“MICROCONTROLADORES EN ROBÓTICA MÓVIL” - Profe Saul

!"#$%&'() * +, -"#$! ! ! - ."# !-/! * !!!!Microcontroladores ServomotoresEstructuraRobótica Hardware TimersMóvil Software PWM

0(#( 0( GD$,F: 0(00> 0(@4 H DH 74F00'E$000:40:0> H @0" @%0 ?E7@'008$?4@:@?,"#?#"16$6,?1294"#? 95",#16,"#%&'()B>@),1I74#41I B>@"B> @#B> @0#B@@?-JB@B) B@%*B@($JB0 @(B0 @(B0@

@(0#KB0@'?B@@:#B@@$#?4#A"BB@"BB@*BB@0?-JBB @0$BB @0&BB @00#C* B%@@$JB%@B#*B(@%#B(@0C ?.B'@0"B'@0*B'@00$JB'@0@#B'@0B#B: @@,?4?&1 ?1294"#?$82?#8L4"#?#1641,?7?186?,M1"4 1M6N4"#1%>@@"%>@@$%>@@0$*%@@@$%@@B$J%@@%#%B

@B2O O O O O O %@@B"%@@B$*%@@B0AJ%B@B@$JO %B@BB$%%@B%#%%@B(#%(@%.%'@%"%'@%*%'@%0AJ%:@%0# ,:0%: @%0"#%&'(%%:@%@$J(>@%B#(>@%%#(>@(M1$((@("( @(,"?(@(*(@(0AJM1$((0 @(0$M1$((0 @(0?(0@(@$J(0%

@(B#(@@(%#(@@' "#11214P5PO O (B@'"(B@'*(B@'0AJO O (B@'@$JO (%@'B#(%@:$8 1Q ? 1Q((@:"((@:*((@:0AJ('@:@$J('@:B#(' !(:B .(:B6&'>B '>B'BB0 ''B@':BB :" !:(2"2,"1M?&"?:'$H ::(

1. Objetivos,G ! "# %&'() - G * - ! C - G -R- ! - - -!- R- #G ! -* ,- -G-- '

2. INTRODUCCIÓN2.1. ¿Que es un microcontrolador?, - * .:(%- C D ! !!F - * -.& "64,S-:'! S*!-$" 6$S!?4 ,S! ? - 4-- G !'>'%!- G GC5• # '!- %05• #G• ? '• 1 @T2• &G0> U• R E ! EU• 2GD#A 1$F• $• $ *!-• " 22• G 1 V? C? C• 1 • - #8DPM*PH 7F• !&8,,I78,)!$0!$@0!!• H U• 0 %• B%" 6 U+ # - ! - * ! *- :

2.2. Características de un Microcontrolador##$%&!' !()? MG *!(!!(+) .%*%''!!'!,!(+)7. )#!*-+ ./0 !1 $ D; =F! - D;?$"=F! *D;7$=F###!2 -) @! ' % 7 D! ! !F2 !) % 0 4 D !!7?!F2)0!%@!'& D!!F##3(4%!!)B5!005!B5!5)WH H 5!)TAMA>

2.3. Diferencias entre Microcontrolador y Microprocesador6!'*7+) 6!*7 +)7 - ! D 64?7?E$?,"7?!?E7! !F

2.4. Criterios de selección#8$&!!96!);# =?* DJJF-)#J6 (4)!6 )DB> B>>>> *F6 5!!!)& -) ? X'>D'!Y:(>F """#8#:!I! G! #83,- ;'!!9')D *H +IZ0B>>>>>!$ IZB>>>>>!'>BIZ0>>>>!%'A#IZ>>>>>!X'>IZ:B>>>FI '!!!)'>'%IZ'>'%IZ'>0'%IZ'>@'%IZ%'>IZ%'>:IZ%'IZ%'6!'!!!9(,), * $ -#88!'I'!!',!!)-.

I

3. La familia PIC16F87X3.1. ¿Qué es un PIC? Introducción histórica../0 18"#1 E&,?$A 4!=!!:%BM"! -1 1 7 M" 7 ?/0ICCCC?/BICCCCM" %!#%>>! (> ! G E$ M".#"D"#F:(B&. * !*E$ *-% ! - -.6C.-.:(B!!-"#%#BC?*!:(B6 1$ 1 *! -.!! "#- R7'>!M" !G ! !CM"7M" "D F!:'B5# "!*#!?,5 .! ?/0!?/B!G"#1 1 $ .!?4!# !6 1$"#%BC. - .!1 7 # 1$!14 1 !"#%#BC? RG-! *G@

3.2. Familia microcontrolador PIC $# >>>)'I IE@I J"#S"$#'I 7"$1"#@ I@I!>@ 2GG +B5 G J00"'1 %@? $" >5!9)I J"#S"$#@I!'I!>I'I $1"#$$1I> [ 2GG +>5 14A'? $" >>>5!9)@I J"#S"$# 'I%'I @I> !'[ G 'I 0B"#+?II7IA0%'? B%1 $? >>>5!9)%I J "#S #8\"$#-C%IJ00 %0'@ #G B' %" A:>? B% 1 $@ >>>5!9)%I J ?-"$#A+%I'I(( %@T @> ! 1 0 AB0%? >@1 B

3.3. Características generales de la familia PIC16F87X.7 +"#%&'(0!"#%&'(@!"#%&'(%"#%&'((#*+4! $"5@?3 $"5@?8 $"5@?" $"5@??& *C 7#I> 7)I> 7)I> 7)I> &,?$A@@T2 @T2 'T2 'T2? : : 0%' 0%'1 ' ' B% B%E$ ?!2# ?!2!#7 ?!2# ?!2!#76] ' @> ' @>" 0 @ 0 @4 0 0 0 0## #$ $$!8$?4 $$!8$?4 $$!8$?4 $$!8$?4# I $ I $,#?E7>B ' B '3" 0B 0B 0B 0B, @ @ @ @DF1!211!211!211!21DH 4!1$4FDH 4!1$4FDH 4!1$4FDH 4!1$4F%

3.4. Visión externa (encapsulado / pines).(

!$"5@?3A?"."67""6^$1"#"6^"E1E42471$#E#,T"6 : : " $4E# 1$IE.GC1$#E#,T184 > > 1 IIIII $#! 1$##,T184!._.1$#!G#,E5 "E $4 D #FGG ?"E1?>E?6> "E1 44, >?E?6 0 0 "E1 44, ?E?6E5I @ @ "E1 44, E5G?0E?60E5V B B "E1 44, 0E5G ?@E41#T" % % "E1 $4 $EG 4>?BE$$E?6@( ( "E1 44, @E$ 2"E12>E"64 "E1 44,E C$42 "E1 44, 2 0 0 "E1 44, 20EM @ @ "E1 44, GG 2@ B B "E1 44, 2B % % "E1 44, 2%EM# ( ( "E1 44,E$42(EM7 ' ' "E1 44,E$4 E$.G E$.#"E1#>E41$1E4#T" "E1 $4 $4EG4#E41$#"E## "E1 $4 4E# E$# E$H #E## 0 0 "E1 $4 # E$# E$H #0E$#TE$#, @ @ "E1 $4 $.GE$ $""`##@E$7"E$7? B B "E1 $4 $"I "`#:

#BE$71 % % "E1 $4 $ $"#%E4)E#T ( ( "E1 $4 $8$?4E$.G#(E)E74 ' ' "E1 $4 8$?4E$.5 '!: '!: III 45 > > III ?"a 1a$ "E1aE$ aIIIIIa644,a44,$4a$$ C!$## 1$->

3.5. Visión Interna. $"5@?3A@?" $"5@?8A@??

3.6. Sistema de memoria.4-A! !? ! "#%&'()+ , - R # R'!(

'!'$"5@??A@?"'!'$"5@?8A@?30

3.7 Características especiales4"#%&'()! . C * ,-+17$4!+CDJ!1FD2JI!21F!+bJI DH 4Fb1I D1$4F05 @4 H H 74FB"$,!G%("7D>>>I>>0F'# :# !GG> #! G ,?2I"#74 !- ,- >>(+D?77$$>>(AF0I!! #+#>+&,?$A2 728M+ a !2%2("E1>a !2%2(*>! 6 :! H 4+&,?$AA a, #16>a, #16'! #7+# 1 a >a@

(! ,5+A GG a20EM M ! >a20"E1!A5 #, %! 2176+22JI a21 >a21BI@!a>a&>>&&& D"#%&'((!'(%F>a>&>>>&&& D"#%&'(@!'(0F>a>>>&&& D"#%&'((!'(%F>a>'>>>&&& D"#%&'(@!'(0F>>a>>>>&&& D"#%&'((!'(%F>>a>>>>>&&& D"#%&'(@!'(0F 0! H 4+2JI 4 aH 4 >aH 4 ! H 74+2H aH 74 >aH 74 I>! &1$#+&1$#>+2 a# >aA$ >a)4 >>a, D F 0&&&4 G#+#>G* ?2JI*JI 4DH 4F! H 4+$4?48$M"$4D?77$$>0!'0!>0!'0F(! "+2DFa2[!0D>>K&&F>a2[>!D>>K&&F %IB! +>+2DFa2[0D'>K&&F>a2[D>>K(&F>a2[D'>K&&F>>a2[>D>>K(&F#' @! 41+$ a7 JI !#,H 74$ >a?H 74IB

0! 7+JIJ a7 JI #,H 74 >aG$,! X+2 aR >aR 7#+2D?77H &!?77,H !$82,H !$82H &FD7 Fa$ >a6 >! #+2D?77H &!?77,H !$82,H !$82H &Fa$ *>a6 * *, D&!,&F*%

3?$ ,!(!!"#%&'() +$,I#*G #)4I#** 3A$I#*8#I IA-0 +# * -, R 0, A$)4# ! !# .(

3?#-*B+GG$, GG, ? ! $4?48$+47a7a>$G+CD^ #,F7H 740" *!-M"+" C "64" 1420" $@" 4 ! B" ## %" $$$4?4!$41(" $$ '" 8$?4E :" ?E7G#>" 1 , * RG :

3?3$4+CDJ!1F$ !!(C C? D^ #,F! , G0? D^ #,F!$,, G@ JDH 74F B JDH 74F$,% GD2JII!21F5G0!'@!>>?--0>

? *C6'!DE 4F! 121! G(! 5C *!6'!D4F!- H 4DF>@.G! -. G$ 1!21$,0

3?8'!FE =(*E ). J #- C$, H 74$4$ *$,!H 74 GG $, H 74 ID 4 >F H 74,#,H 74$, H 74 I0

3.8. Puertos de Entrada/Salida.Puerto A?%,DEF ?4"$?+#c\4"$? #c>\4"$? ?14? /14?, ?*C # , ?+00

Puerto B2'?- ?C4"$2 # 2 I ,14"1dMe(ZD^28F I * ,* 2e2(+2@Z!*! "#$,, D142F 2"&, 2+0B

Puerto C#'?- #4"$# DF$ 4"$# ., #+0%

Puerto D7'#4"$7 "E1 $!$ 174"$D@FR44,, 7+0(

Puerto E0$ 4"$?7#167 $!$ 174"$, +0'

3.9. Timers!G4*+' D41#$F0$ ? - @,$, B4 I D$?!$!$>F! J !"#$%F+b,.GD&E@FD$Fb, I!"#$F+b,.GCD?@E41#TFb$ .GCD41$Fb, Ib?.CGG!-.CG -4.0:

!$4*+% D4 #$F0$ 4 A!4 ,@ 4 16B4 I J &'"#$%F+b,.GGD&E@F&'"#$F+,.GCC41$#6ab$41$#6a #E41$#"E##b$41$#6a>* #>E41$1E4#T"0,.GC .G+D4$/6#a>Fb$D4$/6#a>FG$, b$D4$/6#aF $,* #8@>

!#4*+'$ 4 0 4 16@4 I I JB$ %4- +b$4 !4 ?4 4 + 4 "&D"DFFA I , I I +4 4#160#-$44 4#16@

3.10. Módulos de captura, comparación y PWM.A##!%I- + % %0EH ! ,####C D F,+ #%! '+##IZ##,+##AE##IZ##,+##A8+###16##E###16##(I%+6 +$c>\BI@+##C)+##C/+H + 6 +6H + H 0I>+##C 0+##C >+2##C >>>>a7# E# EH D##CF >>>a # !G >>a # ! >>a # !@ >a !% >>>a !##C D##C"& F >>a !##C D##C"& CCaH F>>a # ! D##C"& !##C F>a ! !D##C"& !##CF##4 f##4 ?E7D?E7*F@

'####DCa!F G##CA+##C, %-4 #E##C14#D 4"$#F,##C 0+##C >##C#16! # ? ##C"& *##C"! ##CA+##C,4 4 !? @0

'! G##CA+##C, 4 # #E##C14#DF,##C 0+##C >##C#16 # ?##CA+##C,4 ##C"& *##C"! 4 !$ !###### >4 ## ## >4 *?E7!- ?-4 a> @@

E # ! .$##! #E##C 4 +?c\I 4 0##C,##CA .+agDFVhU@U4UD5 4 F$ >Dg##CA+###16DB+@FhF4 GF+7c>\I 64 +? aD##C,+###16DB+@FFU4UD5 4 F H +??##C,##C#16DB+@F0##E##C@?I4#16B?4 4#16%###CH @B

3.11. Interrupciones,"#%&'(0E(%0 !-"#%&'(@E((@,+74 >? 2>E"64D "647Ma!G"67Ma>!14"16dMD%FF0# 142D@+(F@&1 B74 %74 (# ##'# ##:4 ># &8$?4& 8$?40&?E7@4 D"#%&(@E((F, "64#16!""/*"64#16!""C !M""64#16D(F? @%

!!'!? # ?* $4?48$!#,?4AH J C0 +H d4 $4?48$d4 0H d4 ? "#%'(0E(@+H d4 >C>!>C?>!>$4?48$d4 - >0H d4 - >"#%'(%E((+H d4 - %*$4?48$d4 - %*0 H d4 - %*@(

3.12. Módulo conversor A/D?E7 "#%&'()!>B %&'(0E(%' %&'(@E((, 5aDD5VFID5IFF+aDD5VFID5IFFE>@a5E>@D5VFD5IF*C- 55,D5VFD5IF D577FDM67FC ?0IZD5VF?IZD5IF@+?7$A+?7$,!?7#16>!?7#16'!!%A]#+D4"$?FD?7#16F$D?7#16>F$4?7D?7#16>FD?7#16>F]# +, ?7"&??7"?M""0] @]#+?M1E^716D?7#16>FB] -+ M1E^716ac>\?7"&ac\ %], G?7$A+?7$,(]6]]@'

3.13. USART8$?4(() - "#%&'() *) *F+ *DF8 +b#%E4)E#T+DFb#(E)E#T+ DF0,.@.$a>$ a! .DG F'+5$I0E$I@'B%,G(,--8$?4+b" b+ b ,b',',8$?4 J:8$?4 $,.@:

4. APLICACIONES EN LA ROBÓTICA MÓVIL CON EL PIC16F87X4.1. XPLORER-DETECTOR DE MINAS ANTIPERSONALES -. - ! R DC !!!!!F ),1 . C !$)>B8$$! D#F* DI* #I 1$F! ! !C#*!!*!*DijkQF! G -.D F!G ! R 3->D9!!!8$# 4!0!!)"#%&'(0!)7BF)DF)#*#I 1$2E6B>

$ +, 00B75G5G)& ?5?8$3 4!0!!#1$H "6:B!H "6:'H "664$J4G & ?8$8%&!=C DF " D 5 2F - **- D&FG !#)-!!-R!*D !!!*F* !* $"5@?3F!!!&B

8$!>'# !3)?! . H D F! ! !8)HE -.DFD,:02F8$"I!1G+ # ! - !! =!)& 6>C>C>!B!)$D"BF!)!% ! *B

!")-'!!!,D ! GF* - ,DF* !@ 7%8$?,C-.) *! !- # ! D F * ! !! 8DGF!-'>]! -.-G-.GDF8!G! -../ 0 !! ?* * *- ! G#! -1"/./ ',$ D F8$@%!!9 ! B5E(B>? :5E0>>? B0

#B5 ! +• o $ ?o ,DCF>?o @?o 4)I)B?o ,?o 7>?o 414?, 00?• *(B?• DCF>>?Dimensiones 18x12x12 cmPeso 300 gVelocidad 10 cm/sBatería motores 5V/750mAAutonomía 1 horaBatería lógica 9V/300mAAutonomía 2 horasProfundidad detector metales 6 cmAlcance transmisión RF 100m8$J ! ) C 6 - ---#- *C*- G - R - G - B@

4.2. SCRATCHI6C* * *- 8#$! $#?4#A" "#%&'(0-C- !?):;I' % :8##,I!, $* , G D5FC* 8+,!!! ,*=;I' 8#3%&!=C1# ) !-**!.'T-*!.-. ,,!! .G,, I#12 /+ BM - D>!' FBB

, -11" *3 0C* +4$D@>>%F$- ?" +#G !- !@) H' $"5@?3) --? R-$ "#- ?* "#%&'(0 - * #.- !J)!!!'8#8,C9(!, DF C* * ! ?! "#%&'(0 !R- 2 ! -R!B%

"# ,?2! "#4?"6?- * ! - 8# 4!,4!90!I$ D*C! !FD!!F!$G) 4!,4!!$$) 4!0!8#" !, G - * # ( 8 GG!-! R GGC* 1 G - B(

4.3. Robot Explorador Araña83$!,?.R- ,*##7- -* - iQ ! C 8 ! G + !R !* 83#,I! * D F - - , *, ,* $ * !$#)%9833,C @ # A ? J 8*4 "7 G 838 4!,4!90!,*##7?8?,!*,00 A, , * G! ?.! -G- , * :5 , 5B'

83 ! "# - - $- *- - JB:

4.4. PLATAFORMA ROBÓTICA SUBACUÁTICA CONTROLADA POR UN ALGORITMOGENÉTICO.$.! . *C8?M *- ! G$G)/88$!C G-!! . ***! , ! ! C - * +b$b$*b$Gb$88#!* D-*FC !*- $ * 4 J *!-C- !$3)

883!I!*C# 7# . - !! -, !$8)

88,C ! -- !GG +!$")!(,- # 7 !G :> G!! ! 0 ? R .@ -G DFB, I !%8G! ! ( GR 88" !4 ! G- 7#! - +- 1- . *- G!. !G8.* G , ! - * G *- - ,* ,CG* ! %

C ! .B!!,D9&!H!9! '!,0! B '! 9 ! !! &!!'9- ,! ! G,!! %0

4.5. Robot Pionero 1B G G . ! G8$!2- D0C0F!* ! * ! > !$?)K-!$L$G G+7.* - '>7 I 7 7 J . 8#!I!$ * D? $F+ G ! E G* $ + - G*4-! ! +$.+ *7# .G %@

!$@)!$L83:C#+G! I ! $"5@??!=!'!-G$+ IG! !$J)!$L$G+ G! IG ! 88,C$+ .# - G %B

!#G)9!'(8!!F9!!$ + I . !IG 7G 2+ * ?? :!G *IG !#$)&!!8" 4!0!, * .+7+,0B?B?0@+B%?+'*??*:%%

7 DBF+@> 5+@'E*C +0B>4+ ,7( # +0%B?M+0+8? ! #- G 1G- 8G ! %(

4.6. Puñalada amarilla.. ?-* *- 8"$! 5#- -G $"5@?" -$5!- , ('>BB5! !C -G5!##)

8"3:C. @G!- * G-G - C7! 41" & 561!--!! - * H - . * 4 $ !#8)&4178"42-4- ! H ! ?E7 !7 -"# 41>D F -! !#) $",@?"%:

8"8,C9(! !,*C !--G! -, 2- #, G "#1M - 8" 4!,4!90!$ D*C! !FD!!F!#") 4!,4!90!8"" !, . - . G! ! (>

4.7. GOS7,M1$$4 -. 7 ?* 8?$!6"? M1$$4-I -60# $ M1$$4 $* "?-58(8 !- 8 !- 8 C!C 8?#,I!!#?)'!32?. (+- -(

!#@)

$M1$(+8?3:C2? $"5@?"D> A!0%'? !B%71 !'T1 FM1$(-1# +!#-$ C G$G$DF$-1 . ! 4!3$)8?8,CM1$( - ! , G R - - R C B> D F! C D@>F671& *(0

$!.*(>E"##$I0 8? 4!0!2@!'5D0>>?F6#+>>2+:>8?" !A. "A -. . . f G , -R !G, *- , !- !! * !-=!!!F'!!(M'!!(@

4.8. MICRO ROBOT "Voyager"8@$!,5. !3#)E@>X'F 7 , G C!-GG8@3:CJ C'C@ -.*J J#8, - ! * I @B!-G! ! * , ,D,F G D4 M 2C $F - !%+@>>+7! G R # D@lF(B

!- *R* ! $"5@?8 gh 7 ' > A # @T &!: ? B%2 1 ! , %&'(C #! C - C -! #! , ,:'gh 7 ! Cm!- !- C@>n ? ,:' Bn,,- #6/I(>g0h!- 7 !-- *G, >m * ! - E, "E1 G8@8,C , , - ,*@( i Q# # !7-'! 7! -- G !7- D F!- ,H DIH F H J ! G 8@ !-.J -,R- - C - (%

4.9. Robot SUMO” MAMPO”8J$! i Q . , 0:C: G % 8 ! iQ- !%5@!B?! "#!%&'(%!%&'(7 !33)] G 7 - - G - ! 8J#,I!/ !* 00 ! %, . :B!38)

-*,*G! >!, * - ! -R ! -! *, (C!G GGD>C(CF - *8J3:CJ g0h+ -. ! * !- #6/(> M7G#!g@h%&'(% !G .$"5@?#gBh! G*- 8J8,CG-- ! #6/(>* RM7>! M7! * 0%>] R G ** *4 G##7'U' C G 8J 4!,4!90!!3)4!,4!!3")4!0!('

5.Estructura de un robot móvil.5.1. Evolución del proceso de diseño y construcción!% .I6+# !! R ! G - *I6+* G ! * G D F ! DF*8 - ! (G // ! ! R ! ! R 0I6#+" * * - ! !@I6"+? G- *- BI6#+$ **-C C?G, G 7 - CD*! !F%I6# +# ! ! -C!- 8 C*(:

5.2. Nivel Físico#$97? ! - C ! ! !$--C !!7C!*-G! - D$F!- -! G !!"#$'>

%!&#!!G&5 !!C D - F - * * !D- FG -'()*&+",-.""'

',)*&+".""/'*&-012,1' )*&+".,""/'*&-012,1'

')*&+",.,""/'*&-012-017! - ! ! G!G! 0!BTE! G ! * G -.-- -G 0%>]!-*'>] -*.? ! ! - :! :63GGLL'0

, '>] - - * ! * - '>] $ 0%>] - 7#G$- - !-* ! ---GG G-* -

7! ! -.G-!!* G # - - G ## !- *--!.-8 * G ,! C! * &[-. **5!==!N'B

?.! - --? - +'%

+ -& +'(

, * R-* #3!!,- *!*!!- ! +''

5!(%) *!*DGGF -C5!(L) !DF -C5!( ) -!-D*FDF -5!( ) ! - DFD*FN #8! D G F > - - * . - !! -* .$)4 8 8 0- G * G G#)4 GG -- *?G!C!-**-':

3+ G- G# iQ- -# G8) G! - ! G 0! * :>

) G G* 0> >> >> ") , :

#!!'!! ! G *+A)L171$ D-G F D F:

(!, 5# 0 8 C* 5#=;I'!!F,0! * #?7*-! *- 8 ! G:0

-'' G C* ? G -G* !- ! G !G-*:@

$ *G !- -- $ G :B

7 -. C* +!!'!=;I'5#0 >C:(@40>2 40B%40>.o@40o@0o' 0oB*o' o %>C'D CF :%

6. Conclusiones #G * A-- %&'@)* %&'() ! '&))) A - - -G!- . --$ - R*G R!! * - :(

LLB2%5%!0! %!=(9 # # MJA:'0!!'! !? MJA

!!E ('!$",@?;+ EJJJE'>>E+ EJJJ'[E- =+ EJJJCIEJ+ E E E4!'!+ EE n>n> E,!(+ EJJJEC ,!+ EEEEEEE::

+ EJJJ+ EJJJ+ EJJJJE+ EJJJ E+ EJJJ-%'!!+ EJJJE + E[ CE E EGC^G+ E[ CE E E+ EJJJ EEE E + EGEEC+ EGEE>>IE + E+ EEEEEEE+ EJEEE>>

JJJ+ EJJJJJJEEJJJ+ EJJJE >