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Fig. 2-8.

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Fig. 2-9.

4

The IR link discussed in the next few paragraphs combined with the PIC microcontroller outlined in Chap. 7 will allow users to program communications between mobile robots for games like tag and follow the leader. Adding a digital display If reading binary numbers is too cumbersome, we can add a digital numerical display. The output from the chip may also be fed to a binary-coded-decimal (BCD) to 7-segment decoder chip, such as the 7448. The 7448 IC is connected to a 7-segment display like the MAN 74 (common cathode). These two chips will provide a digital readout (see Fig. 5.23). Testing For testing purposes connect the output from the 5089 chip (pin 16) to the input of the G8870 chip, using either a keypad or dip switches to generate the DTMF signals. The receiver will display the output via the LEDs or segmented display. Adding IR transmission Once the DTMF chips are operating properly, it becomes a simple matter to connect the chips via an IR link. The output of the 5089 chip is connected to the base of a common NPN transistor (see Fig. 5.24). A high-power IR LED diode is connected to the emitter

Given the distance along X and the distance along Y, you can calculate the distance d between the two points. When the distance represents motion, it is a vector. When this motion is considered across a measured span of time, it de nes a velocity: q d x2 y2 q v x2 y2 2-1

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If you can lift objects o the desk, there is a third axis that points straight up from the desk, the Z-axis (Fig. 2-10), perpendicular to both X and Y. Z adds a third number to the vector, making it a three-dimensional vector. Another word for each number, x, y, or z, in a vector is ordinate. While the motion of an object in space is a vector, the position of an object in space is called a coordinate (Fig. 2-11). A coordinate speci es the distance of an object from an arbitrary, prede ned point in space called the origin. The origin is normally described as being at position x 0, y 0, z 0 or (0, 0, 0) (Fig. 2-10). All positions in space are then distances from this origin. The whole package, the three axes plus the origin and the units used to measure it, is called a coordinate system. In this case, the Cartesian coordinate system. There are other systems of position, such as the polar coordinate system, not used here.

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