYJVPSZHYLJVTTVUWSHJLUV^HKH`Z MVYKYP]PUNºIPN»Z[LWWLYTV[VYZ[OPZ0*PZ :,5:,( VY :,5:,) PUW\[Z HUK LHY[O
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JHUIL\ZLKPU[OPZ^H`^P[OV\[KPMÄJ\S[` ^OPJOOLYLHYLHML^L_HTWSLZ ULJ[LK[V[OLJVYYLZWVUKPUNHTWSPÄLY^PSS
0M `V\ KVU»[ SPRL [OPZ LSLJ[YVTLJOHUPJHS )`]PY[\LVM[OLYLSH[P]LPUKLWLUKLUJLVM [OLUWHZZ[OYV\NO[OPZYLZPZ[HUJLHUKI`
ZVS\[PVU^LYLJVTTLUK`V\[V\ZL[OL [OLHTWSPÄLYZP[JVU[HPUZP[JHUIL\ZLK[V ZPTWS`HWWS`PUN6OT»ZSH^HUKTLHZ\YPUN
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4 6
+U L +U M
+U L +U M
C2 C1
C2 D3 D4
100n 4 9 100n
M1 +VSS +VS
100n

M L298
IN1 OUT1
5 2
D1 D2 1
D1 ... D2 =
BY252; 1N5402 6

IN2 OUT2
7 3
2

OUT OUT
1(3) 2(4)
10 13
+VSS +VS 3

EN
IN1(3) IN2(4) 11
IN1(3)
1
/2 L298 C1 12 14
4
ENA(B)
ENA(B)
100n
GND
GND
8 15 1
IN2(4)
R1
Rs

070317 - 14
070317 - 16

5 Table 1.
D1 R1
10k EnA(B) In1(3) In2(4) M1 M2
1N4148
1
/4 L298 H H H Braked Running
C1
In x Out x H L L Running Braked
1n5
070317 - 15 Freewheel Freewheel
L X X
stop stop

52 elektor electronics - 7-8/2007

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Driving Stepper Motors: KISS

Without using a 1
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7-8/2007 - elektor electronics 53

 ;OL[Y\S`HJ[P]LWHY[VM[OLJPYJ\P[PZMVYTLK
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HISL[VYLWSHJL0*I`HU34 AMVY
L_HTWSL^OPJOPZHSV^]VS[ZKYVW= Web Link
YLN\SH[VY-VYJVYYLJ[VWLYH[PVU[OL3
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Robot Footballer
by Julian Straub
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54 elektor electronics - 7-8/2007

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(070358-I)
elektor electronics - 7-8/2007
Driving Stepper Motors
Using a Basic Stamp +U motor
or a PIC programmed (50V max)

in Basic +5V Stamp / Cubloc

R1 R2
Basic Stamp
C. Tavernier

1k

1k
or 9
Cubloc DS
M1
>OLU^L^HU[[VTV[VYPaLHYVIV[[^V P0
1
I1 O1
16 L3 L1
2 15
THPU ZVS\[PVUZ HYL VWLU [V \Z! [OL +* P1 I2 O2
R3 R4 3 14 M
TV[VY\ZLKHSVULVYPUHJVU]LY[LKYHKPV I3
IC1
O3

1k

1k
4 13
I4 O4
JVU[YVS9*ZLY]VZ`Z[LTHZL_WSHPULK 5
I5 O5
12
L2 L4

LSZL^OLYLPU[OPZPZZ\L"HUK[OLZ[LWWLY 6
I6
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O6
11

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I7 O7
10

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JVTLZ[VWLYMVYTPUNWYLJPZLWVZP[PVUPUN
HZYLX\PYLKMVYHYVIV[HYTHZLUZVYTV]- 070237 - 11

PUNPUVULWSHULL[J

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MLJ[S` VYKPUHY` <35 VY <35

Table 1 ‘ Control of a unipolar stepper motor

Step number 1 2 3 4 ‘ The step number is put in w1
‘ The rotation direction is defined by b0
Winding 1 1 1 0 0
Winding 2 0 0 1 1 ‘ Variable’s definition
Winding 3 1 0 0 1
Symbol direction = b0
Winding 4 0 1 1 0 Symbol incr = w1
Symbol index = w2
Symbol delay = b6
VU[OL[`WLVMTV[VY\ZLK;OPZZ[LWWLK
HK]HUJLTHRLZP[WVZZPISLPUWYPUJPWSLMVY ‘ Initialization
[OLWYVNYHTJVU[YVSSPUN[OLTV[VY[VRUV^
P[ZWVZP[PVU]LY`HJJ\YH[LS`)\[MVY[OPZ[V dirs = %00000011
YLTHPU[Y\L^LOH]L[V[HRLJHYLUV[[V pins = %00000001
b1 = %00000001
L_JLLK[OLTV[VY»ZTH_PT\THSSV^HISL
SVHKPUNHZPU[OH[JHZL[OLTV[VYTPNO[
‘ Here the application program must initialize
MHPS[VHK]HUJLMVYL]LY`W\SZLYLJLP]LK ‘ incr, direction and delay with the required values
HUK[O\ZºZRPW»ZVTLZ[LWZ
if direction = 0 then incrincr
(UV[OLYMHYMYVTULNSPNPISLHK]HU[HNLVM b1 = b1 ^ %00000011
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pins = pins ^ b1
LSLJ[YPJIYHRL·[OV\NOVMJV\YZLZ[PSSVU
b1 = b1 ^ %00000011
JVUKP[PVU[OH[[OLTV[VY»ZSVHKJHWHJP[`PZ pause delay
UV[L_JLLKLKHZTLU[PVULKHIV]L next
;OLYLHYLJ\YYLU[S`[^VMHTPSPLZVMZ[LW-

7-8/2007 - elektor electronics 59

respectively seven-way or eight-way inte-
grated power Darlingtons normally used to
drive relay coils. The required software is
very simple, thanks to a couple of tips sug-
gested by Parallax (the manufacturer of the
Basic Stamp).

The first is to note that the status of wind-

ings 1 and 2 on the one hand, and wind-
ings 3 and 4 on the other, is always opposite,
as indicated in the attached table. Because of
this, the motor can be driven using just two
of the Basic Stamp outputs, as shown in the
very simple circuit we are suggesting.
Windings 1 and 3 are driven from two lines
of the Basic Stamp port, after amplification
by the ULN2003 (or 2803). Windings 2
and 4 receive these signals after inversion,
performed using two of the spare ampli-
fiers in the ULN2003 (or 2803), which is
overkill but perfectly practical. Note the
presence of the two essential 1 k pull-up
resistors, connected to the outputs of the
amplifiers in the ULN2003 (or 2803), as
the Darlingtons are only open-collector.
The second tip suggested by Parallax con-
sists of directly calculating the sequence of
signals to be applied to the Basic Stamp’s
P0 and P1 outputs, rather than getting
these data from a table. All that’s actually
needed
is a simple XOR logic func-
tion, as shown in the program
listing.
This short example of code may be
included as is into a more complete appli-
cation. As can be seen, it makes the step-
per motor connected as shown in the
figure turn through the number of steps
previously loaded into w1. The direction
of rotation is determined by the contents
of b0. If b0 is anything other than 0, the
motor turns one way; if not, it turns the
other way. This program also lets us define
the wait time between each step, by means
of the data used in the PAUSE instruction;
the only proviso is not to reduce this delay
too much, taking into account the motor
being used and the load it
is driving.
To be as general as possible, note that
this example of code has been written in
Basic Stamp I language. So it is fully trans-
posable, without restriction, to any other
type of Basic Stamp, as well, of course, as
to any PIC programmed in Basic, since the
majority of Basic compilers for PICs are
compatible with the Basic Stamp I lan-
guage. It can likewise be easily migrated
to a PicBasic or a Cubloc from Comfile
Technology.
(070237-I)

60 elektor electronics - 7-8/2007


 

  

 
     

    

   
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7-8/2007 - elektor electronics 61

Which Brain for my Robot?
A mini practical guide
C. Tavernier

www.tavernier-c.com

More than any other electronics project, these days a robot can
virtually not manage without at least one microcontroller to run it.
So of course this raises the question of how best to select one, and
this article is here to help you in this delicate task. Although the
simplest robots can get by with virtually any type of microcontroller
programmed in the language of your choice, as the complexity
of the robot increases, it becomes clear that certain ICs are
more suitable than others for a purely robotic application.

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62 elektor electronics - 7-8/2007

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7-8/2007 - elektor electronics
Table 1: Pinout for the Basic Stamp 2 in the 24-pin package, adopted by many of its
competitors (Basic Atom 24, Cubloc CB220, Javelin Stamp, among others).
Name Pin no. Function
SOUT 1 Programming output (PC serial port)
S IN 2 Programming input (PC serial port)
ATN 3 Programming input (PC serial port)
VSS 4 et 23 Ground
P0 à P15 5 à 20 Input/output ports
VDD 21 5 V stabilized output (input if VIN is too low)
RST 22 Manual external reset input (if required)
Unstabilized positive supply from 5–15 V
VIN 24
(12 V for 2E, 2SX, and 2P24)
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dimensions, and pinout of the Basic
KH`[OL)HZPJ:[HTW:?VY)::?PZPU
Stamp 2 have been taken up by many of its
MHJ[HZPNUPÄJHU[S`MHZ[LY]LYZPVUVM[OL): competitors: Basic Atom 24, Javelin Stamp,
0[L_LJ\[LZVUH]LYHNLPUZ[Y\J[PVUZ Cubloc CB220 amongst others.
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Photo 1. Though it’s been a bit left behind now, here’s the father of all the Basic Stamps,
the Basic Stamp 1.
63
 Table 2: Principal characteristics of the various Basic Stamps and the Javelin Stamp.

Basic Stamp Basic Stamp Basic Stamp Basic Stamp Basic Stamp
Parameter Javelin Stamp
2 2SX 2E 2P24 2P40

Microcontroller PIC16C57 SX28 SX28 SX48 SX48 SX48

Clock frequency 20 MHz 50 MHz 20 MHz 20 MHz 20 MHz 25 MHz

Program memory (bytes) 2K 8x2K 8x2K 8x2K 8x2K 32 K

Program memory
500 4 000 4 000 4 000 4 000 –
(instructions)

Working memory (bytes) 32 32 32 38 38 32 K

Scratch memory (bytes) – 64 64 128 128 –

Speed (inst./sec.) 4 000 10 000 4 000 12 000 12 000 8 500

Number of Basic instructions 36 39 39 55 55 0 (Java)

Parallel inputs/outputs 16 16 16 16 32 16

Max. source/sink current per

20/25 mA 30/30 mA 30/30 mA 30/30 mA 30/30 mA 30/30 mA
output

Max. source/sink current

per chip / per group of 8 40/50 60/60 60/60 60/60 60/60 60/60
inputs/outputs

PC serial port PC serial port PC serial port PC serial port PC serial port PC serial port
Programming interface
9,600 baud 9,600 baud 9,600 baud 9,600 baud 9,600 baud 28,800 baud

Supply voltage 5 - 15 V 5 - 12 V 5 - 12 V 5 - 12 V 5 - 12 V 5 - 24 V

Operating current 8 mA 60 mA 20 mA 40 mA 40 mA 80 mA

Stand-by current 100 μA 200 μA 100 μA 400 μA 400 μA stand-by mode

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64 elektor electronics - 7-8/2007


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7-8/2007 - elektor electronics
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Figure 2. Internal architecture of the Cubloc CB220.
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HSTVZ[`LHYZHNV7HYHSSH_OHZU»[ILLU
YLZ[PUNVUP[ZSH\YLSZ)\[^OPSL[OLWYL]P-
V\ZWYVK\J[Z^LYLIHZLKVUL_PZ[PUNWYVJ-
LZZVYZ[OL7YVWLSSLYPZHYLHSºJOPW»KL]LS-
VWLKI`7HYHSSH_

(Z-PN\YLZOV^ZL]LUH[ÄYZ[NSHUJLP[»Z
HUPTWYLZZP]LWYVK\J[JVUZPZ[PUNVMUVSLZZ
[OHULPNO[PUKLWLUKLU[M\UJ[PVUHSISVJRZ
[OL*VNZLHJOJVTWYPZPUNP[ZV^UWYVJLZ-
ZVYHUKZVTL9(4;OLZL*VNZHYLSPURLK
]PHHI\ZTHUHNLKI`H/\I[OH[[HRLZ
JHYL VM Z`UJOYVUPaPUN [OLPY L_JOHUNLZ
;OL`HSSZOHYL[OLWYVK\J[»Z\UJVT-
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=LY`ML^ZWLJPHSPaLKWLYPWOLYHSZHYLI\PS[
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SLTNP]LU[OH[P[ZWYVNYHTTPUNSHUN\HNL
JHSSLK:WPUPZPUMHJ[HUVIQLJ[VYPLU[LK
Photo 3. The PicBasic (right) marked Comfile Technology’s entry into the world of these special
SHUN\HNL:VPM`V\ULLKMVYL_HTWSLHU
microcontrollers. It wasn’t yet pin-compatible with the Basic Stamp 2 (left).
9:ZLYPHSWVY[`V\VUS`ULLK[VKLS]L
PU[V[OL]VS\TPUV\ZVIQLJ[SPIYHY`THKL
H]HPSHISL[V`V\I`7HYHSSH_[VÄUK^OH[
`V\»YLSVVRPUNMVY[OLYL@V\JHUKV[OL
ZHTLMVYNLULYH[PUN7>4ZPNUHSZKYP]PUN
HU02*I\ZHU3*+KPZWSH`L[J
.P]LU[OH[[OLYLHYLLPNO[*VNZH]HPSHISL
P[»ZWVZZPISL[VY\U\W[VLPNO[KPMMLYLU[
HWWSPJH[PVUZZPT\S[HULV\ZS`:VHYVIV[Ä[-
[LK^P[O[OPZZVY[VMWYVJLZZVYOHZUVKPM-
ÄJ\S[`PUTHUHNPUNP[Z^OLLSTV[VYZ^OPSL
HUHS`ZPUN[OLKH[HMYVTZL]LYHSZLUZVYZHUK
[HRPUN[OLYLSL]HU[KLJPZPVUZ
6M JV\YZL :WPU PZ H SP[[SL KH\U[PUN HUK
^YP[PUN`V\YÄYZ[PUZ[Y\J[PVUZPZHIP[VMH
WHPUMVYHU`VUL^OV»ZUL]LYWYVNYHTTLK
ILMVYL·I\[P[»Z^LSS^VY[OHSS[OLLMMVY[
>OH[»ZTVYL7HYHSSH_WSHJLZH[`V\YKPZ-
WVZHSHMVY\THUKHIV]LHSSHZWHJLVU
P[Z^LIZP[L^OLYLHU`VULJHU\WSVHK[OL
]HYPV\ZVIQLJ[TVK\SLZ[OL`OH]LKL]LS-
VWLKMVY[OL7YVWLSSLY;OPZWHY[PJPWH[VY`
Figure 3. Internal architecture of the Propeller – impressive, and allowing true multitasking. SPIYHY`J\YYLU[S`OHZV]LYVIQLJ[TVK-
\SLZJV]LYPUN[OLTVZ[KP]LYZLÄLSKZHUK

66 elektor electronics - 7-8/2007

 Table 3: Principal characteristics of the various Cublocs.
Parameter CB220 CB280 CB290 CB405
Microcontroller ATmega128 ATmega128 ATmega128 ATmega2560

Clock frequency 18.432 MHz 18.432 MHz 18.432 MHz 18.432 MHz

Program memory 80 K 80 K 80 K 200 K

51 K (Basic)
2 K (Basic) 2 K (Basic) 24 K (Basic)
Dynamic memory (RAM) 4 K (Ladder)
1 K (Ladder) 1 K (Ladder) 4 K (Ladder)
55 K (pile)

Data EEPROM 4K 4K 4K 4K

Speed (instr./s) 36,000 36,000 36,000 36,000

91 (33 entrées, 32 sorties et

Inputs/outputs 16 49 64
26 entrées/sorties)

Serial ports 1 RS-232 1 TTL 1 RS-232 1 TTL 1 RS-232 1 TTL 4 RS-232

ADC (10-bit) 8 channel 8 channel 8 channel 16 channel

DAC (16-bit, PWM) 3 channel 6 channel 6 channel 12 channel

External interrupts – 4 4 4

Fast counters 2 x 32 bits 2 x 32 bits 2 x 32 bits 2 x 32 bits

Real-time clock – – Oui –

Supply voltage 5 - 12 V 5V 5V 5V

Operating current 40 mA 40 mA 70 mA 50 mA

24-pin DIL
Package 64-pin module 108-pin module 80-pin module
(BS2 compatible)

PZJVU[PU\HSS`NYV^PUN JYL[L[LYTZ[OPZTLHUZ[OH[VIQLJ[ZJHU THUHNLTLU[VM[OLWYVW\SZPVUHUV[OLY

:VPM`V\^HU[[VI\PSKHYVIV[[OH[YLX\PYLZ L_JOHUNLKH[HIL[^LLU[OLTHZHIHJR- [OPZVY[OH[[`WLVMZLUZVYHUKZVVU^OPSL
[Y\LT\S[P[HZRPUN[OL7YVWLSSLYPZJ\YYLU[S` NYV\UK[HZR^P[OV\[`V\YTHPUWYVNYHT HºJLU[YHS»WYVJLZZVYUV^VUS`OHZ[VSVVR
VULVM[OLILZ[ZVS\[PVUZ[OLYLPZHSS[OL L]LUOH]PUN[VIV[OLYHIV\[P[ HM[LYKLJPZPVUTHRPUNVU[OLIHZPZVM[OL
TVYLZVILJH\ZL[OLWYPJLPZVUS`HX\HY[LY PUMVYTH[PVUZLU[[VP[
VM[OH[VMH)HZPJ:[HTWH*\ISVJ*) (UV[OLYHK]HU[HNLHUKUV[[OLSLHZ[VM 6MJV\YZLPTWSLTLU[PUNZ\JOHUHYJOP-
VYZPTPSHYWYVK\J[ [OL667PJPZ[OLWVZZPIPSP[`VMUL[^VYR- [LJ[\YLPZUVSVUNLY^P[OPU[OLNYHZWVMH
PUNP["HTH_PT\TVM667PJZJHUIL YVIV[PJZUV]PJLI\[HM[LYZ[HY[PUNV\[^P[O
JVUULJ[LK[VNL[OLY[V02*0*Z[OHURZ[V H)HZPJ:[HTWVYH*\ISVJMVYL_HTWSLP[
(UVKKT\S[P[HZRPUN70* H^PYLI\ZHUK^P[OV\[HU`HKKP[PVUHS PZZ[PSSHJJLZZPISL[VHU`VUL^OVJHYLZ[V
>LJV\SKU»[LUK[OPZYL]PL^VMZWLJPHSWYVJ- L_[LYUHSJVTWVULU[Z:V^P[O[OL667PJ [HRL[OL[YV\ISLLZWLJPHSS`ZPUJLP[ULLKZ
LZZVYZ MVY YVIV[Z ^P[OV\[ TLU[PVUPUN HU P[»ZWVZZPISL[VJYLH[L^OH[PZJHSSLKZLTP UVZWLJPHSPU]LZ[TLU[ZPUJL[OL667PJ
0*[OH[»ZYLSH[P]LS`\URUV^UVU[OPZZPKLVM KPZ[YPI\[LKYVIV[HYJOP[LJ[\YLPL[VUV PZ WYVNYHTTLK PU [OL SHUN\HNL VM `V\Y
[OL^VYSKKLZWP[LP[Z\UKLUPHISLPU[LYLZ[! SVUNLYKVT\S[P[HZRPUNI\[T\S[PWYVJLZZVY JOVPJL HUK [OL VIQLJ[Z HYL H]HPSHISL [V
[OL667PJ(ZP[ZUHTLTPNO[SLHKZ\Z[V VWLYH[PVU6ULWYVJLZZVYSVVRZHM[LY[OL `V\MYLLHUKWYVNYHTTPUNPZKVUL\ZPUN
Z\WWVZL[OPZ0*PZUVULV[OLY[OHUH70*
TPJYVJVU[YVSSLY[OH[JHUILWYVNYHTTLKPU
VIQLJ[VYPLU[LKSHUN\HNL·º66»Z[HUKPUN
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;OL667PJPZPULMMLJ[H70*[OH[`V\^PSS
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PUN\WVIQLJ[Z;OLZLVIQLJ[ZJ\YYLU[S`
VM[OLTHYLJHWHISLVMTHUHNPUN]PY-
[\HSS`HU`[OPUN`V\JHUPTHNPULKYP]PUN
^P[OHTPJYVJVU[YVSSLYHUKYH[OLY[OHUSPZ[
[OLTOLYL^L»SSZLUK`V\VMM[V[OL667PJ
^LIZP[L[VKPZJV]LY[OLTMVY`V\YZLS]LZ
(SS[OLZLVIQLJ[ZHYLHISL[VVWLYH[LZPT\S-
[HULV\ZS`HUKPUKLWLUKLU[S`VMLHJOV[OLY
HZIHJRNYV\UK[HZRZ^OPSL[OLTHPUWYV-
NYHTPZY\UUPUN:V^P[OHU667PJP[»Z
]LY`LHZ`[VWYVK\JLHT\S[P[HZRPUNHWWSP-
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[OH[0[»ZWVZZPISL[VSPURVIQLJ[Z[VNL[OLY
[V MVYT ^OH[ HYL JHSSLK ]PY[\HS JPYJ\P[Z Photo 4. The Cubloc CB220 (right) is directly interchangeable with the Basic Stamp 2 (left).
[OH[WLYMVYTJVTWSL[LM\UJ[PVUZ0UJVU-

7-8/2007 - elektor electronics 67

 Photo 5. The development tools for Basic Photo 6. The Propeller development tool Photo 7. The OOPic development tool
Stamp and Cubloc include a very useful showing an example of Spin — not exactly a allows graphical interaction
editing terminal. barrel of laughs, but the results are worth the with the objects used by the program.
effort!

HZPTWSLJHISLJVUULJ[LK[V[OLWHYHSSLS Addresses
WVY[VMHU`7*
URL Company Comments
Manufacturer of AVR
www.atmel.com Atmel
*VUJS\ZPVU microcontrollers

;OPZV]LY]PL^PZVMULJLZZP[`PUJVTWSL[L www.basicmicro Basic Micro Manufacturer of Basic Atom

LZWLJPHSS`^OLU`V\[OPUR[OH[[OLWYV- www.comfile.co.kr/english2/ ‘PicBasic’ website Manufacturer of PicBasic
NYHTTPUNTHU\HSVMQ\Z[VULVM[OL0*Z Comfile Technology
www.comfiletech.com Manufacturer of Cubloc
WYLZLU[LKOLYLY\UZ[VH[SLHZ[HO\UKYLK General site
VYZVWHNLZ)\[^LOVWL[OH[^LOH]L Manufacturer of PIC
www.microchip.com Microchip
OLSWLK`V\KPZJV]LYVYYLKPZJV]LYZVTL microcontrollers
VM[OLWYVJLZZVYZ[OH[HYLWHY[PJ\SHYS`^LSS www.oopic.com Savage Innovations Manufacturer of OOPic
Z\P[LK[VYVIV[PJZHUK^OPJO^OPSLILPUN Manufacturer of: Basic Stamp,
ZPTWSL[VPTWSLTLU[KVUV[PUHU`^H` www.parallax.com Parallax
Javelin Stamp, Propeller
ZHJYPÄJLWLYMVYTHUJL
www.tavernier-c.com – Author’s website
(070319-I)

Servo Control from a PC

Bas Lijten

+YP]PUNT\S[PWSLZLY]VZ]PHHTPJYVJVU-
[YVSSLYJHUILX\P[LHWYVISLTMVYTHU`
WLVWSL-VY[\UH[LS`HZLY]VJVU[YVSSLYPZ
H]HPSHISL^OPJOJHUILJVU[YVSSLKMYVTH
7*![OL::*
;OL::*PZHUVWLUZV\YJLJVU[YVSSLY
^OPJOPZJVUULJ[LK[V[OLZLYPHSWVY[0[
OHZV\[W\[Z^OPJOTHRLZP[WVZZPISL[V
JVU[YVSZLY]VZZPT\S[HULV\ZS`,HJOV\[-
W\[JHUHSZVIL\ZLKHZHNLULYHSW\YWVZL
V\[W\[^P[O;;3SL]LSZ0UHKKP[PVU[OL
TPJYVJVU[YVSSLY OHZ MV\Y KPNP[HS PUW\[Z
HUK[OLYLPZHUL_[YHZVJRL[MVYÄ[[PUNHU [PTL PZ
,,7964;OPZ^HZUV[ILPUN\ZLKH[[OL ZWLJPMPLK [OLU [OL
[PTLVM^YP[PUNI\[P[PZSPRLS`[OH[P[^PSSIL ZLY]V^PSS[HRL[OH[HTV\U[VM
\ZLKPUM\[\YL\WKH[LZVM[OLÄYT^HYL [PTL[VTV]L[V[OLUL^WVZP[PVU
;OL ZLY]VZ [OH[ HYL JVUULJ[LK [V [OL ;OLPU[YVK\J[PVUHSYLHK`TLU[PVULK[OH[
JVU[YVSSLYJHUILJVU[YVSSLKPUH]LY`ZPT- VYKLY [V THRL [OL ZLY]VZ JHU IL JVU[YVSSLK ZPT\S[H-
WSL^H`6US`[OLU\TILYZVM[OLZLY]VZ HZLY]VTV]L0MHZWLLKPZ ULV\ZS`;OPZPZWVZZPISLI`TLHUZVMH
[VILJVU[YVSSLK[OLW\SZL^PK[OWVZP[PVU ZWLJPÄLK[OLU[OLZLY]V^PSSTV]L[V º.YV\W 4V]L» JVTTHUK ;OPZ PZ KVUL
HUK[OLZWLLKVY[PTLULLK[VILRUV^UPU [OLYLX\PYLKWVZP[PVUH[[OH[ZWLLK0MH I`ZL[[PUN[OLU\TILYZVM[OLZLY]VZ[OL

68 elektor electronics - 7-8/2007

W\SZL^PK[OHUK[OL[PTL[OH[[OLTV]L-
TLU[ZOV\SK[HRL[VYLHJO[OLUL^WVZP[PVU
HSSPUVULJVTTHUK0U[OPZ^H`HSSZLY]VZ
TV]LZPT\S[HULV\ZS`
;OPZ .YV\W 4V]L MLH[\YL JHU IL LZWL-
JPHSS`OHUK`PMMVYL_HTWSL`V\^V\SK
SPRL[VTHRLHYVIV[HYTTV]L^P[OHÅ\PK
TV[PVU;OLJVU[YVSSLYJHYYPLZV\[P[ZV^U
JHSJ\SH[PVUZZ\JOHZ[OLZWLLKH[^OPJO
[OLZLY]VZOH]L[V[\YU
;OLJVU[YVSSLYHSZVJVU[HPUZM\UJ[PVUZ[V
KYP]LHOL_HWVKHYVIV[^P[OSLNZ0U
[OPZ^H`[OLYLPZUVULLK[VJVTL\W^P[O
Propeller Prototyping Board
for BoeBot
;OL7YVWLSSLYJOPWTHKLI`7HYHSSH_0UJ
PZHIP[VMHZ[YHUNLHUPTHSPU[OL^VYSKVM
TPJYVJVU[YVSSLYZ;OPZ0*JVUZPZ[ZVMLPNO[
7-8/2007 - elektor electronics
HUHSNVYP[OTMVY[OL7*[VSL[[OLYVIV[
^HSRILJH\ZL[OLM\UJ[PVUZHYLHSYLHK`
[OLYL[VTHRL[OLYVIV[TV]LP[ZSLM[VY
YPNO[ZPKL^P[OHZPUNSLJVTTHUK
;OL JVKL PZ MYLLS` H]HPSHISL ZPUJL [OL
TPJYVJVU[YVSSLY JVU[HPUZ VWLUZV\YJL
ZVM[^HYL(ZHYLZ\S[`V\JHUHKKPTWYV]L
HUK YLTV]L M\UJ[PVUHSP[` `V\YZLSM 5V[
OHWW`^P[O[OLOL_HWVKJVKL&@V\JHU
[OLUºLHZPS`»YL^YP[LP[
0U[OLZHTL^H``V\JHUHSZVHKKM\UJ[PV-
UHSP[`-VYL_HTWSLJVKL[VTV]LHYVIV[
HYT[VHWHY[PJ\SHYSVJH[PVUPUH*HY[LZPHU
IP[WYVJLZZVYJVYLZ[OH[HYLNP]LUHJJLZZ
VULI`VUL[V[OLWLYPWOLYHSZHUKWYVJ-
LZZVYTLTVY`;OPZTHRLZ[OL7YVWLSSLY
JVVYKPUH[LZ`Z[LT)`KVPUNZV[OLYLPZ
UVULLK[VJVU[YVSPUKP]PK\HSZLY]VZMYVT
[OL7*I\[ZPTWS`ZLUKVULJVVYKPUH[L[V
TV]L[OLHYT[OLJVYYLJ[^H`
)LJH\ZL[OLJVU[YVSSLYPZIV[OLHZ`[VKYP]L
HUK LHZPS` TVKPMPLK I` HU L_WLYPLUJLK
WYVNYHTTLYP[PZ]LY`Z\P[HISLMVYHU`VUL
^OV^V\SKSPRL[VZWLUKZVTL[PTL^P[O
YVIV[PJZ
(070373-I)
Manufacturer of the controller:
http://www.lynxmotion.com
L_[YLTLS`MHZ[HUKP[JHU^VYR^P[OV\[[OL
\ZLVMHUPU[LYY\W[TLJOHUPZT![HZRZ[OH[
\ZLK[VYLX\PYLHUPU[LYY\W[YV\[PULJHU
UV^ILY\UPU[OLPYV^UWYVJLZZVYJVYL
JHSSLKHº*6.»PU7YVWLSSLYZWLHR;OPZ
WYVJLZZVYPZMHZ[LUV\NO[VKPYLJ[S`KYP]L
H=.(TVUP[VYMVYL_HTWSLHUKHSZVWLY-
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PU[VKL[HPSVM[OLVWLYH[PVUHUK[OLZVM[-
^HYLMVY[OL7YVWLSSLY(SS[OPZPUMVYTH[PVU
HUKKVJ\TLU[H[PVUL_HTWSLHWWSPJH[PVUZ
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IVHYK\ZPUNH)HZPJ:[HTWVY1H]LSPU:[HTW
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JSLZPU,SLR[VY,SLJ[YVUPJZI\[[OH[^HZX\P[L
ZVTL[PTLHNV!LUK LHYS`[VIL
L_HJ[)\[P[»ZZ[PSSNVPUNZ[YVUNHM[LYHSS[OPZ
[PTLZPUJL[OL)VL)V[PZL]LUUV^^PKLS`
\ZLKPULK\JH[PVU;OH[^HZ[OLVYPNPUHS
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º)VHYKVM,K\JH[PVU»
<WNYHKL
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69
 [PTLJVUZ\TPUN[OHUZPTWS`PUZLY[PUN[OLT
IC1 IC2
PU[VHIYLHKIVHYKI\[P[KVLZTHRL[OL
+5V 3V3
LM2937ES-5.0 5V LM2937ES-3.3 3V3 YVIV[TVYLYLSPHISL+LZWP[LILPUNJHYL-
S1
1 3 1 3 M\SS`JVUZ[Y\J[LKHUKOH]PUN^LSS[OV\NO[
R1
K1 V\[ZVM[^HYLHYVIV[JHUZ[PSSI\TWPU[V

270
2
4

2
4
C3 C2 C1
ZVTL[OPUNVYILJVTLH]PJ[PTVMHWHZZPUN
D1
WL[^OVZ\KKLUS`KPZJV]LYZHUL^WSH`-
100n 10u 10u
16V 16V TH[L>OLUHIYLHKIVHYKPZ\ZLKZVTL
GND JVTWVULU[Z JV\SK ILJVTL KPZSVKNLK"
^P[OHWYV[V[`WPUNIVHYK[OLJOHUJLZVM
3V3 GND 3V3 Z\Y]P]HSHYLNYLH[LY

C4 R2 ;OLWYV[V[`WPUNIVHYKPZ^LSSSHPKV\[OHZ
C5
L]LY`[OPUN `V\ ULLK HUK PZ YLHZVUHIS`

10k
100n
100n
WYPJLKI\[^LKPKZLLHWV[LU[PHSKPZHK-
11

32

12 GND
GND
VDD

VDD
RES

K2 1 40 IC3 ]HU[HNLLZWLJPHSS`PULK\JH[PVU!IV[O[OL

8
P0 P31
2 39

VCC
RX 3
P1 P30
38 5 1 WYVJLZZVYHZ^LSSHZ[OL,,7964HYL:4+
P2 P29 SDA NC
TX
RESn
4
5
P3 P28
37
36
6
7
SCL 24LC256 NC
2
3
]LYZPVUZ0MZVTL[OPUNPZ^YVUNS`JVUULJ[LK
P4 P27 WC NC
P[JV\SKTLHU[OLLUKVM[OLWYVJLZZVYHUK

GND
6 35
P5 P26
7 34
P6 P25 PUTHU`JHZLZHSZV[OLLUKVM[OLIVHYK

4
8 33
P7 P24
K3 13
P8 IC4 P23
28 5V[L]LY`IVK`^PSSOH]L[OLYPNO[ZVSKLYPUN
RX 14 27
TX 15
P9 P8X32A-D40 P22
26
GND LX\PWTLU[[VYLWSHJLZ\JOWHY[Z
P10 P21
RESn 16
P11 P20
25 7HYHSSH_OHKUVVIQLJ[PVUZ^OLU^LHZRLK
17 24
18
P12 P19
23
PM^LJV\SKKLZPNUH]LYZPVUVM[OLIVHYK
P13 P18
19
P14 P17
22 +5V +5V MVY\ZL^P[OJSHZZPJ+030*Z:OV\SKZVTL-
20 21 GND GND
BOE

[OPUNNV^YVUN^P[OVULVM[OL0*ZVU[OPZ
VSS
VSS

P15 P16
XO

XI

IVHYKP[»ZQ\Z[HX\LZ[PVUVMZPTWS`WSHJ-
10
31

30
9
29

S2 X1

+5V +5V PUN H UL^ JOPW PU[V H ZVJRL[ HM[LY MPYZ[

5MHz
GND
070275 - 11
GND
Figure 1: The circuit diagram of the Propeller prototyping board.
[OH[PZTHKL[VTLHZ\YLMVY[OL)VL)V[ ^OLYLHZ[OLºVSK»)HZPJ:[HTWIVHYKJHTL
MYHTL 0[ PZ UV[PJLHISL [OH[ WHY[ VM [OPZ LX\PWWLK^P[OHTPUPIYLHKIVHYK6U[OL
IVHYKUV^OHZHUVYKPUHY`WYV[V[`WPUN 7YVWLSSLYIVHYK^L[OLYLMVYLOH]L[VZVSKLY
HYLHMVY[OLHKKP[PVUVML_[YHLSLJ[YVUPJZ HU`L_[YHJVTWVULU[Z^OPJOPZHIP[TVYL
GND ÄUKPUNV\[^OH[JH\ZLK[OLWYVISLTZVM
JV\YZL
;OLZLJVTWVULU[ZVI]PV\ZS`[HRL\WTVYL
YVVTVM[OL)VL)V[MYHTL[OHU[OLPYZ\Y-
MHJL TV\U[ JV\U[LYWHY[Z ;OL +03 ]LY-
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SHYNLY[OHUP[ZSP[[SLIYV[OLYPUH38-7WHJR-
HNL)LJH\ZLVM[OPZ^LOH]LSLM[V\[HML^
MLH[\YLZ[OH[^LYLWYLZLU[VU[OL7HYHSSH_
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MLS[[OH[[OL`»YL\USPRLS`[VILTPZZLKPUH

Components list
Resistors K1 S1
C3
R1 = 2707
R2 = 10k7
P16 P15
P17 P14
P18 P13
Capacitors P19 P12
C1,C2 = 10MF 16V radial P20 IC4 P11 C2 C1
C3,C4,C5 = 100nF P21 P10
P22 P9
P23 P8
X1

Semiconductors S2

IC1 = LM2937ES-5.0 C4
IC2 = LM2937ES-3.3 P7
IC3 = 24LC256 P24 P6
IC4 = Propeller chip P8X32A-D40 P25 P5 R1
(Parallax) P26 P4
P27 P3
P28 P2
P29 P1
Miscelllaneous P30 P0
IC3
X1 = 5MHz quartz crystal P31
R2
K2 = 5-way SIL pinheader D1
K3 K2
K3 = 4-way SIL pinheader C5
S1 = on/off switch
S2 = 1 make contact
4 pcs 3-way SIL pinheader

PCB, order code 070275-1 from Elektor

Figure 2: The board layout is single-sided. If you expect to use the prototyping area a lot then a
SHOP
double-sided through-hole plated version would be preferable.

70 elektor electronics - 7-8/2007

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JOVPJLVMLP[OLYSVHKPUN[OLWYVNYHTPU[V ?^PSSVUS`IL\ZLKVUJL[OLWYVNYHTOHZ Web Link:
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‘TEAclipper’
Postage-stamp Programmer
Richard Hoptroff
;OLHY[VMKPZJYL[LLSLJ[YVUPJZOHZV]LY[OL
WHZ[KLJHKLVYZVILJVTLZ\IZ\TLKI`
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7-8/2007 - elektor electronics 71

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COMPONENTS LIST
Resistors
R1 = 2407 SMD (0805)
R2 = 3907 SMD (0805) IC1 = LM317 SMD (SO8)
R3,R4,R7,R9,R11,R12,R13 = 1k7 SMD (0805)
R5,R6,R8,R10 = 220k7 SMD (0805)
Capacitors
C1 = 4μF7 25V SMD (1206 or 1210)
C2 = 10μF 6V SMD (1206 or 1210)
C3 = 100nF SMD (0805)
C4,C5,C6,C7,C8 = 1μF SMD (0805)
Semiconductors
D1 = GF1M
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PZYLX\PYLKHZVJRL[PZUV[ULJLZZHY-
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WVY[MVYM\Y[OLYTPJYVJVU[YVSSLYWSH[MVYTZ
PZWSHUULK
(070117-I)
M S \ V \ Z  I `
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3VHKPUNJVKLPU[V[OL37* TPJYVJVU-
T1 = BC857 SMD (SOT23)
LED1,LED2 = LED, red, SMD (0805)
IC2 = 74HCT00 SMD (SO14)
IC3 = MAX3232 (SO16)
Miscellaneous
K1 = mains adaptor socket for PCB
mounting
K2 = 9-way sub-D socket, angled, PCB
mount
K3 = 5-way SIL pinheader
PCB, ref. 070084-1, from www.thepcbshop.
com
elektor electronics - 7-8/2007
[YVSSLYWYVJLLKZ^P[OHTPUPT\TVMM\ZZ
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]H[L[OLIVV[SVHKLY5V[L[OH[9
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^OLUP[PZZ^P[JOLKVMM0[PZHK]PZ-
HISL[VSPTP[[OLJHWHJP[HUJLVU[OL Figure 1. ‘Code Architect’ is a free tool that makes using
=YHPSPU[OL[HYNL[OHYK^HYL[V the LPC900 microcontroller very straightforward.
HWWYV_PTH[LS` ›- ZPUJL V[OLY-
^PZL[OLTPJYVJVU[YVSSLYILPUNWYV-
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HWV^LYVUYLZL[ ZPVUVM[OLJVTWPSLYPZLU[PYLS`HKLX\H[L LUV\NO[V^YP[L]LY`JVTWSL_HWWSPJH[PVUZ
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+3V3
16

WYVNYHT 12
IC2D
1u 1u C6
11 2 VCC 1
13 & V+ C1+
3 1u
C1-
(UVW[PTPZPUN*JVTWPSLYPZHSZVULLKLK 6
V-
+3V3 C8 4
[V^YP[LWYVNYHTZMVY[OL37* MHTPS` IC3
C2+
5
C7
1u C2-
MAX3232
;OLYLHYL]HYPV\ZJVTTLYJPHSWYVK\J[Z K2
R5 R8 1u
14 11
H]HPSHISL"OLYL^L^PSSIYPLÅ`KPZJ\ZZOV^ T1OUT T1IN
220k

220k

1 13 12
R1IN R1OUT +3V3_ISP
[V\ZL›*BD-VYWYHJ[PJHSS`HSS37*  11
6
2 7 10
R11 K3
T2OUT T2IN 1k
7 8 9 CPU_VCC
R2IN GND R2OUT
10 3 R9 CPU_RXD
8 1k CPU_TXD
15

4 IC2C CPU_RES
IC2B 9 R12
9 R10 4 8 CPU_GND
6 10 & 1k
5 220k 5 & ISP connector

IC2A
R6 1 R4
3
9
220k 2 & 1k
6

IC2 = 74HCT00
K1

K1 +3V3 T1 +3V3_ISP
K2 1 5 D1
R5

3V3 switched
R 10

C 1 D1 1 2
070084-1
C 6 (c) Elektor

IN OUT
3
R8
R6

R4

C5
1N4001 IC1 R3 BC857 R7
LM317 6
IC2
C4

R2 R1 7
1k

1k

ADJ
C2

14
C3

4
C7

IC3

R1 IC2
R13
240R 7
R12

LED2 C1 R2 C2 LED1 C3 LED2

R 11

IC1
C8

1k
T1 R 3
R9
R7

LED1

390R
R13

4u7 10u 100n

25V 6V
K3

LPC900 P ROGR AMME R

070084 - 11

Figure 3. Layout and component mounting Figure 2. Circuit of the LPC900 programmer.
plan for the printed circuit board.

7-8/2007 - elektor electronics 73

 ILJH\ZL[OLJVTWPSLYWYVK\JLZ]LY`JVT-
WHJ[JVKL0UWHY[PJ\SHY[OLJVTWPSLYPZ
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;OL ›* Z`Z[LT ^HZ KL]LSVWLK HZ H
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HYLQ\Z[[OYLLZ[LWZMYVTZV\YJLJVKL[V
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-VYKLTVUZ[YH[PVUW\YWVZLZ^L\ZLKHU
 37* ^P[OHU3,+JVUULJ[LK[VWVY[
WPU7;OLSPZ[PUNZOV^U-PN\YLPZ
HUL_HTWSLWYVQLJ[PUJS\KLK^P[O›*
ZPUJL]LYZPVU(ZJHUILZLLUMYVT
-PN\YL[OLJVTWPSLY\ZLZH^LSSZ[Y\J-
[\YLKJSHZZPJHSºTHRL»Z`Z[LT+V^USVHK-
PUNHWYVNYHT[V[OLTPJYVJVU[YVSSLYPZHU
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TLUKLK[OH[`V\JVUÄN\YL[OL[LYTPUHS
WYVNYHTLTILKKLK^P[OPUº-SHZO4HNPJ»
Figure 4. Initialisation specific to the LPC900 requires just five instructions. ZV [OH[ P[ PZ SH\UJOLK PTTLKPH[LS` [OL
HWWSPJH[PVUPZZ[HY[LKVU[OL37*5V[L
PUWHY[PJ\SHY[OH[[OL9;:HUK+;9ZPNUHSZ
T\Z[ILJVYYLJ[S`JVUÄN\YLKIV[OHJ[P]L!
ZLL-PN\YL
(070084-I)

References and links

[1] http://www.standardics.nxp.com/pro-
ducts/lpc900 (NXP, manufacturer of the
LPC900 family).
[2] http://www.esacademy.com (Embedded
Systems Academy: Flash Magic, Code
Figure 5. The μC/51 compiler uses a well-structured classical ‘make’ system.
Architect).
[3] ELEKTOR RFID Reader (using an LPC936),
Elektor Electronics, September 2006,
p. 26.
[4] http://www.wickenhaeuser.de (μC/51
compiler, demonstration version).
[5] http://www.geo-precision.com (geotech-
nical research and development).

Figure 6. Flash Magic is a free tool for programming LPC microcontrollers. Figure 7. Settings for the RTS and DTR signals
in the Flash Magic terminal program.

74 elektor electronics - 7-8/2007

 Low2 Cost USB Demo Board
C your way
VDD
through USB R1 R6 R7 R16
C1 C2

330 7
10k

10k

10k
Martin Valle 100n 100n
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060342 - 11
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7-8/2007 - elektor electronics 75

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elektor electronics - 7-8/2007
)\PSKP[
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`V\VUS`OH]L[VSVVRHM[LY[^V[OPUNZ! #define EP0_BUFF_SIZE 8 // 8, 16, 32, or 64
#define MAX_NUM_INT 1 // For tracking Alternate Setting
(KK[OLOPKSPIÄSLI`KVPUN!
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#define MODE_PP _PPBM0
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^VYK[VI`[LI`KVPUN!
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6W[PVUZ­+H[HHSPNUTLU[ //#define USE_USB_BUS_SENSE_IO
(060342-I)

Optimised STK200/300 Programmer

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7-8/2007 - elektor electronics 77

Satnav for Robots
GPS guidance
for autonomous
vehicles
Ulli Sommer

A (frequently unfulfilled)
ambition of every robot builder
is to make their machine
capable of autonomous
navigation. This is an ideal
application for a GPS receiver
module: these have recently
become very cheap to buy.
Our GPS-based navigation
system is built around an
ATmega32, programmed
using BASCOM BASIC. It
communicates with the outside
world using an I2C bus.

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How to program track points

Before attempting any autonomous journeys we must program a
series of set coordinates (‘track points’) into the navigation system.
The first step is to replace the GPS mouse with a (null modem) data
cable, connected to a PC. On the PC, start up a terminal emula-
tor program such as Hyperterminal. A terminal emulator is also
included in the BASCOM package.
The interface parameters must be set as for the mouse (i.e., to
4800 baud). When connection has been set up, press the reset and
programming buttons simultaneously. Then first release the reset
button and then the programming button around a second later.
You should see a welcome message (which indicates how to get
help) and a prompt on the terminal.
The following commands are also available: ‘Data’ lists the stored
GPS data; ‘Input’ allows the GPS data to be edited; and ‘Reset’
restarts the navigation system.
The coordinates of the track points can be determined using a sep-
arate GPS system; alternatively, the robot can be moved manually
to each track point in turn and the coordinates read off the LCD.
With the track point data programmed in, the robot can be left to
its own devices!

78 elektor electronics - 7-8/2007

 +5V

I 2C - Bus

R10
R11
R12
R13
R23 R24 to main controller

R9
R8
R7
R6
trackpoint assignment
10k

10k
32 10 30

4k7
4k7
4k7
4k7
4k7
4k7
4k7
4k7
+5V
AREF VCC AVCC
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1 40 4 15
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8 7 SCK 4 37 7 +5V
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8 33 12 3 R3
PB7(SCK) (ADC7)PA7 P7 A2 10k
ISP
ATmega32
RXD 14 29
PD0(RXD) (TOSC2)PC7

JP1

JP2

JP3
TXD 15 28 8
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16 27
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17 26 +5V ADR
PD3(INT1) (TDO)PC4
18 25 K5 I 2C - Bus K6
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able 19 24 +5V
PD5(OC1A) (TCK)PC2
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21 22 SCL R2
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GND
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470 7

470 7

470 7

11 13 12 31 compass I 2C LCD 16 x 4 IC3

X1 D1 7805 +5V

R14 R15 R16 S3 S2 R19

D6 D5 D3 1N4001
K7

470 7
10k

10k

10k

C2 C1
C4 C5 C6 C7
SYSTEM +8V ... +15V
RESET PRG RUN 22p 22p D2
16MHz 47M 100n 100n 1M

DRIVE SIGNAL READOUT POWER

Figure 1. The ATmega32 communicates with the compass and the LCD over an bus; the GPS mouse is connected via RS-232. I 2C
The PCF8574 I2C interface chip takes on the task of accepting a control byte and making it available on pins 33 to 40 of the ATmega.

PUIL[^LLU6M[LUHYVIV[»ZTHPUJPYJ\P[ TVK\SLPZMVYL_HTWSL[OL+L]HU[LJO LU[H[PVU^L^PSSHSZVULLKHU3*+TVK\SL

IVHYK^PSSHSYLHK`OH]LHZ\P[HISLSL]LS *47:H]HPSHISLMYVTBD;OPZJVTWHZZ ;OLTPJYVJVU[YVSSLYPZYH[OLYSHJRPUNPU06
ZOPM[LY0*VUP[ PZJVUULJ[LK[V[OL02*WVY[VUV\YWYPU[LK WVY[WPUZHUKZV[OLTVZ[WYHJ[PJHSZVS\[PVU
;OL.7:TV\ZLNP]LZ[OLL_HJ[NLVNYHWOPJ JPYJ\P[IVHYK PZ[VKYP]L[OLKPZWSH`HSZV]PH[OL02*I\Z
JVVYKPUH[LZSH[P[\KLHUKSVUNP[\KLPUH 0M^L^HU[[VKPZWSH`[OLWVZP[PVUHUKVYP- ;OLYLKVL_PZ[3*+TVK\SLZ^P[OI\PS[PU
KLMPULK MVY- 0 2 *  PU[ L Y-
TH[!ZLL[L_[ MHJLZI\[HU
IV_ 0[ JHU HS[LYUH[P]L
HSZV KL[LY- PZ[V\ZLHU
T P U L  [ O L 02*PU[LYMHJL
JVTWHZZ JOPWZ\JOHZ
KPYLJ[PVU VM [OL7*-
TV]LTLU[ BDZLL-PN
PM P[Z ZWLLK \YL >L
PZTVYL[OHU ^ P S S  Z L L
HIV\[RT HUV[OLY
O [V RT \ZL VM [OPZ
O   : P U J L K L ]PJ L  PU
^L ^PZO [V V\Y JPYJ\P[
KL[LYTPUL SH[LYVU
VYPLU[H[PVU
L]LU ^OLU
Z[H[PVUHY`
4V[VY
^L YLX\PYL JVU[YVS
HUHKKP[PVUHS 6M JV\YZL
ºLSLJ[YVUPJ ^L KV UV[
JVTWHZZ» Q\ Z [  ^ H U [
ZLL ISVJR V\Y YV I V[
KPHNYHT PU [V KPZWSH`
-PN\YL ^OLYL P[ PZ"
( Z\P[ HISL ^L ^HU[ P[
JVTWHZZ Figure 2. Prototype navigation system printed circuit board for autonomous robots. [V THRL P[Z

7-8/2007 - elektor electronics 79

 GND
SDA
SCL
+5V
I 2C K8
compass I 2C track point
assignment
LEFT RIGHT
+5V

15
14
13
RST

1
2
3
SDA

A0
A1
A2
SCL
INT
GPS-BOT-DRIVE PRG go left 16 IC4 8
PCF8574
go right

P4
P5
P6
P7

P0
P1
P2
P3
GPS target OK

10
11
12
9

4
5
6
7
RS232 10k

070350 - 13

10
11
12
13
14
1
2
3
4
5
6
7
8
9
Figure 3. Simplified block diagram of the navigation system. The buttons are used when

VDD

E
D0
D1
D2
D3
D4
D5
D6
D7
RS
VSS

R/W
VO
programming. Commands for the motors are output on two port pins.

LC DISPLAY
16 x 4

^H`[VV\YKLZPYLKKLZ[PUH[PVU0UKVPUN P[H]HPSHISLVUWPUZ[VVM[OL(;TLNH 070350 - 12

[OPZ[OLUH]PNH[PVUZ`Z[LTV\[W\[ZKPYLJ[PVU
JVU[YVSPUMVYTH[PVUVU[^VWPUZ6\[W\[
WPUZ4V[VYFSHUK4V[VYFYJVTIPULKNP]L
[OLKLZPYLKKPYLJ[PVUVM[YH]LSHZMVSSV^Z!
ZLL-PN\YL;OLZVM[^HYLJVUÄN\YLZ[OL
KL]PJL[VY\UPUPUW\[TVKL-VYHZPTWSLY
OHYK^HYLKLZPNUP[PZVMJV\YZLWVZZPISL[V
KPZWLUZL^P[O[OLPU[LYMHJLJOPWHUKKYP]L
[OLWVY[WPUZVM[OL(;TLNHOPNOHUK
Figure 4. The LCD is driven over an I2C bus,
the PCF8574 interface chip making a second
appearance in the circuit (see Figure 1).

Motor_l Motor_r Function
0 0 STOP
1 1 straight on
1 0 turn left
0 1 turn right
5V^^LULLKH^H`[V[LSS[OLYVIV[UH]P-
NH[PVUZ`Z[LT^OLYL^L^HU[P[[VNV;V
KV[OPZ^LÄYZ[ULLK[VWYVNYHTHZLYPLZ
VMZL[JVVYKPUH[LZº[YHJRWVPU[Z»PU[V[OL
\UP[^OPJOPZKVUL\ZPUN[OLJHISLILMVYL
H[[LTW[PUNHU`H\[VUVTV\ZQV\YUL`ZZLL
[L_[IV_0UUVYTHSVWLYH[PVU[OLUH]P-
NH[PVUZ`Z[LT[OLUVUS`ULLKZ[VIL[VSK
^OPJO[YHJRWVPU[P[ZOV\SK[Y`[V]PZP[UL_[
^OPJOJHUMVYL_HTWSLILKVULI`[OL
YVIV[»ZTHPUWYVJLZZVY
;OPZ ZLJVUK JVTT\UPJH[PVUZ JOHSSLUNL
PZHSZVZVS]LK\ZPUN[OL02*I\Z^OPJOPZ
LHZ`[V\ZLMYVT^P[OPU)(:*64)(:0*
(7*-02*PU[LYMHJLJOPW[HRLZVU[OL
[HZRVMHJJLW[PUNHJVU[YVSI`[LHUKTHRPUN
SV^KPYLJ[S`HUKPUWHYHSSLS
;VZLSLJ[MVYL_HTWSL[YHJRWVPU[\ZPUN
[OL02*PU[LYMHJL^LT\Z[ZLUK[OLU\TILY
º»[V[OL7*-0U)(:*64)(:0*[OPZ
TPNO[ILKVULHZMVSSV^Z
I2cstart
I2cwbyte &H7A (address of
PCF8574: see data sheet for
addressing scheme)
I2cwbyte 1 (track point number)
I2cstop
>OLU[OL[YHJRWVPU[ZLSLJ[PVUI`[LOHZ
ILLUZLU[[OLUH]PNH[PVUZ`Z[LTKL[LY-
TPULZ [OL KPYLJ[PVU [V [OL KLZ[PUH[PVU
;OPZ JHSJ\SH[LK KPYLJ[PVU PZ [OLU JVT-
WHYLK [V [OL J\YYLU[ VYPLU[H[PVU VM [OL
YVIV[VI[HPULKMYVT[OLJVTWHZZ0U[OPZ
JHSJ\SH[PVU^LPNUVYL[OLJ\Y]H[\YLVM[OL
LHY[OZPUJL^LKVUV[L_WLJ[V\YYVIV[[V
LTIHYRVUSVUNKPZ[HUJLQV\YUL`Z
0M[OLKLZPYLKHUKHJ[\HSKPYLJ[PVUZHYLPU
HNYLLTLU[[OLYVIV[HK]HUJLZPUHZ[YHPNO[
SPUL0MHZP[TV]LZ[OLYVIV[ZOV\SKKL]P-
H[LMYVT[OLSPUL[V[OLKLZ[PUH[PVU[OL
UH]PNH[PVUZ`Z[LTZ^PUNZPU[VHJ[PVUHUK
IYPUNZP[IHJRVUJV\YZL0M[OLX\HSP[`VM
[OL.7:ZPNUHSPZ[VVWVVYVY[VVML^ZH[LS-
SP[LZHYL]PZPISL[OLYVIV[^PSS^HP[\U[PSHU
HKLX\H[LZPNUHSPZH]HPSHISL[VYLJHSJ\SH[L
[OLKLZPYLKJV\YZL
>OLU[OLKLZ[PUH[PVUPZYLHJOLK[OLYVIV[
Z[VWZHUK[HRLZ[OLWPU+LZ[FVROPNO;OPZ
ZPNUHS JHU IL \ZLK I` [OL YVIV[»Z THPU
WYVJLZZVYMVYL_HTWSL[VSVHK\W[OLUL_[
[YHJRWVPU[ZV[OH[[OLTHJOPUL[YHJLZV\[
HWYLKL[LYTPULKJV\YZL
(070350-I)
Web links
[1] http://www.mcselec.com
[2] http://www.elektor-electronics.co.uk
[3] http://www.kanda.com
[4] http://www.robot-electronics.co.uk
[5] http://www.nxp.
com/cgi-bin/pldb/pip/pcf8574

GPS mouse data

A typical data packet received from a GPS mouse using the simple $GPGGA protocol
might appear as follows.
$GPGGA,191410,5212.9324,N,00007.5930,E,1,04,4.4,11.5,M,48.0,M,,*73

Protocol Latitude Longitude no. of visible satellites

Time measurement quality (0=insufficient, 1=ok)

Here ‘$GPGGA’ is the protocol type, ‘191410’ the time, ‘5212.9324,N’ the latitude,
‘00007.5930,E’ the longitude, ‘1’ indicates that the reading is valid and ‘04’ is the number
of satellites in view. As you can see, this covers all the information we need. All we need to
do is switch the GPS mouse to the $GPGGA protocol and set the communication speed to
4800 baud. Other protocols should be disabled, and the reporting interval set to approxi-
mately 1 s. The settings are made using the software provided with the GPS mouse.

80 elektor electronics - 7-8/2007

Serial Interface for the Propeller
Simple and
inexpensive
Luc Lemmens
;OL7YVWLSSLYWYV[V[`WPUNIVHYKKLZJYPILK
LSZL^OLYLPU[OPZPZZ\LULLKZHWYVNYHT-
TPUNPU[LYMHJLQ\Z[SPRL[OLIVHYKH]HPSHISL
MYVT7HYHSSH_;OLTHU\MHJ[\YLYVMMLYZ[OL
7YVWLSSLY7S\NHUK[OL7YVWLSSLY*SPWMVY[OPZ
W\YWVZL;OL`JHUIL\ZLK[VSPUR[OLIVHYK
[VH7*]PHH<:)WVY[;OLZLTPUPIVHYKZ
HYLÄ[[LK^P[OHU-;+0-;0*^OPJOOHZ
HWWLHYLKX\P[LYLN\SHYS`PU[OLTHNHaPUL
;OLKPMMLYLUJLIL[^LLU[OL7S\NHUK[OL
*SPWPZPUOV^[OL`JVUULJ[[V[OLWYVJLZ-
ZVYIVHYK;OL7S\NJVUULJ[Z[VH^H`:03
OLHKLY^OPSL[OL*SPWJVUULJ[Z[VMV\YZVS-
KLYWHKZH[[OLLKNLVM[OLIVHYK;OLSH[-
[LY[`WLVMJVUULJ[PVU^HZ\ZLKPU[OLÄYZ[
]LYZPVUVM[OL7YVWLSSLYKLTVIVHYKHUKP[ >L OH]L KLZPNULK H ZTHSS 7*) MVY [OPZ `V\KVU»[OH]L[V^VYY`HIV\[JVUÄN\Y-
PZHJ[\HSS`UVSVUNLYYLSL]HU[;OL7YVWLSSLY JPYJ\P[I\[VMJV\YZLP[»ZUVWYVISLT[V PUNHSSZVY[ZVMZL[[PUNZIH\KYH[LU\TILY
7S\NPZ[OLYPNO[<:)PU[LYMHJLMVY[OLWYV[V- I\PSKP[VUWPLJLVMWLYMVYH[LKWYV[V[`WPUN VMIP[ZHUKZVVU·[OL7YVWLSSLY;VVS
[`WPUNIVHYKMYVT7HYHSSH_HUKV\YWYV[V- IVHYKPUZ[LHK>P[OHIP[VMLMMVY[`V\JHU KL]LSVWTLU[ZVM[^HYLKVLZHSS[OPZMVY`V\
[`WPUNIVHYK;OPZSP[[SLIVHYKJVZ[ZHYV\UK WYVIHIS`L]LUTHRLP[ZVJVTWHJ[[OH[[OL <ZLH[VJHISLMVY[OLZLYPHSSPURUV[H
[^LU[`L\YVZI\[PM`V\^HU[[VZH]LHIP[ LU[PYLJPYJ\P[Ä[ZPUHWS\NOV\ZPUNMVYH  JYVZZV]LYJHISLVYU\SSTVKLTJHISL
VMTVUL`HUKWYLMLY[V\ZL[OLVSKMHP[OM\S ^H`9:JVUULJ[VY (070276-I)
9:PU[LYMHJLHUK`V\Y7*OHZHZLYPHS -VY[\UH[LS`^OLU`V\\ZL[OPZPU[LYMHJL
WVY[`V\JHUI\PSK[OLZPTWSLZLYPHSPU[LY-
MHJLKLZJYPILKOLYL
3V3
;OYLLNHYKLU]HYPL[`[YHUZPZ[VYZHOHUKM\S
VMYLZPZ[VYZHUKHJHWHJP[VYHYLHSSP[[HRLZ R3
4k7

[VSL[[OL7YVWLSSLYJVTT\UPJH[L^P[OH7*
]PH[OLZLYPHSWVY[;OLPU[LYMHJLHJ[\HSS`
T2
JVUZPZ[ZVMUV[OPUNTVYL[OHU[OYLLPU]LY[- R5
10k
LYZHUKSL]LSZOPM[LYZ^OPJOLUHISL[OL
R7 BC547
7YVWLSSLYIVHYK^OPJOPZWV^LYLKMYVTH
10k

=Z\WWS`[V[HSR[V[OL*64WVY[VMH
K1 T3
7*^OPJOVWLYH[LZ^P[Oo=ZPNUHSZ R6 K2
1
1k +3V3
*VUULJ[VY 2 ^OPJO WYV]PKLZ [OL SPUR 6
RX (P31)
[V[OL7YVWLSSLYIVHYKOHZPU[LU[PVUHSS` 2 BC560B TX (P30)
7
ILLUSHPKV\[^P[O[OLZPNUHSSPULZPU[OL R4 RESn
11 3
10k

GND
ZHTLZLX\LUJLHZVU[OL7YVWLSSLY7S\N 8
C1 R1
T1
10 4
I\[OLYL^LULLKHUHKKP[PVUHSSPULMVY[OL 9
10k
R2
10n
=Z\WWS`]VS[HNL;OPZTHRLZP[WVZ- 5 BC547
10k

ZPISL[V\ZL[OLPU[LYMHJLIVHYK^P[O[OL D Connector 9
7HYHSSH_IVHYKHZ^LSS/V^L]LYPU[OH[ 070276 - 11
GND
JHZLHZTHSSTVKPÄJH[PVUPZULJLZZHY`MVY
[OLZ\WWS`]VS[HNLJVUULJ[PVU

COMPONENTS LIST Semiconductors

T1,T2 = BC547 T1
R2

T3 = BC557 K2
Resistors
5

R1
9

R1,R2,R4,R5,R7 = 10k£ R6
R3 = 4k£7 Miscellaneous C1
R4
R5

R6 = 1k£
K1 = 9-way sub-D socket (female), angled
6

R3
R7

pins, PCB mount

Capacitors K2 = 5-way SIL socket T2 T3
K1
C1 = 10nF PCB, ref. 070276-1 from www.thepcbshop.
com

7-8/2007 - elektor electronics 81

USB Converter
Jörg Schnyder

+VLZ[OPZZV\UKMHTPSPHY!`V\I\`HZTHSS
WPLJLVMLX\PWTLU[Z\JOHZHWYVNYHTTPUN
KLI\NNPUNPU[LYMHJLMVYHTPJYVJVU[YVS-
SLYHUK`V\OH]L[V\ZLHJS\UR`(*^HSS
HKHW[LY[VZ\WWS`P[^P[OWV^LY&0[»ZL]LU
^VYZL^OLU`V\»YL[YH]LSSPUNHUK[OLYL»ZUV
THPUZZVJRL[HU`^OLYLPUZPNO[6MJV\YZL
`V\ JHU \ZL [OL <:) I\Z KPYLJ[S` HZ H
WV^LYZV\YJLPM[OLZ\WWS`]VS[HNLPZ=0M
`V\ULLKHOPNOLY]VS[HNL`V\JHU\ZL[OL
<:)JVU]LY[LYKLZJYPILKOLYL;OPZZTHSS
Z^P[JOTVKLZ[LW\WJVU]LY[LYJHUNLULY-
H[LHUV\[W\[]VS[HNLVM\W[V=^P[OH
TH_PT\TV\[W\[J\YYLU[VMT(
;OL34PZHNLULYHSW\YWVZLZ^P[JO
TVKL]VS[HNLJVU]LY[LY-PN\YLZOV^ZP[Z
PU[LYUHSISVJRKPHNYHT/LYL^L\ZLP[HZ
HZ[LW\WJVU]LY[LY;OLJPYJ\P[KPHNYHT
PU-PN\YLZOV^Z[OLULJLZZHY`JVTWV-
ULU[Z=VS[HNLJVU]LYZPVUPZHJOPL]LKI`
Z^P[JOPUNVU[OLPU[LYUHS[YHUZPZ[VY\U[PSP[
PZZ^P[JOLKVMMI`[OLJVTWHYH[VYVY[OL
J\YYLU[SPTP[PUNJPYJ\P[;OLJVSSLJ[VYJ\Y-
YLU[ÅV^Z[OYV\NOJVPS3^OPJOZ[VYLZ
LULYN` PU [OL MVYT VM H THNUL[PJ MPLSK
>OLU[OLPU[LYUHS[YHUZPZ[VYPZZ^P[JOLK
VMM[OLJ\YYLU[JVU[PU\LZÅV^PUN[OYV\NO
3[V[OLSVHK]PHKPVKL+/V^L]LY[OL
]VS[HNLHJYVZZ[OLJVPSYL]LYZLZ^OLU[OPZ
OHWWLUZZVP[PZHKKLK[V[OLPUW\[]VS[-
HNL;OLYLZ\S[PUNV\[W\[]VS[HNL[O\ZJVU-
1
ZPZ[ZVM[OLZ\TVM[OLPUW\[]VS[HNLHUK
[OLPUK\JLK]VS[HNLHJYVZZ[OLJVPS;OL
V\[W\[]VS[HNLKLWLUKZVU[OLSVHKJ\Y- PU[OLJPYJ\P[IVHYKMVY[OPZW\YWVZL
YLU[HUK[OLK\[`J`JSLVM[OLPU[LYUHS[YHU- (Z^LOH]LU»[ILLUHISL[VPU]LU[HKL]PJL R5 and R6 for other
output voltages:
ZPZ[VY=VS[HNLKP]PKLY99MLLKZIHJRH [OH[WYVK\JLZTVYLLULYN`[OHUP[JVU-
WVY[PVUVM[OLV\[W\[]VS[HNL[V[OLJVT- Z\TLZ`V\ZOV\SKILHYPUTPUK[OH[[OL R5 = 47k,
6V:
WHYH[VYPU[OL0*PUVYKLY[VYLN\SH[L[OL PUW\[J\YYLU[VM[OLJPYJ\P[PZOPNOLY[OHU R6 = 9,1k
V\[W\[]VS[HNL*KL[LYTPULZ[OLJSVJR [OLV\[W\[J\YYLU[(ZHNLULYHSY\SL`V\ R5 = 110k,
12V:
MYLX\LUJ`^OPJOPZHWWYV_PTH[LS`R/a JHUHZZ\TL[OH[[OLPUW\[J\YYLU[PZLX\HS R6 = 10k
5L[^VYR 9 * HUK * WYV]PKLZ SVVW [V[OLWYVK\J[VM[OLV\[W\[J\YYLU[HUK R5 = 130k,
15V:
R6 = 9,1k
JVTWLUZH[PVU;OLJ\YYLU[ZLUZLYLZPZ[VY [OLV\[W\[]VS[HNLKP]PKLKI`[OLPUW\[
MVY[OLJ\YYLU[SPTP[PUNJPYJ\P[PZMVYTLKI`
[OYLL7YLZPZ[VYZPUWHYHSSLS99HUK
9ZPUJL:4+YLZPZ[VYZ^P[O]HS\LZSLZZ
L2 L1
[OHU7HYLOHYK[VÄUK;OLV\[W\[]VS[-
47MH 820MH
HNLYPWWSLPZKL[LYTPULKI`[OL]HS\LZHUK
PU[LYUHSYLZPZ[HUJLZVMJHWHJP[VYZ** 8
D1
*HUK*;OL[V[HSLMMLJ[P]LYLZPZ[HUJLPZ K2 R4 1 UIN 6
1 -IN C
YLK\JLKI`\ZPUNZL]LYHSJHWHJP[VYZHUK +5V R5 K1
220k

2 C3 IC1 SK34SMD
D–
82k

2 7
[OPZHSZVRLLWZ[OLJVUZ[Y\J[PVUOLPNO[VM D+
3 +IN I LIM
C2 22p
[OLIVHYKSV^3** HUK*HJ[HZ GND
4
3
LM3578AM
5
OSC E
HUPUW\[ÄS[LY,UZ\YL[OH[[OL+*YLZPZ[- USB 2n2

4
HUJLVMJVPS3PZUVTVYL[OHU7<ZL
H;`WL)7*)TV\U[<:)JVUULJ[VYMVY R1 R2 R3 R6
C1 C9 C10 C5 C11 C8 C7 C6 C4
JVUULJ[PVU[V[OL<:)I\Z([LYTPUHSZ[YPW
17

17

17

10k

^P[OHWP[JOVMTTJHUIL\ZLKMVY 100n 47M 47M 1n5 68M 68M 68M 68M

100n
16V 16V 20V 20V 20V 20V
[OLV\[W\[]VS[HNLJVUULJ[VY6MJV\YZL
070119 - 11
`V\JHUHSZVZVSKLYHJHISLKPYLJ[S`[V[OL
2
IVHYK;^VHKKP[PVUHSOVSLZHYLWYV]PKLK

82 elektor elector - 7-8/2007

 components list C10 = 47μF 16V
C11 = 68μF 20V
(for UO = 9 V)

Resistors Inductors
R1,R2,R3 = 17 L1 = 820μH (SMD CD105)
R4 = 220k7
3 L2 = 47μH (SMD 2220)
R5 = 82k7
R6 = 10k7
]VS[HNLHUKKP]PKLKHNHPUI`:WLJPÄ- Semiconductors
JHSS`^P[OHUV\[W\[J\YYLU[VMT(H[ Capacitors
D1 = SK34SMD (Schottky)
=[OLPUW\[J\YYLU[VU[OL<:)I\ZPZ (SMD 1206)
IC1 = LM3578AM (SMD SO8)
HWWYV_PTH[LS`T( C1 = 100nF
-PUHSS`-PN\YLZOV^ZHZTHSS7*)SH`- C2 = 2nF2
C3 = 22pF
V\[MVY[OLJPYJ\P[(SSVM[OLJVTWVULU[Z C4 = 100nF
Miscellaneous
L_JLW[[OLJVUULJ[VYHUK[OL[LYTPUHSZ[YPW C5 = 1nF5 K1 = 2-way PCB terminal block, lead pitch
HYL:4+Z (tantalum SMD 7343) 5mm (optional)
(070119-I) C6 = 68μF 20V
K2 = USB-B connector
C7 = 68μF 20V
Web link C8 = 68μF 20V PCB layout, free download from Elektor
Author’s homepage: www.systech-gmbh-de C9 = 47μF 16V website, 070119-1.pdf

zBot: Solar/Battery Power Supply

Jens Altenburg
6ULVM[OLTVZ[PTWVY[HU[WYVISLTZVM
TVIPSLYVIV[WSH[MVYTZPZHZZVJPH[LK^P[O POWER
IC5
[OLWV^LYZ\WWS`>P[OL_JLW[PVUVMZVTL T9
D7 RFP30P06 7805 +5V
Solar Panel
ZWLJPHSZ`Z[LTZIH[[LYPLZKY`VYYLJOHYNL-
R30
1N4001
10k

JP6
C13 C14

10M 10M
POWER T10
ON R31 25V 25V
47k

BC337

GND

R26
F1 071
R24
10A T 071
R29 R22 R27
2k

2k
82k

BATT
7
VCC
3 6
RG1 RG2
D8 V BATT IC6 SIGN
2 5
N.C. SIGN
MAX472
1N5408 1
SHDN OUT
8
V CHARGE
GND
HISLHYL[OLTVZ[JVTTVUS`ZLLUZV\YJLZ R28
C12 4
R23

VMLSLJ[YPJHSWV^LYPUYVIV[Z
18k

51k

;OLWV^LYZ\WWS`Z`Z[LTVMa)V[JVUZPZ[Z 100n

VM[^VWHY[Z[OLTHPUHJJ\T\SH[VYHUK[OL
H\_PSPHY`IH[[LY`;OLTHPUWV^LYZV\YJL
^HZYLHSPZLK^P[OH5P*KVY5P4/IH[-
[LY`WHJR0[ZZPaL^HZHKHW[LK[VÄ[[OL
IH[[LY`OVSKLYVM[OL;HT`HJOHZZPZZP_
=T(O*JLSSZ;OLTHPUWV^LY
PZHJ[P]H[LKMVY+*TV[VYKYP]PUNHUKMVY
[OLZLY]VZ
;OLH\_PSPHY`Z`Z[LT[^V(SRHSPUL(((
IH[[LYPLZPZMVY[OLWV^LYZ\WWS`VM[OL
TPJYVJVU[YVSSLYVUS`
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070171 - 11
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7-8/2007 - elektor elector 83

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(070171-I)
[1] The complete document called
Zbot — the Robot Experimental Platform
is available for free downloading from the
Elektor Electronics website. The file number is
070172-11.zip (July/August 2007).

3-A Wide-input
Adjustable Switching Regulator
Luc Lemmens
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070115 - 11
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84 elektor elector - 7-8/2007


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(070115-I)
Datasheets
http://focus.ti.com/docs/prod/folders/print/
ptn78060h.html
http://focus.ti.com/docs/prod/folders/print/
ptn78060w.html
http://focus.ti.com/docs/prod/folders/print/
ptn78060a.html
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VUJL[OLKPMMLYLUJL]VS[HNLOHZKYVWWLK

Switch-Mode 555 Supply

Martijn Geel
+12V

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(070023-I)

Voltage Stabiliser
Alexander Wiedekind-Klein
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86 elektor elector - 7-8/2007

 Uin = 13V ...25V

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070280 - 11

WPUMVYTMHJ[VYTHRLZP[HZPTWSLYLWSHJL- ]VS[HNLPZZJHSLKI`[OL]VS[HNLKP]PKLY .LYILYÄSLZMVY[OLWYV[V[`WLWYPU[LKJPYJ\P[

TLU[MVYJVU]LU[PVUHS[OYLL[LYTPUHS]VS[- MVYTLK I` 9 HUK [OL ZLYPLZ JVTIPUH- IVHYKHYLH]HPSHISLMVYMYLLKV^USVHKMYVT
HNLYLN\SH[VY0*Z;OLI\JRIVVZ[Z^P[JO- [PVU VM 9 HUK 9 ;OL V\[W\[ ]VS[HNL [OL,SLR[VY^LIZP[LYLMaPW;OL
PUNJPYJ\P[\ZLZHU:4+WV^LY-,;MVY; PZJVU[YVSSLKZV[OH[H]VS[HNLVM= :4+JVTWVULU[Z\ZLKOH]L[OLMVSSV^PUN
HUK[VHJOPL]LOPNOLMÄJPLUJ`HWWYV_P- HWWLHYZHJYVZZ9HUKOLUJLVU[OLMLLK- V\[SPULZ!9999**HUK*!
TH[LS` H:JOV[[R`Z^P[JOPUNKPVKL
MVY+;OLTVZ[ZWLJPHSPZLKJVTWVULU[PZ
[OLTPUPH[\YL[YHUZMVYTLYKLZPNULKMVY\ZL
PU[OPZ[`WLVMZ\WWS`-VY[OLWYV[V[`WL^L
\ZLKH*VPS[YVUPJZ*;?
;OLJ\YYLU[SPTP[PZZL[I`9;OLV\[W\[
IHJRPUW\[WPUVM0*;OLJPYJ\P[JHU "*!"0*!::67";!:6
ILTVKPÄLKMVYKPMMLYLU[V\[W\[]VS[HNLZ (SS[OL:4+JHWHJP[VYZHYLJLYHTPJHUK
I`JOHUNPUN[OLJVTWVULU[]HS\LZPU[OL LSLJ[YVS`[PJZ*HUK*T\Z[OH]LHSV^
]VS[HNLKP]PKLY-VYSV^LYV\[W\[]VS[HNLZ ,:99PZHTæ:4+YLZPZ[VYYH[LK
[OL PUW\[ ]VS[HNL JHU HSZV IL YLK\JLK H[>
JVYYLZWVUKPUNS` (070280-I)

Mini Power Inverter

Alexander
Wiedekind-Klein

,]LUYVIV[Z`Z[LTZVJJH- +5V
R1
ZPVUHSS` ULLK H ULNH[P]L C4
07

Z\WWS` ]VS[HNL MVY ZVTL

8 100n
W\YWVZLVYV[OLYHUKPU
1 6
[OPZRPUKVMHWWSPJH[PVUPU FC LV ;OLILZ[RUV^U
WHY[PJ\SHY[OLYLPZHULLK IC1 PU[L NYH[L K JPYJ\P[
2 7
C+ OSC
MVYHULMMLJ[P]LJPYJ\P[[OH[ C2 THKLI`[OPZJVTWHU`PZ
KVLZ UV[ THRL NYLH[LY 100M
MAX660 [OL 4(? H SL]LS ZOPM[LY MVY ZLYPHS
4 5 STI
KLTHUKZ [OLU ULJLZ- 16V C– OUT WVY[Z^P[OHUPU[LNYH[LKJOHYNLW\TW
1
ZHY` PU [LYTZ VM J\YYLU[ 3 [OH[KVLZUV[ULLKHUL_[LYUHSPUK\J[VY
2
VYZWHJL0MHSV^J\YYLU[ (SVUN[OLZHTLSPULZHS[OV\NO^P[OH
=Z\WWS`PZULLKLKHUK C1 C3 C5
3 TVYLZ[HISLV\[W\[]VS[HNLHUKOPNOLY
VUS` = PZ H]HPSHISL H LMÄJPLUJ`PZ[OL4(?;OLKL]PJL
100n 4M7 100M
UH[\YHS THU\MHJ[\YLY [V 25V 16V JHUºTPYYVY»HU`PUW\[]VS[HNLIL[^LLU
L1
[\YU [V PZ 4H_PT HUK –5V =HUK=>P[OH=PUW\[[OL
10MH
PUKLLK PU [OPZ JHZL [OL` 070279 - 11 V\[W\[PZ[`WPJHSS`¶=^P[OHSVHKVM
KVUV[SL[\ZKV^U T(,MÄJPLUJ`H[T(PZHYV\UK

7-8/2007 - elektor elector 87

 HUKH[T(PZHYV\UK>P[O ;OL JVTIPUH[PVU VM 3 HUK * ZSPNO[S` H]HPSHISLMVYKV^USVHKMYVT[OL,SLR[VY
HUVWLUJPYJ\P[V\[W\[[OL0*KYH^ZHX\P- YLK\JLZYPWWSLVU[OLV\[W\[]VS[HNL"[OL ^LIZP[LYLM aPW9*HUK*
LZJLU[J\YYLU[VMQ\Z[›( JOVPJLVMPUK\J[VYPZUV[HZJYP[PJHSHZP[ HYL:4+ZHUK*PZHU:4+[HU[H-
^V\SKILPMP[MVYTLKWHY[VM[OLZ^P[JO- S\TLSLJ[YVS`[PJJHWHJP[VY,P[OLY[OL4(?-
;OLYLPZSP[[SL[VZH`HIV\[[OLJPYJ\P[P[ZLSM PUNJPYJ\P[ *:(VY[OL4(?4JHUIL\ZLK"
;OL7YLZPZ[VYVUWPUZLSLJ[Z[OLVWLY- IV[OJVTLPU:6WHJRHNLZ3PZH›/
H[PUNMYLX\LUJ`>P[O9Ä[[LK[OLJPYJ\P[ .LYILYÄSLZMVY[OLWYPU[LKJPYJ\P[IVHYK :4+PUK\J[VYYH[LKH[T(
VWLYH[LZH[R/a"^P[OV\[P[H[R/a ^OPJO\ZLZZVTL:4+JVTWVULU[ZHYL (070279-I)

Lithium Charger
Paul Goossens
)H[[LYPLZIHZLKVU3P[OP\TZ\JOHZ3P7V
3P[OP\TWVS`TLYHUK3P[OP\T0VUVULZ
HYLPKLHSJHUKPKH[LZ[VZ\WWS`HYVIV[^P[O
WV^LY*VTWHYLK[VV[OLY[`WLZVMIH[[LY`
[OL`HYLSPNO[LY^OPJOYLZ\S[ZPUHSV^LY
TLJOHUPJHSZ[YHPUVU[OLJOHZZPZ;OLH]HPS- L_HTWSL^L»]L
\ZLKHYLZPZ[VYVM
T7 ;OL JOHYN-
PUN J\YYLU[ PZ [OLYLMVYL!
T=T7$(0M
D1 C2
`V\^HU[[V\ZLHKPMMLYLU[JOHYN-
C1
JP1 JP2 PUN J\YYLU[ `V\ JHU JHSJ\SH[L [OL
10u 10u
BAT54 ]HS\LMVY9\ZPUN[OLMVYT\SH!
3

GND GND
CEL0 CEL1 C3
VL

DCIN

7
8

11 20 T1 = FDS6911
12
CELL1 BST
100n 2
T1A
D2, D3 = MBRS540T3G
9$T=I*/(9.,
CELL0 18
6 IC1 DHI
THM/SHDN L1
7 MAX745 19
6 1

REF LX
22u ( WHPY VM Q\TWLYZ PZ \ZLK [V ZLSLJ[ [OL
5

9 17
POWER IN SETI DLO
K1
R3 8
VADJ CS
15 D2 D3 U\TILYVMJLSSZPU[OLIH[[LY`;OLMV\Y
13 14 4
100k

WVZZPISL ZL[[PUNZ HYL ZOV^U PU ;HISL

PGND

STATUS BATT
IBAT
GND
CCV
CCI

0V 1% T1B
3
4
5
10
1
16

R5
R1 R2 R4 R6 Table 1.
180m

250mW
1%
100k
10k

10k

10k

1% Number of
K2 JP1 JP2
C4 C5 C6 cells
100n 100n 47n
Closed Closed 1
Accu
Open Closed 2
GND 070273 - 11
Closed Open 3
Open Open 4

HIPSP[`PZNVVKHZ^LSSHUK[OL`HYLTHU\- SP[OP\TJOHYNLYPZUV[OPUNTVYL[OHUHJ\Y- ;OLZLQ\TWLYZ[LSS[OLJPYJ\P[OV^THU`

MHJ[\YLKPUTHU`ZOHWLZHUKZPaLZ YLU[ZV\YJL^P[OHWYLJPZPVUTH_PT\T JLSSZHYLJVUULJ[LKPUZLYPLZPUZPKL[OLIH[-
V\[W\[]VS[HNL [LY`;OPZPZ]LY`PTWVY[HU[ZPUJLP[KL[LY-
TPULZ^OH[[OLTH_PT\T]VS[HNLTH`IL
Charging HJYVZZ[OLIH[[LY`
;OLJOHYNPUNVM3P[OP\TIH[[LYPLZPZH]LY` *OHYNLJVU[YVSSLY ;OLTH_PT\T]VS[HNLWLYJLSSPZHKQ\Z[LK
L_HJ[ZJPLUJL0M[OL^YVUNTL[OVKPZ\ZLK 0UV\YJHZL[OLJOHYNLY\ZLZHZ[LWKV^U ]PH=HKQHUKJHUILZL[IL[^LLU =HUK
[OLYLPZHYLHSJOHUJL[OH[[OL`»SSI\YZ[PU[V JVU]LY[LY0U[OPZ^H`]LY`SP[[SLWV^LYPZ =9LZPZ[VYZ9HUK9ZL[[OL[LYTP-
ÅHTLZ-VY[OPZYLHZVUP[PZVUS`ZLUZPISL ^HZ[LKPU[OLJOHYNLYHUKP[JHUVWLYH[L UHS]VS[HNL[V=PU[OPZJHZL)LJH\ZL
[OH[`V\HS^H`Z\ZLHWYVWLYJOHYNLY>P[O ^P[OV\[[OL\ZLVMHOLH[ZPUR;OLJVT- =HKQOHZHUHYYV^VWLYH[PUNYHUNL^LOH]L
[OL\ZLVMH4(?Z\JOHJOHYNLYJHU WSL[LJOHYNLJVU[YVSSLYPZPUZPKL0*(ML^ [V\ZLJSVZL[VSLYHUJLYLZPZ[VYZ[VZL[
LHZPS`ILJVUZ[Y\J[LKH[OVTL L_[LYUHSJVTWVULU[ZHYLYLX\PYLKMVY[OL [OL]VS[HNL]LY`HJJ\YH[LS`
+\YPUN[OLJOHYNPUNWYVJLZZ[OLJOHYNL Z[LWKV^UJVU]LY[LY;OLZLHYL-,;;
J\YYLU[ ZOV\SK UV[ YPZL HIV]L * ;OPZ HUKP[ZZ\YYV\UKPUNJVTWVULU[Z
TLHUZ[OH[MVYHT(OIH[[LY`P[TH` ;OLIH[[LY`]VS[HNLPZTLHZ\YLK]PHWPU *VUZ[Y\J[PVU
UV[ IL JOHYNLK ^P[O H J\YYLU[ VM TVYL )(;; ;OL ]VS[HNL KPMMLYLUJL IL[^LLU ;OHURZ[V[OL\ZLVMHKV\ISLZPKLK7*)
[OHU ( -\Y[OLYTVYL [OL [LYTPUHS )(;;HUK*:PZTLHZ\YLKI`[OL0*[VJVU- [OLJVUZ[Y\J[PVUVM[OPZJPYJ\P[PZ]LY`ZPT-
]VS[HNLMVY[OPZ[`WLVMIH[[LY`TH`UL]LY [YVS[OLJOHYNPUNJ\YYLU[;OL0*[YPLZ[VRLLW WSL(SSJVTWVULU[ZHYLTV\U[LKVU[OL
YPZLHIV]L=WLYJLSS0UWYPUJPWSLH [OPZWV[LU[PHSKPMMLYLUJL[VT=0UV\Y [VWZPKLVM[OLIVHYK>OLUZVSKLYPUN[OL

88 elektor elector - 7-8/2007

 COMPONENTS LIST Semiconductors
D1 = BAT54 (SOT-23)
D2,D3 = MBRS540T3G (SMC), e.g. Digikey
Resistors MBRS540T3GOSCT-ND
R1,R2,R6 = 10k7 (SMD 0805) IC1 = MAX745
R3,R4 = 100k7 1% (SMD 0805) T1 = FDS6911 (SOIC12), e.g. Digikey
R5 = 0.187 0.25W (SMD 1210), e.g. Digikey FDS6911CT-ND
P.18SCT-ND

Miscellaneous
Capacitors L1 = 22μH (JW-MILLER PM2110-220K-RC),
C1,C2 = 10MF 25V (SMD 12010) e.g. Digikey M8760-ND
C3,C4.C5 = 100nF (SMD 0805) JP1,JP2 = jumper with 2-way SIL pinheader
C6 = 47nF (SMD 0805) PCB, order code 070273-1 from Elektor
SHOP)

JVPSP[TH`ILULJLZZHY`[VSL[[OLZVSKLY- >OLUHSSWHY[ZOH]LILLUZVSKLYLKHUK[OL JVYYLJ[U\TILYVMJLSSZILMVYLJVUULJ[PUN

PUNPYVUOLH[\WHIP[TVYLÄYZ[;OLJVU- JPYJ\P[OHZILLUJOLJRLK`V\JHUWV^LY [OL3P7VVY3P0VUIH[[LY`>P[OHJOHYNPUN
ULJ[PUNSLHKZHYLX\P[LJO\UR`HUK[OL` [OLJPYJ\P[]PH2^P[OH+*]VS[HNLVMUV J\YYLU[VMCHULTW[`JLSSZOV\SKILM\SS`
YLX\PYLHMHPYHTV\U[VMOLH[[VYHPZL[OLT TVYL[OHU=@V\ZOV\SKHS^H`ZKV\ISL JOHYNLKPUHIV\[HUOV\YHUKHX\HY[LY
[V[OLJVYYLJ[[LTWLYH[\YL JOLJR[OH[`V\OH]LZL[[OLQ\TWLYZMVY[OL (070273-I)

PWM Voltage Dropper

Von Stefan Brandstetter
24V DC
;OPZJPYJ\P[^HZKL]LSVWLK[VHSSV^HJHY
[YHPSLY KLZPNULK MVY = VWLYH[PVU [V C4
R5
IL\ZLKHZH[YHPSLYMVYH]HU^P[OH= 1k5
Z\WWS`(U\TILYVMJVWPLZVM[OLJPYJ\P[ 220M
R1 D2 63V
^L THKL MVY [OL SLM[ HUK YPNO[ PUKPJH- 1k
[VYZIYHRLSPNO[ZU\TILYWSH[LSPNO[HUK P1 R4
14
2x
20k

YL]LYZPUNSPNO[ZHUK[OLZLOH]LILLUPU 50k 1N4148 IC1 IC1 = 4093

[YV\ISLMYLLVWLYH[PVUMVYZL]LYHS`LHYZ R2 D3 7 STP20NE06FP
;OLHK]HU[HNLVM[OPZJVTWHJ[JPYJ\P[PZ 1k
8
IC1.C
[OH[P[KPZZPWH[LZ]LY`SP[[SLWV^LYILJH\ZL D1 IC1.A 9 &
10
T2 D5
C1 1 IC1.B
P[\ZLZW\SZL^PK[OTVK\SH[PVU0UHKKP- 2 &
3 5
4
[PVUP[ZX\PLZJLU[J\YYLU[JVUZ\TW[PVUPZ 10M 6 &
IC1.D D4
16V 25V 12 75V
WYHJ[PJHSS`aLYV &
11
13
(ZPTWSLW\SZLNLULYH[VYPZJVUZ[Y\J[LK
16V
\ZPUN 0*( * 9 HUK 9 5VYTHSS`
R6
^OLU;PZUV[JVUK\J[PUN9*JVTIP-
47 7

UH[PVU 9* LUZ\YLZ [OH[ 0*) WHZZLZ T1 R3

C2 C3
07047

[OLZX\HYL^H]LZPNUHS[V-,;Z^P[JO;
R7
:O\U[YLZPZ[VY9TLHZ\YLZ[OLV\[W\[J\Y- 10n 3M3
50V 25V
4k7

BC547B 4W
YLU[0M[OLTH_PT\TZHMLV\[W\[J\YYLU[PZ
L_JLLKLK;[\YUZVUHUKZOVY[JPYJ\P[Z
*" 0*) UV SVUNLY WHZZLZ [OL ZX\HYL
^H]LZPNUHS[V[OLZ^P[JOPUN[YHUZPZ[VY;OL 070127 - 11
typ. 12V
V\[W\[J\YYLU[MHSSZ[VaLYV;[\YUZVMM
HUK*PZYLJOHYNLK]PH9(ZZVVUHZ[OL
PUW\[[OYLZOVSKVM0*)OHSM[OLZ\WWS`
]VS[HNLPZL_JLLKLK[OL7>4ZPNUHSVUJL \UH]VPKHISLPU[OPZJPYJ\P[ILJH\ZLVM[OL ]LY`SV^YLZPZ[HUJL^OLU]VS[HNLPZÄYZ[
HNHPUZ[HY[Z[VKYP]L;;O\ZL]LUPM[OLYL PUK\J[HUJLVM[OL^PYPUN(U`Z[HUKHYK5 HWWSPLK;OLTHYRZWHJLYH[PVPZZL[[V
PZHJVU[PU\V\ZZOVY[JPYJ\P[VU[OLV\[W\[
[OLYL^PSSILVJJHZPVUHSW\SZLZVMV\[W\[
J\YYLU[9+HUK*YLK\JL[OLPUW\[
]VS[HNLVM=[VH]HS\LVM=TVYL
Z\P[HISL MVY WV^LYPUN [OL *46:  
:JOTP[[[YPNNLY0*+HUK+WYV[LJ[;
MYVT]VS[HNLZWPRLZ^OPJOHYLWYHJ[PJHSS`
7-8/2007 - elektor elector
JOHUULS-,;HISL[V^P[OZ[HUK=JHU
IL\ZLKMVY;
>P[O[OLJVTWVULU[]HS\LZZOV^U[OLJPY-
J\P[PZZ\P[HISLMVY\ZL^P[O=SHTWZH[
\W[V>;OLJ\YYLU[SPTP[ZL[I`9
T7PZHYV\UK(;OLJ\YYLU[SPTP[
PZLZZLU[PHSILJH\ZLJVSKSHTWZWYLZLU[H
HWWYV_PTH[LS`!VU[PTL\ZPUN
7;OLJPYJ\P[JHUILTVKPÄLKMVY\ZLH[
OPNOLYJ\YYLU[ZHUKP[JHUHSZVIL\ZLKHZ
[OLIHZPZVMHZPTWSLHUKLMÄJPLU[ZWLLK
JVU[YVSSLYVYSPNO[KPTTLY
(070127-I)
89
Dual Battery
For enhanced
operational
reliability
Paul Goossens
<ZPUN YLJOHYNLHISL IH[[LYPLZ [V WV^LY
JPYJ\P[ZPZHWYV]LUTL[OVKMVYWYV]PKPUN
LULYN`[VTHPUZPUKLWLUKLU[LX\PWTLU[
(THQVYKPZHK]HU[HNLVM[OPZPZ[OH[[OL
IH[[LY`\Z\HSS`[\YUZV\[[VILLTW[`H[
[OLTVZ[PUVWWVY[\ULTVTLU[(ZH\ZLY
`V\HYL\UL_WLJ[LKS`JVUMYVU[LK^P[O[OL
MHJ[[OH[[OLJPYJ\P[Z\KKLUS`KVLZU»[^VYR
HU`TVYL:VTL[PTLZ[OPZPZVUS`HTPUVY
PUJVU]LUPLUJLI\[H[V[OLY[PTLZP[JHU
ILHJH[HZ[YVWOL-VYPUZ[HUJLQ\Z[PTHN-
PUL^OH[OHWWLUZ[VHTVKLSHPYWSHULPM JHYLVML]LY`[OPUNMVY\Z 0*KVLZ[OLZHTL[OPUNI\[MVYIH[[LY`
[OLYHKPVYLJLP]LYZ[VWZ^VYRPUNPUÅPNO[ ;OLKLZPNUWYLZLU[LKOLYLPZPU[LUKLK[V )
K\L[VHULTW[`IH[[LY`>LJHUHZZ\YL IL\ZLK^P[OJPYJ\P[ZZ\JOHZYLJLP]LYZ )V[OZPNUHSZNV[VHÅPWÅVWJVUZPZ[PUNVM
`V\[OH[[OLJVUZLX\LUJLZHYLHU`[OPUN \ZLKPUTVKLSZ[OH[\ZL5P*KIH[[LYPLZ 0*HHUK0*K^OPJOKL[LYTPULZ^OPJOVM
I\[WSLHZHU[ JVTWVZLKVMMV\YJLSSZ;OLJPYJ\P[PZX\P[L [OLIH[[LYPLZPZ[VIL\ZLK
JVTWHJ[HUK[OHURZ[V[OLHJJVTWHU`PUN 0M[OL]VS[HNLHJYVZZIH[[LY`(PZ[VVSV^
7*)WVW\SH[LK^P[O:4+ZP[PZLHZ`[VÄ[ [OLV\[W\[VM0*H^PSSHS^H`ZILOPNO(Z
:VS\[PVU PU[VL_PZ[PUNLX\PWTLU[ HJVUZLX\LUJLIH[[LY`)^PSSILHJ[P]L
;OLZVS\[PVU[V[OPZWYVISLTPZHJ[\HSS` ;OLZHTL[OPUNHWWSPLZPUYL]LYZL[V[OL
X\P[LZPTWSL!\ZL[^VIH[[LYPLZ>OLUVUL V\[W\[VM0*K
VM[OLIH[[LYPLZILJVTLZKPZJOHYNLK[OL :PTWSL >OLUIV[OIH[[LYPLZHYLKPZJOHYNLK[OL`
ZLJVUKVULJHU[HRLV]LYHUKJVU[PU\L ;OL VWLYH[PUN WYPUJPWSL PZ ZPTWSL! 0* ^PSSIV[OWV^LY[OLJPYJ\P[PURLLWPUN^P[O
Z\WWS`PUNWV^LY TLHZ\YLZ[OL[LYTPUHS]VS[HNLVMIH[[LY`( [OLTV[[VºIL[[LYHSP[[SLIP[VMQ\PJL[OHUUV
6MJV\YZLHSS[OPZT\Z[OHWWLUH\[VTH[P- 0MP[KYVWZILSV^=[OL9,:,;V\[W\[ Q\PJLH[HSS»
JHSS`ZV^LULLKHOHUK`JPYJ\P[[OH[[HRLZ NVLZSV^HUKV[OLY^PZLP[YLTHPUZOPNO *VTWVULU[Z + 9 HUK * WYV]PKL

Vbat
D1

T1A 8 6 T2B
BAT54
1 7 5 3
R10 R1
100k
1k

D5 LM809M3-4.38 IC2
3

R2
IN BAT A T3 T4
100k
IC1A
Vcc
D3
IC1B Aok
C1
* BAT54
4
5 3
&
1
2
2
RST
FDV301N FDV301N & 6
100n R3 IC1D GND
K2 13
ENABLE_A 11 R8
1
1M

& 12
10k
GND
C3
100n
GND K1
Vbat GND
D2

6 8 POWER OUT
BAT54 T1B T2A
3 5 7 1 IC4 GND
3

IC3D
R11 R5 IC3C 13 Vcc
8 11
100k
1k

10 & 12 2
4

D6 & 9 RST
R6 Bok
IN BAT B T5 T6
100k GND
D4
*
1

C2 LM809M3-4.38
BAT54
100n FDV301N R7 FDV301N IC1C Vbat GND
K3 8
ENABLE_B 10 R9 Vbat
1M

& 9 T1, T2 = IRF7329

10k S1 IC1, IC3 = 4093
ON
C4
100n C5 14 14 C7
GND
IC1E IC3E
IC3A IC3B GND
10k

1 5 R4 100n 7 7 100n
3 4
& 2 & 6

GND GND GND GND 070343 - 11

90 elektor elector - 7-8/2007


H Z^P[JOVU KLSH` [OH[ JH\ZLZ IH[[LY`
Z^P[JOVU[VILKLSH`LKZVTL^OH[;OPZ
PZILJH\ZLP[PZ\UKLZPYHISL[VOH]LIV[O
IH[[LYPLZWV^LY[OLJPYJ\P[H[[OLZHTL[PTL
K\YPUNZ^P[JOV]LYMYVTVULIH[[LY`[V[OL
V[OLY;OH[^V\SKJH\ZLSHYNLLX\HSPaH-
[PVUJ\YYLU[Z[VÅV^K\L[V[OLKPMMLYLUJL
IL[^LLU[OL[LYTPUHS]VS[HNLZVM[OL[^V
IH[[LYPLZ
:^P[JO
;OLILZ[JOVPJLMVY[OLZ^P[JOPUNKL]PJL
PZH-,;PUZ[LHKVMHIPWVSHY[YHUZPZ[VY;OPZ
ZH]LZLULYN`ZPUJLUVIHZLJ\YYLU[PZULJ-
Multi-purpose NiCd & NiMH Charger
C. Tavernier
www.tavernier-c.com
<USLZZ`V\YYVIV[PZMY\NHSLUV\NO[VTHRL
KV^P[OWYPTHY`JLSSZ^P[OV\[IYLHRPUN[OL
IHURVYPZLU]PYVUTLU[HSS`MYPLUKS`HUK
Y\UZVMMZVSHYWHULSZP[^PSSWYVIHIS`ULLK
[V\ZLYLJOHYNLHISLIH[[LYPLZHZP[ZLULYN`
ZV\YJL
(S[OV\NO ]LY` THU` JOHYNLYZ HYL J\Y-
YLU[S`H]HPSHISL[OL`»YLUV[HS^H`ZZ\P[-
HISLMVYV\YULLKZPU[LYTZVM[OL[`WLZ
HUKU\TILYVMIH[[LYPLZ[OL`JHUOHUKSL
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7-8/2007 - elektor elector
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ULSVMH-,;JVUK\J[ZPUIV[OKPYLJ[PVUZ
^OLUP[PZZ^P[JOLKVU;OPZLSPTPUH[LZ[OL
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:;OL3,+ZUV^PUKPJH[L^OPJOIH[[LY`
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(070343-I)
HYLKPMMLYLU[^L»YLUV[NVPUN[VZ\NNLZ[H
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JOHYNL(ZMHYHZ[OLSH[[LYPZJVUJLYULK
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[LYPLZ`V\HYLSPRLS`[V\ZLPU`V\YYVIV[
^L»]LSLM[V\[[OL[LTWLYH[\YLKL[LJ[PVU
TL[OVK^OPJOYLX\PYLZH[OLYTHSZLUZVY
5;*VYLX\P]HSLU[PUZPKL[OLIH[[LY`:V
YLZPZ[VYZ9HUK9PUJVUQ\UJ[PVU^P[O
Components list
(all R and C: SMD 0805 case)
Resistors
R1,R2,R5,R6 = 100k£
R3,R7 = 1M£
R4,R8,R9 = 10k£
R10,R11 = 1k£
Capacitors
C1-C6 = 100nF
Semiconductors
D1-D4 = BAT54 (SOT-23)
D5,D6 = LED rood (SMD 1206)
IC1,IC3 = 4093 (SOIC-14)
IC2,IC4 = LM809M3-4.38 (SOT-23)
T1,T2 = IRF7329 (SOIC-8)
T3-T6 = FDV301N (SOT-23)
Miscellaneous
Connecting wires
PCB no. 070343-1 (see www.elektor-
electronics.co.uk)
[OL OHYK^PYLK SPURZ [V PUW\[Z ;/0 HUK
;36WYVNYHT[OL4(?PU[V[OLTVKL
[OH[ KL[LJ[Z LUK VM JOHYNL I` ]VS[HNL
]HYPH[PVU
:V UV^ SL[»Z ZLL OV^ [V KL[LYTPUL [OL
V[OLYLSLTLU[Z[OH[HYLZ[PSSVWLU[V`V\
ZV`V\»SSILHISL[VI\PSKHJOHYNLY[OH[»Z
Q\Z[YPNO[MVY`V\YULLKZ5V[LYPNO[H^H`
[OH[ [OL JVUMPN\YH[PVU SPURZ JHU LP[OLY
ILOHYK^PYLKVU[OL7*)[OH[`V\»SSIL
KLZPNUPUNMVY`V\YJOHYNLYVYLSZLJVU-
ULJ[LK[VT\S[P^H`Z^P[JOLZ[VJYLH[LH
T\S[PW\YWVZLJOHYNLY
@V\ÄYZ[ULLK[VKLJPKL0MHZ[[OLJOHYNPUN
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CPZL_WYLZZLKPUHTWuYLOV\YZ(O;OPZ
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[OLKLZPYLKJOHYNPUN[PTLPUOV\YZ>H[JO
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91
MHZ[JOHYNPUN5P*HKHUK5P4/IH[[LYPLZ
0M`V\HYLHISL[VJOVVZLHSV^LYJ\YYLU[ TIP32A
T1
+VA
ZVT\JO[OLIL[[LYP[^PSSWYVSVUNIH[[LY`
SPML7YVNYHT[OPZJOHYNPUN[PTLI`^PYPUN LED1

WPUZ7.4HUK7.4VM[OL4(?HZ R1
* see text R3
C1
*

150 7
R2
WLY;HISL D1

680 7
;OLU JOVVZL [OL U\TILY VM JLSSZ [V IL 10n

JOHYNLKH[[OLZHTL[PTL-VYISVJRIH[- 1N4002

[LYPLZ`V\JHUÄUK[OLU\TILYVMJLSSZI`
V+
KP]PKPUN[OLUVTPUHS]VS[HNLVM[OLIH[[LY` 5 8 15
K1
I`=:VH =IH[[LY`^PSSJVU[HPU THI FCHG V+
3 14
LPNO[JLSSZ0M[OLU\TILYVMJLSSZPZVY K2 4
PGM0 DRV
PGM1 +BATT
TVYL[OLJPYJ\P[JHU»[IL\ZLKHZPZHUKPU 9
PGM2 BAT+
2

[OH[JHZLP[»ZIL[[LY[VJOHYNL`V\YIH[[LYPLZ K3 10
PGM3
PU[^VNVLZ7YVNYHT[OPZU\TILYI`^PY- IC1
K4
PUNWPUZ7.4HUK7.4VM[OL4(? 1 BATT
VLIM
HZWLY;HISL BATT- REF 16
REF
;OLUJOVVZL[OL\UZ[HIPSPaLK+*Z\WWS` R4 MAX713
]VS[HNL MVY `V\Y JOHYNLY =( PU [OL MPN- 12

68k
BAT–
\YLZV[OH[P[PZH[SLHZ[=OPNOLY[OHU -BATT
7 11
[OLTH_PT\T]VS[HNLVM[OLIH[[LY`[VIL R5
TEMP CC

C5 C2 TLO GND C3 C4
JOHYNLK0M`V\YIH[[LY`OHZSLZZ[OHUMV\Y

22k
6 13
JLSSZ[OPZY\SLUVSVUNLYHWWSPLZHZ[OL 10M 1M 10n 10M
25V 25V 25V
4(?Z\WWS`OHZ[VILHTPUPT\TVM
R6
=
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070301 - 11
PD$V(¶=)(;;TPUôIMHZ[

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VM[OLIH[[LY`[VILJOHYNLK*OVVZL;
HJJVYKPUNS`PMULJLZZHY`Ä[[PUNP[^P[OHU
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;OLUKL[LYTPUL[OL]HS\LVMYLZPZ[VY9
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9$V(¶I^OLYLIPZIL[^LLUHUK
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3HZ[S`KL[LYTPUL[OL]HS\LVMYLZPZ[VY9
I`\ZPUN[OLLX\H[PVU!9$IMHZ[HUK
P[ZWV^LYI`\ZPUNP9$IMHZ[[OLVYL[P-
JHSS`IMHZ[PUMHJ[I\[P[»ZILZ[[V\ZL
LX\H[PVU
@V\YJOHYNLYPZUV^VWLYH[PVUHSHUKPZ
L_[YLTLS`ZPTWSL[V\ZL"I\[ILJH\ZLVM[OL
WYVJLZZVYZPUZPKL[OL4(?P[PZLZZLU-
[PHS[VTHRL[OLJVUULJ[PVUZ[V7.4[V
7.4ILMVYLHWWS`PUNWV^LY[V[OLJPY-
J\P[V[OLY^PZL[OL`TH`UV[IL[HRLUPU[V
HJJV\U[JVYYLJ[S`;OPZPZUVWYVISLTMVY
HOHYK^PYLKJPYJ\P[I\[PM`V\YJOHYNLY
\ZLZJVUÄN\YH[PVUZ^P[JOLZH[[OPZWVPU[
`V\»SSULLK[VWV^LYKV^UHUKWV^LY\W
HNHPU[VJVUÄYTHU`JVUÄN\YH[PVUJOHUNLZ
;OL3,+SPNO[Z^OLU[OLJOHYNLYPZPUMHZ[
JOHYNLTVKLH[[OLJ\YYLU[IMHZ[KL[LYTPULK
HIV]L0[NVLZV\[^OLUMHZ[JOHYNPUNPZ
V]LYHUK[OLJOHYNLYNVLZPU[VÅVH[JOHYNL
TVKL;OLJ\YYLU[NLULYH[LKPU[OPZTVKL
PZZ\MÄJPLU[S`SV^[OH[[OLIH[[LY`TH`IL
SLM[JVUULJ[LK[V[OLJOHYNLYPUKLÄUP[LS`
PMULJLZZHY`
;VTHRLZ\YLV\YL_WSHUH[PVUPZJY`Z[HS
JSLHYOLYLI`^H`VML_HTWSLHYL[OLJHS-
J\SH[PVUZMVYHJOHYNLYMVYHWHJRVMMV\Y
=5P4/IH[[LYPLZ^P[OHJHWHJP[`VM

Table 2. Programming number of cells via PGM0 & PGM1.

Number
PGM1 PGM0
of cells
1 V+ V+
Table 1. Programming charge time via PGM2 & PGM3. 2 O/C V+
3 REF V+
Maximum charge
PGM3 PGM2 4 BATT– V+
time (min)
5 V+ O/C
22 V+ REF
6 O/C O/C
33 V+ BATT–
7 REF O/C
45 O/C REF
8 BATT– O/C
66 O/C BATT–
9 V+ REF
90 REF REF
10 O/C REF
132 REF BATT–
11 REF REF
180 BATT– REF
12 BATT– REF
264 BATT– BATT–
13 V+ BATT–
14 O/C BATT–
15 REF BATT–
16 BATT– BATT–

92 elektor elector - 7-8/2007

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Fast Charger for NiMH Batteries
Antoine Authier
& Karel Walraven
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(070301-I)
Web Links
MAX713 spec. sheet:
www.maxim-ic.com/quick_view2.
cfm/qv_pk/1666
YLWYLZLU[H7ZLYPLZYLZPZ[HUJL^OPJOPZ
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VUOLH[ZPURPMULJLZZHY`;OLJOHYHJ[LYPZ-
[PJZVMJVPS3HYLUV[JYP[PJHS"H[YHKP[PVUHS K6
T5
IRF9520
3
M/(Z\WWYLZZVYJOVRL^PSS^VYR +8V...+15V 1
1A3 R5
ÄUL;OLZHTLOVSKZ[Y\LMVYKPVKLZ+ 2
C7 C6 T1 L1

4k7
K1
+HUK[OL46:-,;[YHUZPZ[VY;"[OL`[VV V+ 10u 10u
BC547B
T2 T3
63V 63V BF245C
HYLUV[JYP[PJHSPU[OPZHWWSPJH[PVU@V\JHU PGM0 220uH
REF
\ZLHU`:JOV[[R`KPVKL[OH[JHU^P[OZ[HUK PGM0
GND D1 BC547B D3

HTWZHUKPUJS\KLHU`46:-,;^P[OH BAT- V+
C5
R4
PBYR745
SV^LYKYHPUYLZPZ[HUJL 1u

15
K2 25V

1k
(JVTWHJ[7*)^HZKLZPNULKMVY[OLJPY- V+
PGM0
THI
PGM1 3 8 T4 PBYR745 D2
J\P[4V\U[PUN[OLJVTWVULU[ZZOV\SKIL REF
PGM1 4
PGM0 FCHG
14
PGM1 DRV
HSSWSHPUZHPSPUNI\[KVUV[MVYNL[[OL[^V PGM1
PGM2 9
PGM2 IC1
BC557B K5
PGM3 10 2
BAT-
^PYLSPURZVU[OLIVHYK0UK\J[VY3PZH PGM3 BAT+
C3 C4 +BATT.
[VYVPKºZ\WWYLZZVYJOVRL»^P[OHNVVKZPaL K3 REF 16
REF
V+ 10u 10u -BATT.
*VUULJ[VYZ22HSSV^KPMMLYLU[JOHYNPUN PGM2 1
MAX712
12 63V 63V
VLIM BAT-
WHYHTL[LYZ[VILZL[\W REF R2
PGM2 7 11
68k
:PUJL[OLJHSJ\SH[PVUWYPUJPWSLPZ[OLZHTL BAT-
R3
TEMP
TLO
CC
C2 C1
HZMVY[OL5P*KJOHYNLYPU[OL4(?PU

22k

13
K4 100n 220p
[OLV[OLYHY[PJSL^LYLMLY`V\[V[OLJHS- V+
R1
J\SH[PVUL_HTWSLWYVWVZLK[OLYL<ZL[OL PGM3

0R22
REF
ZHTL[HISLZ[VZL[[OLWHYHTL[LYZVM[OPZ PGM3
JPYJ\P[HZ[OLVULZNP]LUPU[OH[HY[PJSL BAT-
BAT-

070213 - 11
(070213-I) GND

Components list

PGMx

PGMx
BAT-

REF
Semiconductors

V+
Resistors D1 = LED
D2,D3 = PBYR745
R1 = 0.227 5W
T1 = BF245B or -C
R2 = 68k7
T2,T3 = BC547B
R3 = 22k7
T4 = BC557B
R4 = 1k7
T5 = IRF9520
R5 = 4k77
IC1 = MAX712CPE

Capacitors Miscellaneous
C1 = 220pF
K1-K4 = 5-way SIL pinheader
C2 = 100nF
K5 = 2-way PCB terminal block, lead pitch
C3,C4,C6,C7 = 10MF 63V radial
5mm
C5 = 1μF 25V radial
K6 = DC supply jack, PCB mount
PCB no. 070213-1, see Elektor SHOP
Inductor
L1 = 220MH suppressor choke

Deep Discharge Protection for Rechargeable Cells

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LDO Regulator
with Soft Start or Tracking
Dirk Gehrke
(Texas Instruments Germany) U IN U OUT
5 IC1 3
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(see text for values of R4 and C4).
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7-8/2007 - elektor elector 95


Figure 2. Tracking LDO TPS74301 with
simultaneous startup (R4 = 10k).
Timebase: 2 mV/div.
Figure 3. Tracking LDO TPS74301with
ratiometric startup (R4 = 1.78k).
Timebase: 2 mV/div.
to the TRACK IN pin. When the value of
R4 selected to be 10 k in this particular
example, the output of the TPS74301 will
follow the external ramp signal within a
few millivolts until the TPS74301 reaches its
regulated voltage. This is called Simultane-
ous Sequencing (Figure 2). The TPS74301
output voltage will have the same rate of
rise (dv/dt) as the external ramp signal but
a different soft-start time.
Changing resistor R4 to a value of 1.78 k
results in the TPS74301 output voltage
reaching its regulated voltage at the same
time the externally applied tracking signal
reaches its maximum voltage (e.g., 3.3 V).
This is called Ratiometric Sequencing
(Figure 3). Although the external ramp
signal and the TPS74301 will have differ- Figure 4. Soft-Start LDO TPS74201 and TPS74401
with 1ms soft startup (C4 = 1nF).
ent rates of rise, they will have the same
Timebase: 2 mV/div.
soft-start time.
For the TPS74201 and TPS74401 the
capacitor value can be used to program
the soft-start ramp. In this example, values
of 1 nF and 10 nF for C4 were used to real-
ize ramps with 1 ms and 10 ms rise time
respectively (Figures 4 and 5 respectively).
With no capacitor attached to this pin the
default soft-start time will be 500 μs. This Figure 5. Soft-Start LDO TPS74201 and TPS74401
500-μs start up time is also valid for the with 10ms soft startup (C4 = 10nF).
TPS74301 when applying a voltage greater Timebase: 2 mV/div.
than 800 mV to the TRACK pin.
(070231-I) TPS74201 1.5A LDO with Programmable Soft-
Start, Texas Instruments Literature # SBVS064C
Literature TPS74x01EVM-118 User’s Guide, Texas Instru-
ments Literature # SLVU143.
TPS74401 3.0A Ultra-Low Dropout Linear
Regulator, Texas Instruments Literature # Sequencing Power Supplies in Multiple Volt-
SBVS066C. age Rail Environments by David Daniels, Dirk
TPS74301 1.5A Ultra-Low Dropout Linear Gehrke and Mike Segal, Texas Instruments
Literature # SLUP228 or http://focus.ti.com/lit/
Regulator with Programmable Sequencing,
ml/slup228/slup228.pdf
Texas Instruments Literature # SBVS065C.



 
 
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 Quasar Electronics Limited
PO Box 6935, Bishops Stortford
CM23 4WP, United Kingdom
Tel: 0870 246 1826
Fax: 0870 460 1045
E-mail: sales@quasarelectronics.com
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Infrared RC Relay Board

Motor Drivers/Controllers Controllers & Loggers Individually control 12 on-
board relays with included
Here are just a few of our controller and Here are just a few of the controller and infrared remote control unit.
GULYHUPRGXOHVIRU$&'&8QLSRODU%LSRODU data acquisition and control units we have. Toggle or momentary. 15m+
stepper motors and servo motors. See See website for full details. Suitable PSU range. 112x122mm. Supply: 12Vdc/0.5A
website for full details. for all units: Order Code PSU445 £8.95 Kit Order Code: 3142KT - £47.95
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NEW! PC / Standalone Unipolar Serial Isolated I/O Relay Module
Stepper Motor Driver Computer controlled 8-
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unipolar stepper motor 5A mains rated relay
rated up to 6 Amps max. outputs. 4 isolated We have a wide range of low cost PIC and
Provides speed and direc- digital inputs. Useful in $70(/3URJUDPPHUV&RPSOHWHUDQJHDQG
tion control. Operates in stand-alone or PC- a variety of control and documentation available from our web site.
controlled mode. Up to six 3179 driver boards sensing applications. Controlled via serial Programmer Accessories:
can be connected to a single parallel port. port for programming (using our new Win- 40-pin Wide ZIF socket (ZIF40W) £15.00
Supply: 9Vdc. PCB: 80x50mm. dows interface, terminal emulator or batch 18Vdc Power supply (PSU010) £19.95
Kit Order Code: 3179KT - £11.95 files). Includes plastic case 130x100x30mm. Leads: Parallel (LDC136) £4.95 / Serial
Assembled Order Code: AS3179 - £18.95 Power Supply: 12Vdc/500mA. (LDC441) £4.95 / USB (LDC644) £2.95
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NEW! Bi-Polar Stepper Motor Driver Assembled Order Code: AS3108 - £64.95
'ULYHDQ\ELSRODUVWHSSHU NEW! USB & Serial Port PIC Programmer
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Controls the speed of Kit Order Code: 3145KT - £18.95 USB PIC programmer for all
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directions. The direction and speed are con- latching relay output. Range
trolled using a single potentiometer. Screw XSWRP8SWR7[¶VFDQ ³3,&$//´3,&3URJUDPPHU
terminal block for connections. be learnt by one Rx (kit in- ³3,&$//´ZLOOSURJUDPYLUWX
Kit Order Code: 3166KT - £16.95 cludes one Tx but more avail- ally all 8 to 40 pin VHULDO
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DC Motor Speed Controller (100V/7.5A)
Control the speed of
almost any common
'&PRWRUUDWHGXSWR
100V/7.5A. Pulse width
modulation output for
maximum motor torque
at all speeds. Supply: 5-15Vdc. Box supplied.
DEOHVHSDUDWHO\LQGLFDWRU/('¶V5[3&% PRGH$1'SDUDOOHOPRGH
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7HQFKDQQHOYHUVLRQVDOVRDYDLODEOH grammed PIC micro control-
Kit Order Code: 3180KT - £44.95 lers. Free fully functional software. Blank chip
Assembled Order Code: AS3180 - £51.95 auto detect for super fast bulk programming.
Parallel port connection. Supply: 16-18Vdc.
NEW! DTMF Telephone Relay Switcher Assembled Order Code: AS3117 - £24.95
Call your phone number
XVLQJD'70)SKRQHIURP ATMEL 89xxxx Programmer
anywhere in the world and Uses serial port and any
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Kit Order Code: 3067KT - £13.95
Assembled Order Code: AS3067 - £21.95
Most items are available in kit form (KT suffix)
or assembled and ready for use (AS prefix).
remotely turn on/off any of
the 4 relays as desired.
User settable Security Password, Anti-
Tamper, Rings to Answer, Auto Hang-up and
/RFNRXW,QFOXGHVSODVWLFFDVH1RW%7DS
proved. 130x110x30mm. Power: 12Vdc.
Kit Order Code: 3140KT - £54.95
Assembled Order Code: AS3140 - £69.95
standard terminal comms
program. Program/ Read/
9HULI\&RGH'DWD:ULWH
)XVH/RFN%LWV(UDVHDQG
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sockets not included. Supply: 16-18Vdc.
Kit Order Code: 3123KT - £24.95
Assembled Order Code: AS3123 - £34.95

Secure Online Ordering Facilities Ɣ Full Product Listing, Descriptions & Photos Ɣ Kit Documentation & Software Downloads

7-8/2007 - elektor electronics 97

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Web links
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http://www.xj3.nl/_dreijer/backsite/willem/
babybot.avi
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102 elektor electronics - 7-8/2007

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9 P3.5 Motor 1
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11 P3.7 LED 1
12 P1.0 Antenna 1
13 P1.1 Antenna 2
14 P1.2 Antenna 3
15 P1.3 LDR 1
16 P1.4 LDR 2
17 P1.5 LDR 3
18 P1.6 LED 2
19 P1.7 LED 3
20 VCC

Abraham Vreugdenhil
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20

1 19 M M M antenna 1 motor 3
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10k

7 10
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070289 - 12
10M 10M 10M GND
35V 35V 35V C5 12MHz C6
8

22p 22p
070289 - 11
S1 ... S3 = antenna

7-8/2007 - elektor electronics 103

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(070289-I)

Trembly
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104 elektor electronics - 7-8/2007

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PIR sensors
IC1 PB4
17 Servo2
M PB5
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2
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7 PD3 Left rear leg knee

Feelers
8 PD4 Left feeler
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SLYOHZI\PS[PUYLZPZ[VYZ;OLMLLSLYZ^P[JOLZ
19 PB7 – SCK Right PIR sensor / ISP via jumper
HYLJSVZLK^OLU[OL`HYLUV[HJ[P]H[LK

7-8/2007 - elektor electronics 105

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WVY[WYVNYHTTPUN[OLYVIV[PZLHZ`;OPZ
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(070283-I)
Web Links
[1] http://avrhelp.mcselec.com/Sample_
Electronics_cable_programmer.html
[2] www.mcselec.com
elektor electronics - 7-8/2007
Robot MOPS
Markus Bindhammer

467: PZ H ZTHSS YVIV[ ^OPJO

NLULYHSS` I\TISLZ HYV\UK [OL
MSVVY HUK WLYMVYTZ H]VPKHUJL
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1 2
S1 +4V5

R3
100k

T1 T3
D3 D4

D1 RE1

BC557
R1 R6 R5 R9
1807

1807
1k8

4k7

1N4148
M1
C1 R2
1k8 M
1M T4 D2
16V T3 D3
T2

P1 1N4148
BC547 plastic tube
T5 protects against
BC547 10k R8 M
ambient light
2k2
M2
R4 R7
C2 BC547
1k
560k

070143 - 12
470M
16V

070143 - 11

7-8/2007 - elektor electronics 107

increases its resistance will make T4 more
sensitive and vice versa. T4 conducts in 3
synchronism with the flashing LED so
capacitor C2 acts as a reservoir capacitor
to ensure that once T4 begins to conduct,
sufficient energy is stored in C2 to ensure UM1 UM2
that T5 remains conducting continuously
until the obstacle is out of range and T4
switches off. It takes a few seconds for C2
to discharge and during this time MOPs is
performing its avoidance manoeuvre.

T5 switches a double pole relay which has

the effect of performing this manoeuvre. In
normal forward motion the relay switches
the positive and negative supplies to both
motors and diode D2 is conducting. When
an obstacle is detected the relay switches
and reverses the polarity of the motor con-
nections. D2 now becomes reverse biased
070143 - 13
and no current can flow through motor
M2 while M1 goes into reverse. This gives
MOPS the reverse and turn response to
obstacles. A few seconds after the obsta-
cle is no longer detected the relay switches sources. With this set-up it was possible lisions with matt black objects. Figure 3
back and MOPS carries on as before but in to detect obstacles at a distance of 10 cm. shows the layout of the two motor and
a different direction. The range depends largely on the reflective gearbox assemblies.
properties of the obstacle so darker objects (070143-I)
Figure 2 shows a close up of MOPS’s will only be seen at shorter ranges. The cir-
eye mounted in a tube which helps to cuit can be modified to read microswitches Web link
make obstacle detection more directional connected to contact feelers mounted on www.elexs.de/robo1.htm
and reduces the effects of external light the front of MOPS this will help avoid col-

ISBN 978-0-905705-69-9
Approx. 432 pages
£19.95 / US$ 39.95



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108 elektor electronics - 7-8/2007

7-8/2007 - elektor electronics 109
2.4 GHz Antenna
for Robotics Vehicles
Ragnar Jensen
4
9HKPVLX\PWTLU[\ZPUN[OLSPJLUZLMYLL./a0:4PUK\Z[YPHSZJP
LU[PÄJTLKPJHSIHUKPZHSZVYPMLHTVUNYVIV[PJZMHUZQ\Z[[OPURVM
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VU)5*WS\NºIVYYV^»HJHISLMYVT[OL0;KLW["
• HZOHYWOVII`RUPML"
• H WVPU[LK [VVS SPRL H Z[YVUN ULLKSL VY H ^H[JOTHRLY»Z
ZJYL^KYP]LY" Using the pointed tool, carefully unweave the braid strands.
• HY\SLY"
• HZVSKLYPUNPYVUVW[PVUHS"
• HOV[NS\LN\U"
• JVTTVUZLUZLHUKHIV\[TPU\[LZVM`V\Y[PTL
5
/LYLNVLZ

The raw material: a short piece of 50-7 coax cable.

2
Until your hairdressing looks something like this…

Cut off about 40 mm of the outer insulation. This will expose the braid
that forms the cable shield.

Distribute the strands into four equally sized and likewise spaced
Push down the braid to expose the inner insulation. bundles (wow, tresses!)

110 elektor electronics - 7-8/2007

 7 8

Now bend them into a 45-degree angle with respect to the cable. This Cover the bundles with solder. Although this step is optional, it does
angle will result in an antenna impedance of about 50 7. enable the ground plane elements to hold their shape better, and
prevents untwisting of the strands.

9 10

Done soldering! Apply a few drops of hot glue…

11 12

… will help keep the proper shape. Cut the radials and the radiator to a length of 30 mm
(yes that’s 0.25 lambda).

13

And we are done!

(070142-I)
(reproduced with modifications and extensions from CQ-TV issue 217)

7-8/2007 - elektor electronics 111

Receiver for RC5 Remote Controls
D30
1N4148

+5V
IC4
78L05 +8V

R1 R2
DATA
100 7

47k

RESET
CLK
C2 C3

C7 C6 C1
IC1.B 15 14 1 IC1.A 7 6 9 IC2.B 15 14 1 IC2.A 7 6 9 100n 100n
1000M 220n 100n 1D R 1D R 1D R 1D R

C1/

C1/

C1/

C1/
2
T1
IC3 R3
3 SRG4 SRG4 SRG4 SRG4
10k
2 11 12 13 10 3 4 5 2 11 12 13 10 3 4 5

1 BC557B
TSOP1736 IC8.D
R20 R4 R6 R5 R7 R8 R9 R10 R11 R12 R13 R14 R15 R17 R18 R16 R19 11 R21
C4 C5
1k

1k

1k

1k

1k

1k

1k

1k

1k

1k

1k

1k

1k

1k

1k

1k
10k

&

100k
47M 470M
D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16 12 13
D1

1 2 3

1 2 3 4 5 6 7 8 9 10 11 12 13 14
IC8.C
9
10
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+5V

R22 R23 R24 R25

6 D17 C8
33k

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D 16 16
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3 C 2
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R
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4 IC8.B
16
R28 &
9 IC9.C
0 IC1, IC2 = CD4015
100k

8
CTR12 7 10
1 5 6 8 & 9 IC6 = CD4013
11 6
4 8 CT=0 2 9 S 13 IC8, IC9 = CD4093
5 D19 D
R26 R 3 IC6.B IC9.B IC9.D D17...D29 = 1N4148
7 3 D20 5 12
180k DIS IC7 4 11 C 12 4 11
IC5 2 D21 & 6 & 13
5 R +5V
R27 CT
39k

4
7555 6 10
2 3 18kHz 10 13 D22 IC9.A
P1 TR OUT + 7 D26 1
6 THR 12 D23 3
8 & 2
14
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2 1 15 D24
5 1 10 14 14 14
1 R29 R30
C9 C10 11 IC6 IC8 IC9
& D25 D28
100k

100k

7 7 7
3 8
150p 100n

Reset 01
D29
Reset 02
070089 - 11

Thomas Möll HU`OV\ZLOVSKHWWSPHUJLJV\SKILJVU[YVS NVPUNW\SZL^OPJOPZPU]LY[LKI`:JOTP[[

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112 elektor electronics - 7-8/2007

LHJOIP[;OPZPZ[OLRL`[V[OLJPYJ\P[![OL
]HS\LVM[OLZPNUHSZHTWSLKH[[OPZWVPU[
NP]LZ[OLLUJVKLKKH[HIP[
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ILOLSK\U[PSHUL^WHJRL[MYVT[OL[YHUZ
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KLWLUKZVU[OPZZPNUHS
(070089-I)

IR Remote Control with the R8C

G. van Zeijts
+5V
6]LY [OL `LHYZ ]HYPV\Z HY[PJSLZ OH]L max. 15mA R8C/13
HWWLHYLK PU ,SLR[VY ,SLJ[YVUPJZ HIV\[ 1 2 3 4 5 6 7 8
1 32 8x 1k K1
TPJYVJVU[YVSSLYZ[OH[WPJR\W[OLW\SZLZ K2 RXD1 P0.0
2 31
MYVTHU09YLTV[LJVU[YVSHUKKVZVTL 3
P0.1
30
RESET P0.2
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P0.3
29
<UMVY[\UH[LS`[OPZJHWHIPSP[`^HZUV[H]HPS 5
VSS MODE
28
6 27
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7 26
;OH[PZ^O`[OLH\[OVYWS\UNLKYPNO[PUHUK 8
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25
P1.7 P0.6
JYLH[LK[OPZJHWHIPSP[`THPUS`MVYOPZV^U 9 24
P1.6 P0.7
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P1.1
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P1.0 P3.2
18

JVU[YVS 16
P4.5 P3.3
17

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W\[WVY[[VºPUMVYT»HJVTW\[LYVYV[OLY +5V
10k

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WYLZZLK
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BC638
2

[OYV\NO VM[OLYLTV[LJVU[YVS;OPZ 3
HSSV^Z  KPNP[HS KL]PJLZ [V IL KPYLJ[S` green red
Z^P[JOLKVYJVU[YVSSLKYLTV[LS` 1
TSOP1736
;OLWYVNYHTOHZILLU^YP[[LUPU*\ZPUN
[OL/,>ZVM[^HYLHUKOHZ[OLMVSSV^PUN 070191 - 11

M\UJ[PVUZ
+LWLUKPUNVU[OLWVZP[PVUVMQ\TWLY17
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[OYV\NO VM[OLYLTV[LJVU[YVS>OLU
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V\[W\[NVLZOPNO;OLUL_[WYLZZTHRLZ
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[OLYLMVYLJVU[YVSLPNO[KPNP[HS[OPUNZMYVT
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7HYLUV[HMMLJ[LKI`WYLZZPUNHU`VM[OL
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;OL ^LSSRUV^U ;:67 PUMYHYLK
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YLZPZ[VY
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6\[W\[7PZ\ZLK[VZPNUHS[OL9*:VU`
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7-8/2007 - elektor electronics 113

MHJLJPYJ\P[[OH[`V\OH]L[VI\PSK`V\Y
ZLSM2JHUILSVHKLK^P[OHTH_PT\T
VMT(
3V^WV^LY3,+ZPUKPJH[L[OLWYLZLU[Z[H[L
VM[OLLPNO[IP[ZVMWVY[7
zBot:Wireless Link
Jens Altenburg
;OLYLL_PZ[HSV[VM^PYLSLZZJVTT\UP
JH[PVUTVK\SLZHSSHWWYV]LKMVY\ZL
^P[OPU [OL 0:4 YHKPV IHUKZ PUK\Z
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4/a4/aHUKYLJLU[S`HSZV
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VULZ^P[OSV^[YHUZTPZZPVUKH[HYH[LZ
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Z`Z[LTZ¸/V^T\JO^PSS[OL[OPUN
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OLSW
;OL*;=PKLV.TI/^^^J[]PKLVJVT
THYRL[ZHZWLJPHSTVK\SL^P[OOPNOZWLLK
KPNP[HS KH[H [YHUZTPZZPVU JHWHIPSP[` HUK
UVPU[LSSPNLUJLH[HYLHZVUHISLWYPJL;OL
Removed Pulse Detector
1 2
R
R1
10k
8 4
R
7 ZOV^U PU -PN\YL [OL
DIS
IC1
2
TR
6
LM555CN
THR
CV
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114
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TVYLPTWVY[HU[JPYJ\P[Z
PUYVIV[PJZ>OLUW\SZLZ OUTPUT
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V\[W\[ ZPNUHS ^PSS IL
OUT
3 JVU[PU\V\ZS` /PNO PL ULHYS`
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070099 - 11
]HS\LZVMJVTWVULU[ZR
HUKCPU[OLJPYJ\P[TH`
ILJHSJ\SH[LKMYVT
;OL ZVM[^HYL MVY [OPZ WYVQLJ[ PZ H MYLL
KV^USVHKMYVT[OL,SLR[VY^LIZP[L·ZLL
HYJOP]LÄSL070191-11.zip
(070191-I)
ZLUZP[P]P[`VMHIV\[¶K)T
-VYPTWSLTLU[PUN[OLTVK\SLPU`V\Y
V^U WYVQLJ[Z H ZVM[^HYL TVK\SL PZ
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H ML^ YLZV\YJLZ VM [OL TPJYV ZVTL
.706Z NLULYHS W\YWVZL PUW\[ V\[
W\[WPUHUKVUL<(9;JOHUULS;OL
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YH[LULLKZ[VILHJJ\YH[LPMUV[`V\»SS
Z\MMLYHULMMLJ[[OH[THUPMLZ[ZP[ZLSMHZ
SV^YLJLP]LYZLUZP[P]P[`
;OLZVM[^HYLTVK\SLMVY[OL^PYLSLZZ
YHKPVPZHÄSLJHSSLKrf433.c
(070173-I)
[1] The complete document called
Zbot — the Robot Experimental Platform
is available for free downloading from the
Elektor Electronics website. The file number is
070172-11.zip (July/August 2007).
INPUT
070099 - 12
T$9*
[HRPUNPU[VHJJV\U[[OH[
INPUT
M
Deleted Pulse
OUTPUT
070099 - 13
elektor electronics - 7-8/2007
R£#R#4£HUKM#T#N
>OLUHJVYYLJ[ZPNUHSPZILPUNHWWSPLK[V
[OLPUW\[-PN\YL[OLJPYJ\P[^PSSIL[YPN
NLYLKI`HUV[OLYW\SZLILMVYL[OLJVUZ[HU[
[PTLTL_WPYLZ;OLYLMVYL[OLV\[W\[ZPN
IR Communications using a UART
Dominik Tewiele
0M`V\^PZO[VZL[\WHTLKP\TYHUNLT
[V T JVTT\UPJH[PVU SPUR IL[^LLU
[^VYVIV[ZVYIL[^LLUHYVIV[HUKHIHZL
Z[H[PVUPUMYHYLKSPNO[JHUILHULJVUVTP
JHS HS[LYUH[P]L [V \ZPUN YHKPV TVK\SLZ
;YPLKHUK[LZ[LKZ[HUKHYKWYV[VJVSZHUK
Z\WWVY[PUNJVTWVULU[ZHYLH]HPSHISLMVY
[OLTVK\SH[PVUULJLZZHY`[VZ\WWYLZZ[OL
LMMLJ[VMHTIPLU[PUMYHYLKSPNO[7YHJ[PJHSS`
L]LY`TVKLYUTPJYVJVU[YVSSLYZWVY[ZVUL
VY TVYL HZ`UJOYVUV\Z ZLYPHS PU[LYMHJLZ
<(9;Z^OPJOTHRLWLYMLJ[WHY[ULYZMVY
09YLJLP]LYZHUK[YHUZTP[[LYZ
(UL_HTWSLVMHZ\P[HISLYLJLP]LYPZ[OL
;:67__^OLYL[OLº__»Z[HUKZMVY[OL
TVK\SH[PVUMYLX\LUJ`TLHZ\YLKPURPSV
OLY[a0[ZV\[W\[JHUILJVUULJ[LKKPYLJ[S`
[V [OL 9_+ WPU VM H TPJYVJVU[YVSSLY
)LJH\ZLVM[OLVWLUJVSSLJ[VYV\[W\[Z[HNL
P[PZWVZZPISL[VJVUULJ[ZL]LYHSYLJLP]LY
TVK\SLZPUWHYHSSLS[VPUJYLHZL[OLHYLH
JV]LYLK;OL[YHUZTP[[LYJVUZPZ[ZZPTWS`VM
HU09KPVKLHUKHJV\WSLVMKPZJYL[LJVT
WVULU[Z([PTLYPU[OLTPJYVJVU[YVSSLYJHU
Radio Remote Control
for PDAs and Smartphones
Peter Zirngibl
6UOPZ^LIZP[L\UKLY[OL[P[SLº(=9)S\L
9LTV[L»[OLH\[OVYKLZJYPILZPU.LYTHU
H )S\L[VV[OIHZLK YLTV[L JVU[YVS \UP[
MLH[\YPUNZP_V\[W\[YLSH`ZHUKZP_ZLUZVY
PUW\[Z;OLZP[LHSZVPUJS\KLZ:THY[WOVUL
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JVU[YVSSLYZVM[^HYLH]YIS\LYLTV[LOL_
;OLZLJHUIL\ZLKHZ[OLIHZPZMVYWYVQLJ[Z
7-8/2007 - elektor electronics
UHSYLTHPUZ/PNO0MVULVYTVYLW\SZLZ ILZLUZLKI`HUV[OLYJPYJ\P[MVYL_HT
HYLTPZZPUNMVYL_HTWSLV^PUN[VHMH\S[ WSLHTPJYVJVU[YVSSLYVYHUV[OLYZLUZPUN
HIHZOVU[OLOLHKMYVTYLMIV[4H[OPSKH [OH[HJ[ZVU[OLPU[LYY\W[PVUPU[OLW\SZL
VY ZPTWS` IHK YLJLW[PVU VU [OL YLTV[L Z[YLHT0M[OL^VYZ[JVTLZ[V[OL^VYZ[[OL
JVU[YVSJOHUULS[OLV\[W\[ZPNUHSKYVWZ H\[VWPSV[ZOV\SKILZ^P[JOLKVU
3V^IYPLÅ`;OLYLZ\S[HU[ÅHNZPNUHSJHU (070099-I)
JVTWHYL YLNPZ[LYZ 6*9( HUK 6*9)
VCC
JVU[YVS[OLMYLX\LUJ`HUKW\SZL^PK[OVM
[OLZPNUHSVUV\[W\[7);OL575[YHUZPZ
28
PC5(ADC5/SCL)
26 C5
[VY[OLUHWWSPLZ[OLYLX\PYLKTVK\SH[PVU
PC3(ADC3)
25 /LYLHNHPU^LJHU^PYLZL]LYHS093,+ZPU
PC2(ADC2)
10M 16V WHYHSSLS[VPUJYLHZL[OL[YHUZTP[YHUNLHUK
IC
PD0(RXD)
2
R3
T2
JV]LYHNLHUNSL;OLZLYPLZJ\YYLU[SPTP[PUN
3
PD1(TXD)
4
10k YLZPZ[VYMVY[OL093,+ZZOV\SKILJOVZLU
PD2(INT0)
PD3(INT1)
5 BC448 ^P[OJVUZPKLYH[PVUMVY[OLKLZPYLKYHUNL
PD4(XCK/TO)
6 R1
HUK[OLTH_PT\TW\SZLJ\YYLU[[OH[[OL
1007
11
PD5(T1)
12
3,+ZJHUOHUKSL;OPZSHZ[ÄN\YLJHUIL
PD6(AIN0)
13 MV\UKVU[OL3,+»ZKH[HZOLL[^OPJO^PSS
PD7(AIN1) D1
ATmega8 HSZVOLSWKL[LYTPULHZ\P[HISLW\SZL^PK[O
PB0(ICP)
14
[VZL[PU[OLZVM[^HYL
15 T1
PB1(OC1A)
16
R4
PB2(SS/OC1B) 10k
PB3(MOSI/OC2)
17 ;OL TH_PT\T IH\K YH[L [OH[ JHU IL
18 BC447 HJOPL]LK^PSSKLWLUKVU[OLYLJLP]LYJOV
PB4(MISO)
19
PB5(SCK) ZLU<ZPUNH;:67__HYV\UKIH\K
PZWVZZPISL^OPJOZOV\SKILHKLX\H[LMVY
070170 - 11 ZPTWSL JVU[YVS JVTTHUKZ -VY IPKPYLJ
[PVUHSJVTT\UPJH[PVUP[^PSSILULJLZZHY`
[VI\PSKIV[OHYLJLP]LYJPYJ\P[HUKH[YHUZ
TP[[LYJPYJ\P[H[LHJOLUKVM[OLSPUR0[PZ
IL\ZLK[VWYV]PKLTVK\SH[PVUVYHS[LY ^VY[OILHYPUNPUTPUK[OH[ILJH\ZLVM[OL
UH[P]LS`HUL_[LYUHS5,JHUIL\ZLK LMMLJ[VMYLÅLJ[PVUZZJVWLMVYM\SSK\WSL_
0U[OPZL_HTWSL^LHYL\ZPUNHU(;4LNH VWLYH[PVUPZYH[OLYSPTP[LK
^P[O;PTLYJVUÄN\YLKZV[OH[[OLV\[W\[ (070170-I
Z\JOHZHZOVY[YHUNL\W[VTVYZV HYV\UK[OL34? (MYVT5H[PVUHS:LTP
YLTV[LNHYHNLKVVYVWLULYVYHYLTV[L JVUK\J[VY HUK KLJVKLK TLZZHNLZ HYL
SPNO[PUNJVU[YVSSLY;OLZVM[^HYLPZMYLLMVY WHZZLKV]LYH<(9;SPRLPU[LYMHJL;?HUK
\ZLI`WYP]H[LPUKP]PK\HSZ 9?ZPNUHSZIL[^LLUP[HUKHU([TLS(=9
(U` :THY[WOVUL Y\UUPUN [OL >PUKV^Z (;4LNH3 TPJYVJVU[YVSSLY *VUULJ[LK
4VIPSLVWLYH[PUNZ`Z[LTJHUIL\ZLK [V[OLV\[W\[ZVM[OLTPJYVJVU[YVSSLYPZH
HZ[OL[YHUZTP[[LY;OLYLJLP]LY\ZLKPZ[OL <35VJ[HSKYP]LY^OPJOJHUJVTMVY[
WVZ[HNLZ[HTWZPaLK)S\L5PJL*VT000)S\L HIS`Z^P[JOLUV\NOJ\YYLU[[VKYP]LWV^LY
[VV[OTVK\SL^P[OPU[LNYH[LKJOPWHU[LUUH YLSH`Z*VTWSL[PUN[OLJPYJ\P[HYLH=]VS[
MYVT(TILY>PYLSLZZ;OLTVK\SLPZIHZLK HNLYLN\SH[VY[`WL37 =HUKHU0:7
115
PUZ`Z[LTWYVNYHTTPUNJVUULJ
[VY-V\Y3,+ZPUKPJH[L[OLZ[H[\ZVM IC4
[OLJVUULJ[PVU!3,+ZOV^Z^OLU +3V LP2950 +5V
3V
[OLTPJYVJVU[YVSSLYOHZYLJLP]LK VCC C3 C2 C1
KH[HJVYYLJ[S`HUK3,+PUKPJH[LZ
100n 10M 10M
^OLUH[PTLV\[OHZVJJ\YYLK;OL
)S\L[VV[OTVK\SL»Z3,+ZPUKPJH[L
[OLSPURZ[H[\Z3,+HUK[YHUZTP[ R4 R2 R3
TVKL3,+ +3V

220 7
4k7

1k
;OLWYPU[LKJPYJ\P[IVHYKSH`V\[ K1 R1 D6 RE1
D1 D2
MVY[OLJPYJ\P[OHZ[VTLL[ZL]

1k
2 1
7 20
4 3
LYHS JVUZ[YHPU[Z -VY TH_PT\T 6 5 1
VCC AVCC
5
PC6(RESET) PD3(INT1) D3
YHUNL[OLYLZOV\SKILUVNYV\UK PD4(XCK/TO)
6 1N4148
10
ISP
WSHULJVUK\J[VYZJVTWVULU[Z SCK 19
IC1
23 1 +VS 18 OUT1
FB1 PB5(SCK) PC0(ADC0) I1 O1
VYV[OLYTL[HSWHY[Z^P[OPUTT FB2
MISO 18
PB4(MISO) PC1(ADC1)
24 2
I2 O2
17
OUT2
VM [OL HU[LUUH" V[OLY YLX\PYL FB3
MOSI 17
PB3(MOSI/OC2) PC2(ADC2)
25 3
I3
IC2
O3
16
OUT3
16 26 4 15
TLU[ZHYLZL[V\[PU[OLTHU\HS FB4
15
PB2(SS/OC1B) PC3(ADC3)
27 5
I4 O4
14
OUT4
FB5 PB1(OC1A) PC4(ADC4/SDA) I5 O5 OUT5
MVY[OLTVK\SL;OLTPJYVJVU[YVS FB6
14
PB0(ICP) PC5(ADC5/SCL)
28 6
I6
ULN2803
O6
13
OUT6
13 7 12
SLYJHUILWYVNYHTTLK\ZPUN[OL PD7(AIN1)
8
I7 O7
11
ATmega8L I8 O8
0:7PU[LYMHJL!`V\T\Z[VMJV\YZL 4
PD2(INT0) AREF
21 VEE
Reset Bluetooth
THRLZ\YL[OH[[OLWPUV\[VM[OL 11
PD5(T1) PD0(RXD)
2 +3V 9
12 3
JVUULJ[VYPZJVTWH[PISL^P[O[OH[ PD6(AIN0) PD1(TXD)
D4
GND XTAL1 XTAL2 AGND
VM`V\YWYVNYHTTLY:\P[HISLWYV 8 9 10 22 9 8
R7
X1 GND RESET 1k
NYHTTLYJPYJ\P[ZJHUILMV\UKVU S1 JP1 JP2 R5 10
ENV1 CTS
7

220 7
11 6
[OL0U[LYUL[HZ^LSSHZ^P[OPU[OL 12
ENV0 RTS
5 +3V
C4 C5
LSTAT_0 TX
WHNLZVM,SLR[VY,SLJ[YVUPJZHUK 13
LSTAT_1 RX
4
22p 22p
M\Y[OLYPUMVYTH[PVUPZWYV]PKLK 14
Host_wu ISEL2
3
15 2
VU([TLS»Z^LIZP[L;OLZLUZVY 7,3728MHz
R6 16
TX_LED ISEL1
1
VDD_DIGI VCC
PUW\[ZJHUIL\ZLKMVYHU`KLZPYLK

220 7
IC3
W\YWVZLVYZPTWS`SLM[ÅVH[PUN Blue Nice Com III
RX D5
>P[O[OLOHYK^HYLI\PS[^LUL_[ TX
[\YU[V[OLHJJVTWHU`PUN:THY[
WOVULZVM[^HYL@V\^PSSÄYZ[ULLK
070126 - 11
[VPUZ[HSS[OLHWWYVWYPH[L]LYZPVUVM
*VTWHJ[-YHTL^VYRH]HPSHISL
MVYKV^USVHKMYVT4PJYVZVM[!

•>PUKV^Z4VIPSL7VJRL[7*HUK:THY[WOVUL!5,;*-]
^THYT]PJHI" 5L_[JVW`[OLÄSLH]YIS\LYLTV[LL_L[V[OL[HYNL[WSH[MVYTMVY
•7VJRL[7*HUK:,!5,;*-]WWJHYT]JHI" L_HTWSLVU[VHU:+JHYKMVY\ZL^P[OH:THY[WOVUL;OL[^V
•>PUKV^Z?7!UL[JMZL[\W]TZP )S\L[VV[OKL]PJLZ[OL:THY[WOVULHUK[OLYLJLP]LYIVHYKUV^
ULLK[VILºWHPYLK»^OPJOVUS`ULLKZ[VILKVULVUJL;OLWYV
NYHTJHUUV^ILZ[HY[LKHUK[OL*64WVY[ZL[^P[OHJSPJRVY[^V
VM[OLTV\ZLVU[OL\W^HYKHUKKV^U^HYKWVPU[PUNHYYV^Z;OL
JLU[YHSZX\HYLVWLUZ[OLPU[LYMHJLJYLH[PUNHJVUULJ[PVU^P[O[OL
YLJLP]LY;OLHYYV^ZUV^HSSV^[OLV\[W\[ZVU[OLYLJLP]LYIVHYK
[VILZ^P[JOLKVUHUKVMM"[OLZP_[OV\[W\[PZZ^P[JOLKI`WYLZZPUN
[OLZWHJLRL`
;V^HYKZ[OL[VWVM[OLKPZWSH`[OLZP_ZLUZVYPUW\[ZHYLYLWYLZLU[LK
HZ3,+Z0M`V\ZOV\SKTV]LV\[VMYHUNLVM[OLYLJLP]LY[OLZL
3,+Z^PSSILL_[PUN\PZOLKHUKH[PTLV\[IHY^PSSHWWLHY0M[OL
[PTLV\[WLYPVKZOV\SKL_WPYL^P[OV\[H]HSPKZPNUHSILPUNYLJLP]LK
[OLPU[LYMHJL^PSSILJSVZLK
(070126-I)

Web links
Author’s website (in German): http://www.clipswitch.de/avrbluer-
emote.html
Bluetooth module information: http://www.amber-wireless.de/en/
produkte/bluetooth/default.php?fnum=109221360256
Bluetooth module manual: http://www.amber-wireless.
de/pdf/OPC1601_MA.pdf
LMX9820A datasheet: http://www.national.com/pf/LM/LMX9820A.html
AVR programmer: http://www.atmel.com/dyn/products/tools_card.
asp?tool_id=2726
AVR Studio: http://www.atmel.com/dyn/products/tools_card.
asp?tool_id=2725

116 elektor electronics - 7-8/2007

 Robot Voice
Pascal Choquet
-HUZVM[OLÄSTºH:WHJL6K`ZZL`»
^PSSUVKV\I[YLJHSS[OLWVSP[L`L[ZPUPZ[LY
]VPJLVM/(3[OLZOPW»ZJVTW\[LY
0[Z[HUKZ[VYLHZVU[OH[HSSWYVWLYYVIV[Z
ULLKHUV[ULJLZZHYPS`TLUHJPUN]VPJL
;OVZLVM`V\^OVPTHNPUL[OH[H]VPJLIV_
^V\SKYLX\PYLH^OVSLOLHWVM0*ZHYLTPZ
[HRLU"[OL0:+*OPW*VYKLYMHTPS`VM
0*ZMYVT>PUIVUKJVU[HPUZHSTVZ[HSS[OL
ULJLZZHY`OHYK^HYLPUHZPUNSL0*[VYLJVYK
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7-8/2007 - elektor electronics 117

Balancing Robot
Speed
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7-8/2007 - elektor electronics 119

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[OL JVU[YVSSLY MVY [OL YVIV[ (Z HSYLHK`
TLU[PVULK MLLKIHJR MYVT [OL HUNSL VM
[OLYVIV[HUN\SHY]LSVJP[`HUKZWLLKVM
[OLYVIV[HYLLZZLU[PHSMVY[OLZ\JJLZZM\S
JVU[YVSVM[OLYVIV[0[PZWVZZPISL[VJHSJ\-
SH[L[OLULJLZZHY`MLLKIHJRMHJ[VYZTH[O-
LTH[PJHSS`/V^L]LY[OPZTHRLZHJVT-
WSL[LHUKKL[HPSLKWO`ZPJHSKLZJYPW[PVUVM
[OLYVIV[HUK[OLILOH]PV\YVM[OLTV[VYZ
LZZLU[PHS0[PZZPTWSLY[VKL[LYTPUL[OLZL
MHJ[VYZL_WLYPTLU[HSS`;OPZJHUILKVUL
DIY Wheels
Marcus Bindhammer
@V\KVU»[OH]L[VYLPU]LU[[OL^OLLSMVY
`V\Y YVIV[ I\[ `V\ TH` OH]L [V THRL
`V\YV^UZVTLOV^PM`V\JHU»[VYKVU»[
^HU[[VI\`[OLTYLHK`THKL;OLOHUKP-
JYHM[ZHZWLJ[VMTHRPUN`V\YV^U^OLLSZ
PZYLSH[P]LS`\UKLTHUKPUNHUKVULOHUK
I\[UV[HSLM[OHUK¯PZLUV\NO
<ZL H JVTWHZZ [V KYH^ JPYJSLZ ^P[O H
KPHTL[LYVMTTVUHWPLJLVMTT
WS`^VVKHUK[OLUJ\[VYZH^[OLKPZJZ
V\[ +YPSS H TT OVSL PU [OL JLU[YL VM
LHJOKPZJ
(Z`V\JHUZLLMYVT[OLKYH^PUNHU4
ZJYL^^P[OHSLUN[OVMH[SLHZ[TTT\Z[
120
MVYL_HTWSLI`JVUULJ[PUNHU\TILYVM
KPNP[HSVYHUHSVN\LWV[LU[PVTL[LYZ[V[OL
TPJYVJVU[YVSSLY;OLWYVNYHT[OH[Y\UZPU
[OLTPJYVJVU[YVSSLYYLHKZ[OLWVZP[PVUVM
[OLWV[LU[PVTL[LYZHUKJVU]LY[Z[OLYLS-
L]HU[ ]HS\LZ PU[V MLLKIHJR ]HS\LZ ;OL
JHSPIYH[PVUJHUUV^ILKVUL^P[OHSV[
VMWH[PLUJL(ÄYZ[Z[LWPZ[VPUJYLHZL[OL
MLLKIHJRMHJ[VYMVY[OLHUNSL0M[OPZMHJ-
[VYPZ[VVZTHSS[OLU[OLYVIV[^PSSYLHJ[
ZSV^S`"PM[OPZPZ[VVSHYNL[OLU[OLYVIV[
^PSSX\PJRS`VZJPSSH[LHYV\UK[OLIHSHUJL
WVPU[0U[OLSH[[LYJHZL[OLMLLKIHJRMHJ-
[VYJHUILYLK\JLKHUK[OLMLLKIHJRMHJ-
[VYMVYZWLLKJHUILPUJYLHZLK0U[OPZ^H`
[OLYVIV[^PSSX\PJRS`NHPUPUZ[HIPSP[`(
ÄUHSZ[LWJHUILTHKLI`PUJYLHZPUN[OL
MLLKIHJRMVYZWLLK;OPZ^PSSYLZ\S[PUIL[-
[LYWVZP[PVUPUNMVY[OLYVIV[(MLLKIHJR
MHJ[VY[OH[PZ[VVSHYNLOV^L]LY^PSSTHRL
[OLYVIV[]LY`\UZ[HISL
(ZLJVUKZ[LWPZ[OLJHSPIYH[PVUVM[OLZLU-
ZVYZ;OLTLHZ\YLTLU[]HS\LZMYVT[OL
ZLUZVYZN`YVZJVWLHJJLSLYVTL[LYJHU
ILYLHKPU[VH7*]PH[OLTPJYVJVU[YVS-
SLY:LUZVYZ[OH[WYV]PKLHYLHKV\[PU[OL
MVYTVMHW\SZL^PK[OTVK\SH[LKZPNUHSHYL
X\P[LJVTTVU)`JVTWHYPUN[OLTLHZ-
\YLKW\SZL^PK[O^P[O[OLYLHKPUNMYVT[OL
WV[LU[PVTL[LY[OH[PZTV\U[LK[V[OLHYT
[OLHUNSLHUKHUN\SHY]LSVJP[`JHUILLHZPS`
KLYP]LK+\YPUN[OLJHSPIYH[PVU[OLKYP]L
MVY[OLYVIV[JHUILZ^P[JOLKVMM)`TV]-
PUN[OLYVIV[IHJRHUKMVY[OI`OHUK[OL
HUNSLHUKHUN\SHYZWLLKHYLJOHUNLKHUK
[OLJHSPIYH[PVUJHUILWLYMVYTLK>OLU
JHSPIYH[PUN[OLHJJLSLYVTL[LYP[PZPTWVY-
[HU[[VTV]L[OLYVIV[IHJRHUKMVY[O]LY`
ZSV^S`ZV[OH[[OLK`UHTPJHJJLSLYH[PVUPZ
HZZTHSSHZWVZZPISLHUKVUS`[OLHJJLSLYH-
box-column drill
wooden block covered
with sandpaper
long M3 screw
or threading
washer
070145 - 11
[PVUK\L[VNYH]P[`PZVIZLY]LK
([OPYKZ[LWPZ[OLJHSJ\SH[PVUVM[OLHUNSL
HUKHUN\SHY]LSVJP[`![OLYLZ\S[ZMYVT[OL
ZLUZVYZOH]L[VILJVTIPULKPUZ\JOH^H`
[OH[[OLHUNSLVM[OLYVIV[HUK[OLZWLLK
H[^OPJO[OPZHUNSLJOHUNLZPZVI[HPULK
;OLJHSJ\SH[PVU[OH[THRLZ[OPZWVZZPISL
OHZILLUKLZJYPILKHIV]L;OL^LPNOPUN
MHJ[VYZJHUILKL[LYTPULKI`TV]PUN[OL
YVIV[MVYZVTL[PTLTPU\[LMVYL_HT-
WSLHUKYLHKPUN[OL]HS\LZMYVT[OLZLU-
ZVYZHJJLSLYVTL[LYN`YVZJVWLHUKWV[LU-
[PVTL[LYVU[OLHYT(ZWYLHKZOLL[VU[OL
7*JHUZ\IZLX\LU[S`IL\ZLK[VHUHS`ZL
[OL]HS\LZHUKKL[LYTPUL[OLJVYYLJ[]HS-
\LZMVY[OL^LPNOPUNMHJ[VYZ
(070294-I)
Web links
[1] http://robotics.ee.uwa.edu.au/the-
ses/2003-Balance-Ooi.pdf This docu-
ment describes a final year project during
which a balancing robot was built. The
research is quite detailed with respect to
the physical and mathematical model-
ling of the problem.
[2] http://leiwww.epfl.ch/joe/ Polytechnic
school of Lausanne. The website is in
French but there are a number of nice
movies.
[3] http://www.geology.smu.edu/~dpa-
www/robo/nbot/ This is the web-
site of D. Anderson who built the NBOT.
[4] www.dena.demon.nl
Dutch website on the construction of a
balancing robot.
[5] www.segway.com Importer of
the Segway.
[6] www.sparkfun.com
ILÄ[[LKPU[OLOVSL5V^ZLJ\YL[OLZJYL^
\ZPUNH^HZOLYHUKU\[HUK[OLUJSHTWP[
PU[OLJO\JRVMHKYPSSWYLZZ<ZPUNHZTHSS
ISVJRVM^VVK^YHWWLKPUZHUKWHWLY`V\
JHUX\PJRS`ZHUK[OLKPZJPU[VHUPJLJPY-
J\SHYZOHWL
-PUHSS`Ä[HSLUN[OVM[VV[OLKY\IILYILS[
HYV\UK[OLJPYJ\TMLYLUJLVMLHJOKPZJVSK
]PKLVYLJVYKLYZHYLHNVVKZV\YJLVYNS\L
ÅH[LSHZ[PJIHUKZ[V[OLY\UUPUNZ\YMHJLZ
(M[LY`V\YLTV]L[OLZJYL^ZHSS`V\OH]L
[VKVPZÄ[[OL^OLLSZVU[OLH_SLZHUK
ZLJ\YL[OLT^P[OHIP[VMZ\WLYNS\L
(070145-1)
elektor electronics - 7-8/2007
R8C Measures Negative Voltages
IC1
+2V5
+12V LM317 +2V5
R1
RE1 D1

100 7
1N4001 J3 LCD K1 +12V
+2V5
R3 1
T1 VSS +12V

100 7
2 +8V
VDD
3 –8V
VO
4
RS LIFT EN
BC547A 5 V LIFT
J1 J2 R/W
R18 1 32 6
E
100 7

2 31 7
–2V5 R8C Module D0

LC DISPLAY
3 30 8 –12V
AN5 D1
4 29 9
AN4 D2
5 28 –2V5 10 –12V
–2V5 VSS D3
6 27 11
AN3 D4
7 26 12
+2V5 VCC AN2 D5
8 25 13
P17 AN1 D6
9 24 14 V WHEEL
P16 AN0 D7
10 23 15
11 22 16
12 21
P13 R5 R7 R13 R9 R11 R19 R15
13 20
P12 +12V

39k

39k

39k

47k

39k

56k

47k
14 19
P11
15 18
P10 P32
16 17 13
P33 SUB D37
+2V5 VDD
2 4
EN S1
MUX 5
S2
8 IC3 6
D S3
7
IC2 S4
12
S5
–12V LM337 –2V5 15
ADG408 11
A2 S6
16 10 R6 R8 R14 R10 R12 R20 R16
R2 A1 S7

10k

10k

10k

10k

10k

10k

10k
1 9
100 7

A0 S8

VSS GND
3 14
R4
100 7

–12V

070010 - 11

Sven van Vaerenbergh (U\U\Z\HSYLX\PYLTLU[MVY[OPZWYVQLJ[PZ [OLJVU]LY[LY^PSSNP]LHUV\[W\[]HS\LVM

UH Brussels, Radio Therapy Dept. [OH[IV[OWVZP[P]LHUKULNH[P]L]VS[HNLZ ^OLU[OLPUW\[]VS[HNLPZaLYV]VS[Z
ULLK[VILTLHZ\YLK5VYTHSS`[OL(+ >LJHUKPZWSH`HTPU\ZZPNUVU[OL3*+
;OLH\[OVYOHK[VKLZPNUHTVUP[VYJPYJ\P[ JVU]LY[LY VM [OL 9* JHU VUS` TLHZ\YL ^OLU[OL]HS\LPZZTHSSLY[OHU
MVY[OLZVJHSSLK/LYJ\SLZ;HISLHULSLJ- ]VS[HNLZIL[^LLUHUK=;OLZVS\[PVU 0U*JVKLP[SVVRZSPRL[OPZ!
[YPJHSS`TV]HISLWSH[MVYTH[[OL<UP]LYZP[` ^HZMV\UKI`\ZPUNHZ`TTL[YPJHS]VS[HNL
/VZWP[HSPU)Y\ZZLSZ[OH[^V\SK^H[JOZL]- MVY[OL9*TVK\SL[OH[PZ—=;OLZL if ( u < 512 ) // less than
LYHSVWLYH[PUN]VS[HNLZHUKJV\SKZ[VW[OL ]VS[HNLZHYLNLULYH[LKI`HU34HUKHU 0, then minus sign
[HISLPUJHZLVMLTLYNLUJ` 34>LUVYTHSS`JVUULJ[NYV\UK=ZZ {
[VWPUVM[OL9*TVK\SL0U[OPZJHZL lcddata (45);
;OLTV]LTLU[VM[OLWSH[MVYT\WKV^U [OH[ILJVTLZ¶=0U[OPZ^H`^LJHU }
PZKVUL^P[OH+*]VS[HNLIL[^LLU= TLHZ\YL]VS[HNLZMYVT=[V¶=
HUK¶=^OLYL[OLTHNUP[\KLVM[OL]VS[- ;OLVUS`WSHJLZPU[OLZJOLTH[PJ[OH[HYL >L HSZV OH]L [V HKQ\Z[ [OL ]VS[HNL SL]-
HNLKL[LYTPULZ[OLZWLLKHUK[OLWVSHYP[` JVUULJ[LK[VNYV\UKHYL[OL]VS[HNLKP]PK- LSZPUZVM[^HYLILJH\ZL[OLZLOH]LILLU
KL[LYTPULZ[OLKPYLJ[PVU;OLYLHYLHSZVH LYZMVY[OL[^V]VS[HNLYLN\SH[VYZ9[V9 SV^LYLKI`[OL]VS[HNLKP]PKLYZ>LHSZV
U\TILYVMÄ_LK]VS[HNLZ[OH[ULLK[VIL HUK[OL]VS[HNLKP]PKLYZ9[V99  OH]L[VKYP]L[OLT\S[PWSL_LY0U*JVKLP[
TVUP[VYLK HUK9MVY[OLZPNUHSZ[VILTLHZ\YLK SVVRZSPRL[OPZ!
(U9*TVK\SLMYVT,SLR[VY,SLJ[YVUPJZ H]HPSHISLH[JVUULJ[VY2^OLYLHSS[OL
^HZZLSLJ[LKMVY[OLPTWSLTLU[H[PVUVM[OPZ PTWVY[HU[ZPNUHSZMYVT[OL/LYJ\SLZ;HISL pd3 _ 3 = 1; //port 3.3 as output
WYVQLJ[ILJH\ZLP[PZ]LY`LHZ`[VJVUULJ[ HYLH]HPSHISL p3 _ 3 = 0; //port 3.3 => for
HU3*+TVK\SL[VP[HUKILJH\ZLP[OHZH channel selection via analogue MUX
NVVK(+JVU]LY[LY^P[OIP[YLZVS\[PVU >LJHUZLL[OH[[OLZJOLTH[PJHSZVJVU- pd3 _ 2 = 1;
VUIVHYK [HPUZHYLSH`[OH[JHUILZ^P[JOLKI`[OL p3 _ 2 = 0; //port 3.2 => for
;OLJVUULJ[PVUMVY[OL3*+ôJOHYPZ 9*[VPTTLKPH[LS`Z[VW[OL[HISLTV]L- channel selection via analogue MUX
PKLU[PJHS[V[OH[VM[OLHWWSPJH[PVUIVHYK TLU[;OPZPZVW[PVUHS
PU,SLR[VY,SLJ[YVUPJZ4HYJOWHNL 5V^^LOH]L[V[HRLZWLJPHSJHYL^OLU ;OYLLJOHUULSZHYLKPYLJ[S`JVUULJ[LK[V
0UHKKP[PVU[V[OLJVU[YVSSLYHT\S[P- ^LOH]LULNH[P]L]VS[HNLZ;OLYLZVS\[PVU [OL(+JVU]LY[LY6ULJOHUULSPZT\S[P-
WSL_LYVM[OL[`WL(+.PZ\ZLK;OPZ VM [OL IP[(+JVU]LY[LYPU[OL9* WSL_LKMVY[OL]VS[HNLZVM=¶=HUK
PZYLX\PYLKILJH\ZL^LULLK[VTLHZ\YL HTV\U[Z[V=$=WLYIP[ ¶=
T\S[PWSL]VS[HNLZ )LJH\ZLVM[OLZ`TTL[YPJHSWV^LYZ\WWS` (070010-I)

7-8/2007 - elektor electronics 121

Formula Flowcode Buggy
A low-cost robot not just for schools & education
Bart Huyskens,
St Joseph’s institute (Schoten, Belgium)

Out of Belgian schools has arrived an £ 85 (125 `)

robot buggy that the designer hopes can reverse
the decline in the study of electronics and
technology across Europe and, potentially, wider.

3PRL THU` PU [OL LUNPULLYPUN [LHJOPUN MYH[LYUP[` [OL H\[OVY PZ
PUJYLHZPUNS`H^HYL[OH[LSLJ[YVUPJZ¶HUKTVZ[LUNPULLYPUNHUKZJP-
LUJLYLSH[LKHJ[P]P[PLZ¶MHPS[VH[[YHJ[`V\UNWLVWSL;VWLVWSL^OV
OH]LNYV^U\W^P[OHMHZJPUH[PVUMVY[LJOUVSVN`[OPZPZHNYLH[ZOHTL
HUKP[YLHSS`PZ]LY`Z[YHUNL^OLU`V\JVUZPKLY[OH[`V\UNWLVWSLHYL
MHZJPUH[LKI`HSS[OPUNZLSLJ[YVUPJ¶SPRLPWVKZKPNP[HSJHTLYHZHUK
TVIPSLWOVULZ)\[MVYZVTLYLHZVUV\YZJOVVSZMHPS[VJHWP[HSPZLVU
[OPZPU[LYLZ[HUKH[[YHJ[`V\UNWLVWSL[V[LJOUPJHSJHYLLYZ
3VUNHUKOHYK[OV\NO[^HZNP]LUHIV\[OV^[VZVS]L[OPZHUK
^OH[[OLYLHSWYVISLTZHYLPUJS\KPUN[OLMHJ[Z[OH[LSLJ[YVUPJZ
JHUILTH[OLTH[PJHSWHY[ZVM[OLZ\IQLJ[ZHYLKPMÄJ\S[[V\UKLY-
Z[HUKHUKP[OHZH]LY`K\SSPTHNL(SSZVY[ZVMPKLHZOH]LILLU
[YPLKHUKZVTLOH]LWHY[PHSS`^VYRLKI\[UV[[VV\YZH[PZMHJ[PVU
;OLYLPZVULL_JLW[PVU[OH[Z[HUKZV\[¶3LNV3LNV»Z5?;YVIV[
SVVRZJVVSPZJVVSHUKPZM\U[V\ZL)\[P[PZL_WLUZP]LKVLZUV[
YLHSS`[LHJOHU`[OPUNHIV\[LSLJ[YVUPJZHUK`V\JHU»[YLHSS`ºNL[
\UKLY[OLOVVK»HUK\ZLP[HZHWSH[MVYTMVYSLHYUPUNTVYL[OHU
Q\Z[ZPTWSLWYVNYHTTPUN
(IV\[ZP_TVU[OZHNVK\YPUNHJVU]LYZH[PVU^P[OLUNPULLYZH[
4H[YP_4\S[PTLKPHPU,UNSHUK^LOHKHUPKLH[OH[TPNO[NVZVTL
^H`[VZVS]L[OPZWYVISLT¶HWYVNYHTTHISLYVIV[I\NN`VMV\Y
V^U^P[OTVYLM\UJ[PVUHSP[`[OHU[OL3LNV5?;[OH[KVLZOH]L
ºVWLUHYJOP[LJ[\YL»^OPJOJHUIL\ZLKMVYH^PKLYHUNLVM[LHJO-
PUNHUKSLHYUPUNHJ[P]P[PLZPULSLJ[YVUPJZHUK[LJOUVSVN`0U[OLZP_
TVU[OZZPUJL^LOH]LILLU^VYRPUNOHYK[VTHRL[OLZLPKLHZ
JVTL[VSPMLHUK^LOH]LJHSSLK[OLWYVQLJ[º-VYT\SH-SV^JVKL»
-VYT\SH-SV^JVKLPZHJVTWSL[LOHYK^HYLHUKZVM[^HYLYVIV[-
PJZZVS\[PVUMVYSLHYUPUNHIV\[LSLJ[YVUPJZHUKWYVNYHTTPUN;OPZ
HY[PJSLKLZJYPILZ^OH[-VYT\SH-SV^JVKLKVLZOV^P[^VYRZOV^
^LOVWLP[JHUIL\ZLK[VSLHYUHSSHIV\[YVIV[PJZ

1. The brains of Formula Flowcode

— a PIC18F4455 microcontroller

19 2. USB socket
3. Master reset switch
4. Programming LED
18 17 5. External 5V supply input
3
2 6. Power switch
7. Plastic chassis with battery
4 1 compartment, motors with
5 13 gearboxes, and 2 wheels.
8. Motor driver chip - a L293D

6 16 9. Microphone with sound level

12 14 amplifier circuit
10. User definable press switches
8
9 11. Distance sensor - right
12. Distance sensor - centre
7 11 13. Distance sensor - left
10
14. Light sensor
15. Line following circuit board
15
16. 8 user definable LEDs
17. Microphone volume control
18. Loudspeaker
19. E-blocks expansion socket

Figure 1. Formula Flowcode functional parts.

122 elektor electronics - 7-8/2007

Figure 2. This diagram of the PIC18F4455 is purposely simplified, showing
only the actually used functions of the pins of the PIC. D stands for
‘Digital I/O’ and A for ‘Analogue input’.

(UKOLYLP[PZ
-PN\YLZOV^ZHWPJ[\YLVM-VYT\SH-SV^JVKLHUKHSPZ[VM[OLJVT-
WVULU[ZHUKMLH[\YLZVU[OLI\NN`)\[OV^KVLZP[HSS^VYR&3L[»ZZ[HY[
H[[OLILNPUUPUN;OL^OVSL)\NN`PZKLZPNULKHYV\UK[OLUL^HUK
Figure 3. The L293D Double H-bridge motor driver circuit.
]LY`WV^LYM\S70*-TPJYVJVU[YVSSLYMYVT4PJYVJOPW;OPZ
WPUKL]PJLVWLYH[LZH[4/aHUK^PSSL_LJ\[LWYVNYHTZH[HUHTHa-
PUNZWLLKVM407:(TLL[ NYLL[KPHNYHTVM[OPZ*7<PZZOV^UPU
-PN\YL;OLKL]PJLJVUULJ[ZKPYLJ[S`[V`V\Y<:)WVY[HUKJVU[HPUZ
HIVV[SVHKLYWYVNYHTZV[OH[P[JHUILWYVNYHTTLK\ZPUNH]LYZPVUVM
-SV^JVKLZ\WWSPLKMYLLVMJOHYNL^P[O[OLI\NN`;OL70*-
OHZ[^VZLWHYH[LOHYK^HYL7>4V\[W\[ZH<(9;0*(UHSVN\L
0UW\[Z7PU7VY[HUK;PTLY0U[LYY\W[ZHUKHSV[VM+PNP[HS06

+YP]PUN+*4V[VYZ
;OL[^V+*TV[VYZ^P[OZLWHYH[LNLHYIV_LZHYLWV^LYLKI`H
JSHZZPJ3 +0*^P[O[^VM\SS/IYPKNLZZLL-PN\YL;OLKPYLJ-
[PVUHUKZWLLKVMLHJOTV[VYJHUILWYVNYHTTLKZLWHYH[LS`PU
-SV^JVKLHUK[OPZTHRLZ[OLI\NN`JHWHISLVMWLYMVYTPUN[OL
JYHaPLZ[TV]LZ`V\JHUPTHNPUL
(Z`V\JHUZLLVU[OLZJOLTH[PJ[OL3 +\ZLZMV\Y70*V\[W\[Z
MVYP[ZJVU[YVS;^VV\[W\[Z9,HUK9,ZL[[OLKPYLJ[PVU^OPSL
[^VOHYK^HYLNLULYH[LK7>4ZPNUHSZH[9*HUK9*NV]LYU
[OLZWLLKVMLHJO^OLLS

Figure 4. Two switches, eight LEDs and the E-Blocks D-type connector.
3,+Z:^P[JOLZ
HUK,ISVJRZ,_WHUKHIPSP[`
;OLZJOLTH[PJVM[OL06OHYK^HYLPZZOV^UPU-PN\YL;OLLPNO[
3,+ZHUK[^VZ^P[JOLZH[[OLMYVU[VM[OL)\NN`^PSSJVTLPUOHUK`
MVY`V\YÄYZ[Z[LWZ^P[O-SV^JVKLHUK^PSSWYV]L[VIL]LY`\ZLM\S
^OLUKLI\NNPUN`V\YTVYLJVTWSL_WYVNYHTZVU[OPZIP[70*
TPJYVJVU[YVSSLY0UWHYHSSLS^P[O[OLLPNO[3,+Z-VYT\SH-SV^JVKL
OHZHU,ISVJRZJVUULJ[VY;OPZ^PSSNP]L[OL\ZLYZ[OLJHWHIPSP[`VM
]LY`LHZPS`L_WHUKPUN[OL)\NN`^P[OZ[HUKHYK,ISVJRZSPRL3*+
)S\L[VV[OHUKTHU`TVYL

:V\UK06HUKSPNO[ZLUZVY
;OLI\NN`JHUYLHJ[[VZV\UKOHUKJSHWZ\ZPUN[OLHTWSPÄLK
TPJYVWOVULJPYJ\P[JVUULJ[LK[V9)(ZZOV^UPU-PN\YL[OPZ
ZV\UKZLUZVYTH`IL\ZLKHZHKPNP[HSPUW\[HUL_[LYUHSPU[LYY\W[ Figure 5. The microphone, loudspeaker and light sensor circuitry.

7-8/2007 - elektor electronics 123


Figure 6. Distance measurement circuit on board
the Formula Flowcode Buggy.
Figure 7. Line follower circuit.
VYL]LUHZHUHUHSVN\LPUW\[;OLI\NN`HSZVPUJS\KLZHZPTWSL
OPNOPTWLKHUJLZWLHRLY[OH[JHUIL\ZLK[VNLULYH[LMYLX\LUJPLZ
IL[^LLU/aHUKR/a([[OLMYVU[VM[OLI\NN`PZHZTHSS
MVY^HYKMHJPUNSPNO[ZLUZVY[OH[HSSV^Z[OL]LOPJSL[VTLHZ\YLSPNO[
PU[LUZP[`PU[OLMVY^HYKKPYLJ[PVU
0UMYHYLK
KPZ[HUJLTLHZ\YPUNJPYJ\P[
;OLI\NN`HSZVPUJS\KLZ[OYLLKPZ[HUJLZLUZVYZVU[OLMYVU[SLM[HUK
YPNO[VM[OLTHPUJPYJ\P[IVHYK-PN\YLZOV^Z[OLJPYJ\P[KPHNYHT
(ZPUNSLZLUZVYPZHJVTIPUH[PVUVMHU093,+[OH[LTP[Z09SPNO[
Figure 8. The simple but all-important power supply.
124
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Pit stop! How can you get involved?

The Formula Flowcode robot buggy was purposely developed to motivate people to want to learn more about robotics and electronics
– from 12 year old pupils who have a curiosity about the subject, right up to those enjoying retirement and still wanting to learn and keep
mentally active. In the USA the First Robotics programme (www.usfirst.org) has been quite successful at stimulating engineers in industry to
collaborate with young people to compete in robotic events. We hope to achieve something similar here; by providing a low cost hardware
software robot, providing online support and quality curriculum. By running workshops and competitions we hope people will be captured
by electronics. If you feel that our aims are worthwhile and achievable, if you want to take part in this programme, or if you are interested
in the competitions and workshops then please let us know. If the level of interest is high then we can write more articles and issue special
‘courses’ for Elektor readers. The author and his colleagues can be contacted by email on barthuyskens@scarlet.be, or through Elektor.

You can purchase a Formula Flowcode buggy from the Elektor SHOP at a cost of £ 85 or ` 125 including VAT.

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Figure 10. Solving a simple ‘left’ maze.

7-8/2007 - elektor electronics 125

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126 elektor electronics - 7-8/2007

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A Robot with an Elephant’s Memory

B. Broussas

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070318 - 11
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7-8/2007 - elektor electronics 131

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(070318-I)

Clap Controlled Switcher

Raj. K. Gorkhali
+5V

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10k
100k

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MV\Y V\[W\[Z (Z HU L_HT-

132 elektor electronics - 7-8/2007

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New Lego MINDSTORMS®
NXT Motor Block
Antoine Authier
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7-8/2007 - elektor electronics
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(070092-I)
[PHSV]LYSVHKZ;OPZJVTWYPZLZV]LYJ\YYLU[
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(070371-I)
Web links
[1] Philo’s NXT® motor internals:
http://www.philohome.com/nxtmotor/nxt-
motor.htm
[2] Lego® 9 V Technic Motors characteristics
compared:
http://www.philohome.com/motors/motor-
comp.htm
133
KiCad: a high-level tool
Electronic CAD available to all
Rémy Halvick
For the month of November, 2005, we had
electronic CAD as the theme of Elektor magazine.
The issue came with a free DVD packed with
software, most of it operating as a Windows demo
version. One of the programs stood out due to
several unique features. Actually, KiCad is a
software package distributed for free under a GPL
license, operating in Linux, Windows and Mac OS
X environments. As an added treat, this marvel is
available in a remarkable number of languages!
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134
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7-8/2007 - elektor electronics 135


Figure 4. CVPCB: choice of component case.
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Internet links
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[1] Kicad 1 homepage
:LSLJ[SH`LYJV\WSPUN0[\Z\HS[VJOVVZLHVULZPKLKJPYJ\P[IVHYK" www.lis.inpg.fr/realise_au_lis/kicad/index.htmlx
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SH`LY;OLH\[VYV\[PUNMLH[\YLNSVIHSH\[VYV\[PUN¢(\[VYV\[LHSS [2] Kicad 2 hmepage
TVK\SLZ^PSSNYLH[S`SLZZLU[OL^VYRPMP[KVLZUV[YV\[L`V\Y iut-tice.ujf-grenoble.fr/kicad/index.html
LU[PYLIVHYK(SS[OH[YLTHPUZPZ[VÄUPZOPUTHU\HSTVKLVY[V
TV]LHML^JVTWVULU[ZHUKYLYV\[L[OLV]LYHSSWYVQLJ[4HU\HS [3] An active group!
http://groups.yahoo.com/group/kicad-users/
YV\[PUNPZHJJVTWSPZOLKVMJV\YZL^P[O[OLTV\ZLHUK`V\^PSS
X\PJRS`UV[PJL[OH[7*)5L^RUV^ZOV^[VWSHJL`V\Y[YHJLZPUH [4] Libraries, user guides
^LSSKPZJPWSPULKMHZOPVU^P[OV\[SHIVYPV\ZS`KLÄUPUN[OLZTHSSLZ[ http://www.kicadlib.org/
JOHUNLPUVYPLU[H[PVU+PZWSH`PUN[OLYH[Z»ULZ[KZLL-PN\YL
LUHISLZX\PJRHUKYLSPHISL^VYR0MZ[YHWZHYLYLX\PYLK[OL`^PSSIL [5] KiCADWiki
ZOV^UVU[OL[YHJLZVU[OLJVTWVULU[SH`LYPUYLKVU-PN\YL http://kicad.bokeoa.com/wiki/index.php/Main_Page
6UJL[OLYV\[PUNOHZILLUÄUPZOLK`V\JHUHKKJLU[YPUN[HYNL[Z
[6] Utilities
KPTLUZPVUPUNHUKHU`V[OLYNYHWOPJZZ\JOHZHSVNVJVW`YPNO[
http://www.rohrbacher.net/kicad/quicklib.php
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[7] Goodies from Brazil: footprints, utilities, etc.
(^PZLWYLJH\[PVUJVUZPZ[ZVMJHYY`PUNV\[H+9*JOLJRPUVYKLY http://www.reniemarquet.cjb.net/kicad.htm
[VLUZ\YL[OH[UVYV\[PUNLYYVYVYZOVY[JPYJ\P[Z[PSSL_PZ[Z(SS[OH[
PZSLM[PZMVY`V\[VKVPZ[VWYPU[VYWSV[[VZ[HY[^P[OVUWHWLYPU [8] KiCAD, from the professional point of view
VYKLY[VKL[LYTPUL[OLMHJ[VYVM[OLWYLJPZLZJHSPUNZL[[PUNP[[V http://xtronics.com/reference/kicad.html
[OLZJHSLYLX\LZ[LKI``V\YWYPU[LY@V\JHU[OLUWYPU[H[YHUZWHY-
[9] Developers
LU[[VPZVSH[L`V\Y0*VY[VNLULYH[L[OLÄSLZYLX\LZ[LKI``V\Y http://developer.berlios.de/projects.kicad
Z\WWSPLY6MJV\YZLWYVMLZZPVUHSZTH`KLTHUKT\JOTVYLMYVT
2P*HK"HJLY[HPUU\TILYVMJVTWHUPLZHYLHSYLHK`\ZPUNP[HYV\UK [10] Kicad hosted in a free world
[OL^VYSK http://kicad.sourceforge.net/en/index.shtml

[11] Kicad, from the Russian point of view.

0UJVUJS\ZPVU http://ru.wikipedia.org/wiki/Kicad

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[OL\ZLY»ZMVY\TSPURBD Figure 8. The main icons on a large scale and in low resolution (the
(060373-I) originals are a standard size, 16 x 16 pixels).

7-8/2007 - elektor electronics 137

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(070359-1)
elektor electronics - 7-8/2007
7-8/2007 - elektor electronics 139
Puzzle creator: Géry Szcepanski

In this bumper double issue of Elektor, A R 3 D 1 Z W

staunch supporters of our monthly D 6 L 3 T 1 Q 5 G J A 2
O H E G 7 0 K U Y
Hexadoku puzzle (their numbers growing
7 0 S L P 6 H Y 2 N 9 I Q
steadily) find themselves confronted with G Q N B J I E 8 V 4 5 D 3 L
a horrific attack on patience, intuition and C Y I Z S K N E X 7 R
intelligence, by a monster puzzle baptised 1 B J X T S O V
5 I L M Q A D O 8 U 2 Y 9
‘Alphanumski’ by its creator.
V 8 C 2 4 5 M G R 0 B 6
0 E T W B Q 9 N X F 3 1
J 3 O G W E I L T
K A 6 U V I P D J N G 8
W 1 5 F J G 0 P 9 4 I 2
3 V 7 8 O W H N P L U S
9 N 6 D U B 5 M E Y
K U M C X R 4 A D G N 3
P 2 O D E Y S Q K T
6 Y Q R X 9 2 K 7 A F O H
0 S K 5 D 2 Y R G H V I
The method of solving the 36x36 cell Alphanumski puz- T M A I N U 1 C W Z B 8
zle shown here is basically the same as for a 9x9 cell Su-
Y 9 F L 2 0 Q Z T E D
doku, a 16x16 cell Hexadoku or even last year’s 25x25
cell Alphadoku. 1 U E P N O L F 4 2 5 X
G B 6 H T X 3 L 0 P A
This month we’re using all letters of the alphabet (A through
Z) and all numerals (0 through 9) to be entered in the cells Z 4 8 D A 7 6 V N J Q U
that make up lines (1x36 horizontally), columns (1x36 ver- 8 2 4 V Y 0 N K J Z A Q W P
tically) and boxes (6x6).
B S T L V U Y 2 4 H
In Alphanumski, all letters of the alphabet (A through Z) and Q F 3 6 2 M D B E 1 T
all numerals 0 through 9 should occur only once in every 7 I W P A R F X S 6 9 U 0
line (1x36), every column (1x36) and every box (6x6; iden-
tified by red outlines and a background colour). D 0 C 3 6 P I K V F L J
U J Y H K 5 Z A I D O
A number of clues are given in the puzzle and these repre-
sent the start situation. M F 8 H Y R 1 J 3 7 W D G
R J 3 M B D Y P L 6 E
All correct entries received for the puzzle go into a draw
B S Q X W P O T 1 0 3
for a main prize and three lesser prizes. All you need to do
is send us the combination of seven letters and nu- I 5 T 6 S 7 W 2 Q 8
merals in the grey boxes. The puzzle is also available C 2 A K L 6 Q U N R 4
as a free download from our website..
(070151-I)
L 1 7 2 H V 8 9 O A I B X

140 elektor electronics - 7-8/2007

 brain wrecker for the holidays
Y M 7 I
J G 6 X F Q L 8
C B 8 S O I E 0 N Solve Alphanumski and win!
D 1 J I F P L R X 9 S Correct solutions received enter a prize draw for an
A O U T B 3 W Z E G J 1 R E-blocks Starter Kit Professional
worth £248.55
0 S 9 X W 7 T 2 A H Y C
and three
L 2 4 9 D 0 5 U P H B Elektor Electronics
G E 8 Q 5 L I 0 9 7 6 R SHOP Vouchers
worth £35.00 each.
W F T R N P 7 X E 0
We believe these prizes
I L 3 Y N A F O K D 1 should encourage all our
readers to participate!
J Z C V H Y 4 D K U 2 I G O
D S 2 8 M B A
O B 9 2 1 X E Z M L C
N M H E X A D O K U V L Participate!
T G 2 Y D K 0 B 5 9 1 6 J C Z Please send your solution (the numbers in the grey boxes) by email to:
editor@elektor-electronics.co.uk
X H O 7 2 P A R S F
Subject: Alphanumski 07-2007 (please copy exactly).
9 V S T Q O W 0 1 6 2 7
Alternatively, by fax or post to:
A 0 5 4 U J G B N X Elektor Electronics Hexadoku
Z L M 1 E C 4 S N G I P 8 5 Regus Brentford
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Fax (+44)(0)208 2614447
O A 3 P 7 4 W 8 U J
M W C Y D Z V T J H G The closing date is 1 September 2007.

R 8 F 7 K Z O 2 U Q M 5 9 1 The competition is not open to employees of Segment b.v., its business partners and/
or associated publishing houses.
S 2 5 T G E K 0 M C L X P
B 3 S X U 6 C I F G
1 W 6
9 Y 4 0 I R X
7 3 F 0
H N K A
E 8
Z S
A
J 5
Prize winners
O H Q 2 Y 3 K The solution of the May 2007 Hexadoku is: B789E.
U A 2 5 Q W S Y 1 B N
The E-blocks Starter Kit Professional goes to:
7 N R P 9 G 4 W M 6 0
Michele Casartelli (I).
2 X V 5 S B P L A Q 0
H 8 I Z 0 F N 1 T C 5 U X An Elektor SHOP voucher worth £35.00 goes to:
David Meiklejohn (AUS) ;
N R 9 M A 2 Y 7 H L 8 D
Tomas Bakke (N) and
L G K X J N O 3 Franz Klein (UK).
3 J W B 0 D V S H T M
K U D T S C M 6 5 J W G E R Y Congratulations everybody!

7-8/2007 - elektor electronics 141

ELEKTORSHOWCASE
To book your showcase space contact Huson International Media
Tel. 0044 (0) 1932 564999 Fax 0044 (0) 1932 564998

ATC SEMITEC LTD EasyDAQ FUTURLEC

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• Plug and Program
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• Professional finish with enclosure
• excellent support and after sale support
http://baec.tripod.com and LEXAN faceplate
• free SW updates
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DECIBIT CO.LTD. FTDI designs and sells • PCB Wizard - PCB design
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example a CR2032 coin cell to it. upgrading peripherals to USB www.maplin.co.uk

142 elektor electronics - 7-8/2007

products and services directory
PCB WORLD SYTRONIC TECHNOLOGY LTD USB INSTRUMENTS
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SHOWCASE YOUR COMPANY HERE
Elektor Electronics has a feature to help • For just £220 + VAT (£20 per issue for image - e.g. a product shot, a screen shot
customers promote their business, eleven issues) Elektor will publish your from your site, a company logo - your
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7-8/2007 - elektor electronics 143

 &
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"

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– Thomas Gosling, 38, electronics enthusiast –


























Cheaper than 11 issues from the newsstand

Subscribers get up to   "!
on special Elektor products
As a welcome gift you get a free 

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No queues, travelling, parking fees or ‘sold out’
Elektor is supplied to your doorstep every month

+



$  )

* 
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*  Always up to date – read your copy before
,





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144 elektor electronics - 7-8/2007

Order now using the Order Form in
the Readers Services section in this issue.
CD-ROM BESTSELLERS
Ethernet Toolbox
This CD-ROM contains all essential
information regarding Ethernet inter-
faces! To help you learn about the
Ethernet interfaces, we have
compiled a collection of all NEW
articles on this topic that have
appeared in Elektor Electronics
and complemented them with additio-
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a collection of data sheets for dedicated Ethernet
interface ICs from many different manufacturers.
The CD-ROM provides a wealth of information about
connectors and components for the physical layer
(PHY) and specific software tools for use with the
Ethernet (Software).
ISBN 978-90-5381-214-3 | £18.90 (US$ 37.90)
Elektor 2006
This CD-ROM contains all
editorial articles published in
Elektor Electronics Volume
2006. Using the supplied
Acrobat Reader program, arti-
cles are presented in the same
layout as originally found in
the magazine. All free, printed,
supplements our readers got last
year, like the Visual Basic, C and i-TRIXX booklets are
also contained on the CD. The Elektor Volume 2006
CD-ROM has a rather different look and feel than
previous editions. It’s gone through a makeover in
more than one way!
ISBN 978-90-5381-207-5 | £16.25 (US$ 28.75)
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A large collection of data-
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tricks and Internet links to
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forgetting matching programmingtools and
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ISBN 978-90-5381-179-5 | £12.05 (US$ 21.25)
Elektor Electronics (Publishing)
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 Order o
www.elektor-el
Order now using the Order Form in
the Readers Services section in this issue.

Stand-Alone OBD2 Analyser Software Defined Radio

(June 2007) (May 2007)

Kit of parts, incl. case, cable, front panel foil Ready-populated and
and mounting materials tested board

070038-72
£ 51.70 / US$ 97.50 070039-91
£ 72.45 / US$ 126.50

Free downloads:
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See www.elektor-electronics.co.uk £ 51.70 / US$ 97.45
No. 367 JULY/AUGUST 2007 £ $ 060241-W Program listing free download
Dual Battery Stand-Alone OBD2 Analyser
070343-1 PCB, bare 5.20 9.75 070038-72 Kit of parts, incl. case, cable, front panel foil and mounting materials 51.70 97.50
070038-21 Online simulator examples free download
Fast Charger for NiMH Batteries 070038-W1 Manual free download
070213-1 PCB, bare www.thepcbshop.com
Whistles from on high
Lithium Charger 060044-1 PCBs, bare; set for TX and RX 12.00 22.75
070273-1 PCB, bare 8.90 12.95 060044-11 CD-ROM, project software 5.20 9.75
Low2 Cost USB Demo Board 060044-41 ATtiny15PC, programmed 10.00 18.75
060342-81 CD-ROM, project software 5.20 9.75
060342-41 PIC18F4550, programmed 15.15 28.50
No. 365 MAY 2007
LPC 900 Programmer Software Defined Radio
070084-1 PCB, bare 6.90 12.95 070039-91 Ready-populated and tested board 72.45 126.50
070039-11 CD-ROM, project software 5.20 9.75
MotoBox
070129-1 PCB, bare www.thepcbshop.com Thank your for Flying USB FliteSim
070129-41 PIC16F628-04/P, programmed 14.80 27.95 060378-1 PCB, bare www.thepcbshop.com
060378-41 PIC18F2550I/SP, programmed 15.50 29.25
Propeller Prototyping Board for BoeBot
070275-1 PCB, bare 11.00 20.75 Universal JTAG Adaptor
060287-1 PCB, bare, with programmed microcontroller 11.00 20.75
Satnav for Robots 060287-41 EP900LC only, programmed P&P only P&P only
070350-81 CD-ROM, project software 5.20 9.75
070350-41 ATmega32, programmed 16.50 31.15 Magnetometer
050276-1 PCB, bare www.thepcbshop.com
Serial Interface for the Propeller
070276-1 PCB, bare www.thepcbshop.com Speedmaster
070021-91 Ready-populated and tested board (excl. R8C module) 51.70 97.45
Stereo Robot Ears
060040-1 PCB, bare www.thepcbshop.com Seismograph
060040-81 CD-ROM, project software 5.20 9.75 060307-1 PCB, bare www.thepcbshop.com
060040-41 PIC16F88, programmed 10.00 18.85 060307-11 CD-ROM, project software 5.20 9.75
060307-41 ATTiny45,programmed 10.35 19.50
No. 366 JUNE 2007 ATtiny as RDS Signal Generator
2.4 GHz WiFi Spectrum Analyser 060253-41 Attiny2313-20, programmed 4.20 7.80
070040-1 PCB, bare 8.25 15.50 No. 364 APRIL 2007
070040-11 CD-ROM, Linux & Windows software 5.20 9.75
Battery Charge-n-Check
Coil Clinic 050073-1 PCB, bare, main board 10.30 19.50
060195-1 PCB, bare 7.60 14.25 050073-2 PCB, bare, display board 10.30 19.50
060195-11 CD-ROM, project software 5.20 9.75 050073-11 CD-ROM, project software 5.20 9.75
060195-41 Atmega48-20PU, programmed 5.20 9.75 050073-41 ST7FMC2S4, programmed 16.90 31.85
Linux Oscilloscope
060241-11 CD-ROM, project software 5.20 9.75
 Elektor Electronics (Publishing)
Regus Brentford
nline at 1000 Great West Road
Brentford TW8 9HH
ectronics.co.uk United Kingdom
Tel.: +44 (0) 208 261 4509
Fax: +44 (0) 208 261 4447
Due to practical constraints, final illustrations and specifications
Email: sales@elektor-electronics.co.uk
may differ from published designs. Prices subject to change.
See www.elektor-electronics.co.uk for up to date information.

Wireless USB in miniature

Kits & Modules
(March 2007)
g-Force on LEDs
(April 2007)

iDwarf -168 Transmitter

PCB set, bare,
module (built & tested) incl. 2 MMA7260
050402-91
sensors, BDM cable
£ 24.10 / US$ 45.45 parts

060297-71
£ 10.00 / US$ 18.85
iDwarf Node Board
(built & tested) USB Stick with ARM
050402-91
and RS232
£ 17.20 / US$ 32.45 (November 2006)

Assembled and
iDwarf Hub Board tested board
(built & tested)
050402-93

£ 17.20 / US$ 32.45 060006-91

£ 79.90 / $ 149.95

g-Force on LEDs £ $ FPGA Course (9)

060297-71 PCB set, incl. 2 MMA7260 sensors, BDM cable parts 10.00 18.85 060025-9-11 CD-ROM, course software incl. source code 5.20 9.75
060297-11 CD-ROM, project software 5.20 9.75 Explorer-16 Value Pack
Programmer for Freescale 68HC(9)08 060280-91 Four components packaged together in a single box 122.90 232.50
060263-1 PCB, bare www.thepcbshop.com No. 361 JANUARY 2007
A Simple Mains Inverter
060171-1 PCB, bare www.thepcbshop.com Sputnik Time Machine
050018-1 PCB www.thepcbshop.com
Very Simple Clock 050018-11 CD-ROM, project software (incl. source code) 5.20 9.75
060350-1 PCB, bare www.thepcbshop.com 050018-41 AT89C2051, programmed 3.40 6.45
E-blocks Light Chaser Squared Very Simple Clock
075032-1 PCB, bare www.thepcbshop.com 060350-1 PCB www.thepcbshop.com
No. 363 MARCH 2007 060350-11 CD-ROM, project software (incl. source code) 5.20 9.75
060350-41 PIC16F628-20, programmed 5.50 10.35
AVR drives USB
060276-1 PCB, bare 10.00 18.85 FPGA Course (8)
060276-11 CD-ROM, project software incl. source code 5.20 9.75 060025-8-1 Software (incl. source code) 5.20 9.75
060276-41 ATmega32-16PC, programmed 8.95 16.85 No. 360 DECEMBER 2006
Wireless USB in Miniature Shortwave Capture
050402-1 PCB, bare, iDwarf prototyping board 8.30 15.60 030417-1 PCB, bare (receiver board) www.thepcbshop.com
050402-91 iDwarf -168 Transmitter module (built & tested) 24.10 45.45 030417-2 PCB, bare (control & display boards) www.thepcbshop.com
050402-92 iDwarf Node Board (built & tested) 17.20 32.45 030417-41 AT90S8515-8PC, programmed 11.40 21.45
050402-93 iDwarf Hub Board (built & tested) 17.20 32.45 No. 359 NOVEMBER 2006
Mobile Phone LCD for PC
060184-1 PCB, bare www.thepcbshop.com USB Stick with ARM and RS232
060184-11 CD-ROM, project software 5.20 9.75 060006-1 PCB, bare 11.00 20.75
060184-41 ATmega16-16PC, programmed 8.95 16.85 060006-41 AT91SAM7S64, programmed 27.60 51.95
060006-91 Assembled & tested board 79.90 149.95
Scale Deposit Fighter 060006-81 CD-ROM, all project software 5.20 9.75
070001-1 PCB, bare www.thepcbshop.com
No. 358 OCTOBER 2006
No. 362 FEBRUARY 2007
PIC In-Circuit Debugger/Programmer
… 3, 2, 1 Takeoff! 050348-1 PCB 5.20 9.75
050238-1 Transmitter PCB, bare www.thepcbshop.com 050348-41 PIC16F877, programmed 17.90 33.75
050238-2 Receiver PCB, bare www.thepcbshop.com 050348-71 Kit, incl. PCB, controller, all parts 34.50 64.95
MP3 Preamp
060237-1 PCB, bare www.thepcbshop.com Products for older projects (if available) may be found on
A Telling Way of Telling the Time our website www.elektor-electronics.co.uk
050311-1 PCB, bare www.thepcbshop.com
050311-31 CPLD, programmed 35.50 66.95 home construction = fun and added value
 INFO & MARKET SNEAK PREVIEW

FREE LED DRIVER

with every issue!
With preassembled components!
Experiment with white LEDs!

Equipment Test: audio amplifier modules

Home construction of power amplifiers remains a popular activity among audiophile electronics enthusiasts. Besides the
high-end audio construction projects Elektor has become famous for, you may also consider using one of the power ampli-
fier modules available commercially either ready-built or as a kit. These modules require only a power supply and an enclosure to make an audio amp. We have collected a number
of interesting AF power modules and put them through their paces in our audio lab. The test results are presented in the September issue.

GPS Tracker
Ten years ago a technical novelty, now dead common: positioning systems using GPS (Global Positioning System). GPS-
based navigators are extremely popular, especially among motorists. However, a GPS receiver is not just suitable for
determining one’s own location on the globe, but also that of an object, for example, your car! Elektor’s GPS Tracker
was developed specifically for that purpose. It’s a small circuit comprising a GSM modem, a GPS receiver and a mini-
ature antenna. When the GSM modem is texted (by SMS), the receiver will return its current coordinates. This allows
you to track the object the circuit is attached to.

RESERVE YOUR COPY NOW! The September 2007 issue goes on sale on Thursday 23 August 2007 (UK distribution only).
UK mainland subscribers will receive the magazine between 18 and 21 August 2007. Article titles and magazine contents subject to change, please check www.elektor-electronics.co.uk.

NEWSAGENTS ORDER FORM

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Elektor Electronics is published on the third Thursday of each
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Elektor Electronics on the web
All magazine articles back to volume 2000 are available online in pdf format. The article summary and parts list (if applicable)
can be instantly viewed to help you positively identify an article. Article related items are also shown, including software down-
loads, circuit boards, programmed ICs and corrections and
updates if applicable. Complete magazine issues may also
be downloaded.
In the Elektor Electronics Shop you’ll find all other products
sold by the publishers, like CD-ROMs, kits and books. A
powerful search function allows you to search for items and
references across the entire website.

Also on the Elektor Electronics website:

•Electronics news and Elektor announcements
•Readers Forum
•PCB, software and e-magazine downloads
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•FAQ, Author Guidelines and Contact
148 elektor electronics - 7-8/2007
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ORDERING INSTRUCTIONS, P&P CHARGES

Except in the USA and Canada, all orders, except for subscriptions (for which see below), must be sent BY POST or FAX to our Brentford address
using the Order Form overleaf. On-line ordering: http://www.elektor-electronics.co.uk
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forms directly to us, but instead use the National Giro postage paid envelope and send it to your National Giro Centre.
Credit card VISA, Access, MasterCard, JCBCard and Switch cards can be processed by mail, email, web, fax and telephone. Online ordering
through our website is SSL-protected for your security.

COMPONENTS

Components for projects appearing in Elektor Electronics are usually available from certain advertisers in this magazine. If difficulties in the supply
of components are envisaged, a source will normally be advised in the article. Note, however, that the source(s) given is (are) not exclusive.

TERMS OF BUSINESS

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received at our Brentford office within 10-days (UK); 14-days (Europe) or 21-days (all other countries). Cancelled orders All cancelled orders
will be subject to a 10% handling charge with a minimum charge of £5·00. Patents Patent protection may exist in respect of circuits, devices,
components, and so on, described in our books and magazines. Elektor Electronics (Publishing) does not accept responsibility or liability for failing
to identify such patent or other protection. Copyright All drawings, photographs, articles, printed circuit boards, programmed integrated circuits,
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Law Any question relating to the supply of goods and services by Elektor Electronics (Publishing) shall be determined in all respects by the laws
of England. January 2007

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HOW TO PAY SUBSCRIPTION CONDITIONS

Bank transfer into account no. 40209520 held by Elektor Electronics
(Publishing) / Segment b.v. with ABN-AMRO Bank, London. IBAN: GB35
ABNA 4050 3040 2095 20. BIC: ABNAGB2L. Currency: sterling (UKP).
Please ensure your full name and address gets communicated to us.
Cheque sent by post, made payable to Elektor Electronics (Publishing)
/ Segment b.v.. We can only accept sterling cheques and bank drafts
from UK-resident customers or subscribers. We regret that no cheques
can be accepted from customers or subscribers in any other country.
Giro transfer into account no. 34-152-3801, held by Elektor
Electronics (Publishing) / Segment b.v. Please do not send giro transfer/
deposit forms directly to us, but instead use the National Giro postage
paid envelope and send it to your National Giro Centre.
Credit card VISA, Access, MasterCard, JCBCard and Switch cards can
be processed by mail, email, web, fax and telephone. Online ordering
through our website is SSL-protected for your security.
The standard subscription order period is twelve months. If a perma-
nent change of address during the subscription period means that
copies have to be despatched by a more expensive service, no extra
charge will be made. Conversely, no refund will be made, nor expiry
date extended, if a change of address allows the use of a cheaper
service.
Student applications, which qualify for a 20% (twenty per cent) reduc-
tion in current rates, must be supported by evidence of studentship
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standard Student Subscription costs £33.50, a Student Subscription-
Plus costs £40.40 (UK only).
Please note that new subscriptions take about four weeks from receipt
of order to become effective.
Cancelled subscriptions will be subject to a charge of 25% (twenty-
five per cent) of the full subscription price or £7.50, whichever is the
higher, plus the cost of any issues already dispatched. Subsciptions
cannot be cancelled after they have run for six months or more.
January 2007
 ISBN 978-90-5381-214-3
£18.90 / US$ 37.90




NEW



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INDEX OF ADVERTISERS
ATC Semitec Ltd, Showcase. . . . . . . . . . . www.atcsemitec.co.uk . . . . . . . . . . . . . . . . . . 142
Avit Research, Showcase. . . . . . . . . . . . . www.avitresearch.co.uk . . . . . . . . . . . . . . . . . 142
BAEC, Showcase . . . . . . . . . . . . . . . . . . . http://baec.tripod.com . . . . . . . . . . . . . . . . . . 142
Beijing Draco . . . . . . . . . . . . . . . . . . . . . . www.ezpcb.com . . . . . . . . . . . . . . . . . . . . . . . 109
Beta Layout, Showcase . . . . . . . . . . . . . . www.pcb-pool.com. . . . . . . . . . . . . . . . . 139, 142
Bitscope Designs . . . . . . . . . . . . . . . . . . www.bitscope.com . . . . . . . . . . . . . . . . . . . . . . . 3
Compact Control Design . . . . . . . . . . . . . www.compactcontrol.co.uk. . . . . . . . . . . . . . . . 39
Decibit Co. Ltd, Showcase . . . . . . . . . . . . www.decibit.com . . . . . . . . . . . . . . . . . . . . . . 142
EasyDAC, Showcase . . . . . . . . . . . . . . . . www.easydaq.biz . . . . . . . . . . . . . . . . . . . . . . 142
Easysync, Showcase . . . . . . . . . . . . . . . . www.easysync.co.uk. . . . . . . . . . . . . . . . . . . . 142
Elnec, Showcase . . . . . . . . . . . . . . . . . . . www.elnec.com . . . . . . . . . . . . . . . . . . . . . . . 142
Eurocircuits . . . . . . . . . . . . . . . . . . . . . . . www.eurocircuits.com . . . . . . . . . . . . . . . . . . 139
First Technology Transfer Ltd, Showcase . www.ftt.co.uk . . . . . . . . . . . . . . . . . . . . . . . . . 142
Future Technology Devices, Showcase . . . www.ftdichip.com . . . . . . . . . . . . . . . . . . . . . . 142
Futurlec, Showcase . . . . . . . . . . . . . . . . . www.futurlec.com . . . . . . . . . . . . . . . . . . . . . . 142
Jaycar Electronics . . . . . . . . . . . . . . . . . . www.jaycarelectronics.co.uk . . . . . . . . . . . . . . . . 2
JB Systems, Showcase . . . . . . . . . . . . . . www.modetron.com . . . . . . . . . . . . . . . . . . . . 142
Labcenter. . . . . . . . . . . . . . . . . . . . . . . . . www.labcenter.com. . . . . . . . . . . . . . . . . . . . . 152
London Electronics College, Showcase . . www.lec.org.uk . . . . . . . . . . . . . . . . . . . . . . . . 142
Microchip . . . . . . . . . . . . . . . . . . . . . . . . www.microchip.com . . . . . . . . . . . . . . . . . . . . . 61
Mikro Elektronika . . . . . . . . . . . . . . . . . . . www.mikroe.com . . . . . . . . . . . . . . . . . . . . . . 8, 9
MQP Electronics, Showcase. . . . . . . . . . . www.mqp.com . . . . . . . . . . . . . . . . . . . . . . . . 142
New Wave Concepts, Showcase . . . . . . . www.new-wave-concepts.com . . . . . . . . . . . . 142
Newbury Electronics . . . . . . . . . . . . . . . . www.newburyelectronics.co.uk . . . . . . . . . . . . 139
7-8/2007 - elektor electronics
!
-11
0.4
03/
12.5


Number One Systems . . . . . . . . . . . . . . . www.numberone.com . . . . . . . . . . . . . . . . . . . . 60
Nurve Networks . . . . . . . . . . . . . . . . . . . . www.xgamestation.com . . . . . . . . . . . . . . . . . 139
Paltronix. . . . . . . . . . . . . . . . . . . . . . . . . . www.paltronix.com . . . . . . . . . . . . . . . . . . . . . . . 7
PCB World, Showcase . . . . . . . . . . . . . . . www.pcbworld.org.uk . . . . . . . . . . . . . . . . . . . 143
Peak Electronic Design. . . . . . . . . . . . . . . www.peakelec.co.uk . . . . . . . . . . . . . . . . . . . . . . 6
Pico. . . . . . . . . . . . . . . . . . . . . . . . . . . . . www.picotech.com . . . . . . . . . . . . . . . . . . . . . 109
Quasar Electronics . . . . . . . . . . . . . . . . . . www.quasarelectronics.com . . . . . . . . . . . . . . . 97
Robot Electronics, Showcase . . . . . . . . . . www.robot-electronics.co.uk. . . . . . . . . . . . . . 143
Scantool . . . . . . . . . . . . . . . . . . . . . . . . . www.ElmScan5.com/elektor . . . . . . . . . . . . . . 139
Schaeffer AG . . . . . . . . . . . . . . . . . . . . . . www.schaeffer-ag.de . . . . . . . . . . . . . . . . . . . 109
Showcase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142, 143
SourceBoost Technologies, Showcase . . . www.sourceboost.com . . . . . . . . . . . . . . . . . . 143
Sytronic Technology Ltd, Showcase . . . . . www.m2mtelemetry.com . . . . . . . . . . . . . . . . 143
Tsien (UK) Ltd, Showcase . . . . . . . . . . . . www.componentbin.com . . . . . . . . . . . . . . 6, 143
Ultraleds, Showcase . . . . . . . . . . . . . . . . www.ultraleds.co.uk . . . . . . . . . . . . . . . . . . . . 143
USB Instruments, Showcase . . . . . . . . . . www.usb-instruments.com . . . . . . . . . . . . . . . 143
Virtins Technology, Showcase . . . . . . . . . www.virtins.com . . . . . . . . . . . . . . . . . . . . . . . 143
Advertising space for the issue of 24 September 2007
may be reserved not later than 28 August 2007
with Huson International Media – Cambridge House – Gogmore Lane –
Chertsey, Surrey KT16 9AP – England – Telephone 01932 564 999 –
Fax 01932 564998 – e-mail: gerryb@husonmedia.com to whom all
correspondence, copy instructions and artwork should be addressed.
151
 DESIGN
SUITE
TIME FOR A CHANGE ?

NEW IN DESIGN SUITE 7:

NEW: Redesigned User Interface includes modeless
selection, modeless wiring and intuitive operation to
maximise speed and ease of use.
NEW: Design Explorer provides easy navigation,
design inspection tools and cross-probing support to
improve quality assurance and assist with fault
¿QGLJ  of both hardware and software problems.
NEW: 3D Visualisation Engine provides the means to
preview boards in the context of a mechanical design
prior to physical prototyping.
NEW: Simulation Advisor includes reporting on
simulation problems with links to detailed
troubleshooting information where appropriate.
NEW: Trace capability within both MCU and
peripheral models provides detailed information on
system operation which allows for faster debugging
NEW: Hundreds of new device models including
PIC24, LPC2000, network controllers and general
purpose electronic components.

Electronic Design From Concept To Completion

Labcenter Electronics Limited
Registered in England 4692454

E-mail: info@labcenter.com Tel: +44 (0) 1756 753440 Fax: +44 (0) 1756 752857

Registered Address: 53-55 Main Street, Grassington, North Yorks, UK, BD23 5AA