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PIC is reprogrammed during experiments An adjustable work stand, like the one shown in Figure 110 (M), will be useful when soldering components to circuit boards, or holding wires when soldering header connectors to the bare wires A utility knife (N) will also be helpful when cutting heat-shrink tubing or small parts A soldering iron, similar to the one shown in Figure 111, will be required when building the main controller circuit boards and the sensor boards for each robot An expensive soldering iron is not necessary, but the advantage to buying a good one is that the temperature can be set A 15- to 25-watt pencil-style soldering iron will work and will help to protect delicate components from burning out An adjustable square (O) and a good ruler (P) will be required when measuring the cutting and drilling marks on the aluminum pieces that make up each robots body and legs You will need a hot glue gun (Q) and glue sticks at certain points in the construction See Figure 112

tion, check the RS-232 cable and power supply to the programmer If that does not work, try using a different 16F84 chip If there was no error when programming the PIC, insert it back into the controller board and make sure that pin 1 is facing toward the LEDs Check the battery wiring and verify that the 6-V DC polarity is not reversed to the power connectors Check the controller board for any missed components or cold solder connections

Mecanique s MicroCode Studio is a powerful, visual Integrated Development Environment (IDE), with an In Circuit Debugging (ICD) capability designed specifically for microEngineering Labs PICBasic Pro Compiler The MicroCode Studio user interface is shown in Figure 37 This studio makes programming PIC microcontrollers very easy with a one-button process of compiling, assembling, and programming MicroCode Studio is completely free for noncommercial use and can be downloaded at wwwmecaniquecouk/code-studio/ It is not time-limited in any way, and does not have any nag screens However, you can only use one ICD model with MicroCode Studio MicroCode Studio is not copyright-free If you wish to redistribute MicroCode Studio, or make it available on another server, you must contact Mecanique and obtain permission first The main editor provides full syntax highlighting of your code, with context-sensitive keyword help and syntax hints The code explorer allows you to automatically jump to include files, defines, constants, variables, aliases and modifiers, symbols, and labels that are contained within your source code Full cut, copy, paste, and undo is provided, together with search and replace features It also gives you the ability to identify and correct com45

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pilation and assembler errors MicroCode Studio lets you view serial output from your microcontroller It includes keywordbased context-sensitive help, and also supports MPASM and MPLAB It is easy to set up your compiler, assembler, and programmer options, or you can let MicroCode Studio do it for you with its built-in autosearch feature, as shown in Figure 38 MicroCode Studio has support for MPLAB-dependent programmers such as PICStart Plus Compilation and assembler errors can be easily identified and corrected using the error results window Just click on a compilation error and MicroCode Studio will automatically take you to the error line MicroCode Studio even comes with a serial communications window, allowing you to debug and view serial output from your microcontroller

With MicroCode Studio, you can start your preferred programming software from within the IDE This enables you to compile and then program your microcontroller with just a few mouse clicks (or keyboard strokes, if you prefer) MicroCode Studio also supports MPLAB dependant programmers

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The first thing you need to do is tell MicroCode Studio which programmer you are using Select VIEWOPTIONS from the main menu bar, then select the PROGRAMMER tab, as shown in Figure 39 Next, select the Add New Programmer button This will open the Add New Programmer wizard Select the programmer you want MicroCode Studio to use, then choose the Next button MicroCode Studio will now search your

computer until it locates the required executable If your device uses MPLAB, you will be presented with two further screens, the select options and development mode screens If your programmer is not in the list, you will need to create a custom programmer entry Your programmer is now ready for use When you press the Compile and Program button on the main toolbar, your PICBasic program is compiled and the programmer software is started The hex filename and target device is automatically set in the programming software (if this feature is supported), ready for you to program the microcontroller, as shown in Figure 310

The original APM is a great circuit for experimentation It has been found that the germanium diodes are also sensitive to light, so if you house the APM in a clear plastic box and have it exposed to sunlight it will produce more output Have fun experimenting with the APM receiver and you may find the perfect application for it, such as powering another receiver or night light, clock, emergency radio/lighting, etc

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