Presentation | Power supply | Infra-red radar | Motor drivers | CPU |
PC Interface | PC Software | Frame
Italian documentation

CPU and radio system

On the CPU board you can find the microcontroller, a ST62T10, containing the software.

You can put on this board the radio receiver, if you have one.

The microcontroller contains the software. Its principal funcion are:
- wait for the route from PC;
- run the way.

ST62T10 microcontroller

Specifications and features:
- 2 KB (2048 bytes) of PROM memory (OTP);
- 64 bytes of RAM memory;
- 60 bytes of Data Rom Windows memory;
- 12 Input/Output lines;
- 1 A/D converter;
- 1 programmable timer;
- 1 Watchdog register;
- 1 Non Mascherable Interrupt.

This microcontroller has 12 input/output lines, programmable by software as with/without pull-up input, interrupt input, analog input, pull-up or open collector output. To protect the ST6 it's better to isolate I/O lines with a buffer. So short-circuits cannot damage the microcontroller.

Stream uses only 4 I/O lines, 3 as output and 1 as input. Outputs are connected to the step motors (clock, left and right signals), and the input get data from the PC (by radio or cable). The 8 unused I/O lines can be employed to drive other devices.

Stream uses the Non Mascherable Interrupt (NMI) to get data from radar system: so as soon as the radar see an object on the way, the robot stops.

The programmable timer is used to synchronize the serial comunication with the PC.

ST62T10 Software

By first some internal register are set to make the ST6 works properly: so I/O lines, timer, interrupts and route table are initialized.

Then the microcontroller wait for a route from the PC, and Stream is idle. When Stream get data from the PC, the ST6 decode and store them into the route table.

At least data stored into the route table are read and Stream run the way. If the radar get an obstacle stop immediately the robot, waiting for another route. When the way is off, Stream go idle, waiting for data.

Electric sheet

Printed circuit board

COMPONENTS:

R1= 100 Kohm - 1/4 W
C1=C2= 0.1 uF - 63 V - polyester
C3=C4= 22 pF - ceramic
C5= 1 uF - 63 V - electrolitic
IC1= uP ST62T10
IC2= 74LS244
IC3= RF module RF290A
XTAL1= 8 MHz crystal
S1= N.A. button
MORS1= 6 pole connector

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