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30Euros with ENC28J60
· Little autonomous robot

For more informations, please contact: Sylvain

Overview

This page described my new robotic project. One year ago, I built a very simple little
robot with a Comfile PICBASIC 3B microcontroler and a Cybot chassis. This new
project is based on a very much more powerfull Microchip PIC 18F4620 (or
PIC18F4520) Microcontroler programmed in C language with the same chassis and
new sensors..

This is still work in progress, but the MCU board, the sensors board and the motor
board are still ready and you will find pictures and schematics on this site.

Specifications:

● Microchip PIC 18F4620 MCU

● Motors drive by SN754410 H-bridge (Texas Instruments)
● Sharp GP2D02 distance measuring sensor mounted on servomotor for sweeping
● 1 microswitch for chocs detection, and 2 infrared proximity sensors
● HP48 with terminal emulator for display and commands
● Cybot chassis (motors and wheels)

The IR proximity sensor:

Its a very classical device, build with a Vishay TCRT5000 IR led/phototransistor and
NE567 tone decoder.
C1=1uF, C2=470n, C3=C4=C5=100n; R1=R2=R5=10k, R3=100,R4=100k;
IC1=NE567

To avoid interferances between devices, you can change the R4 value.

The Motor control board

The motor board is based on the SN754410 H-bridge (Texas Instruments). It's drived
by PWM signal from the MCU. To lines come from the MCU board for PWM signal, and
2 lines for direction control.
The MCU board

Based on 18F4620 MCU, Analog devices ADM203 for RS232 communication, ICSD
(Olimex) connector.
(click to enlarge)
The chassis

It's still the Cybot chassis. Cybot was a robot sold in kit form in a magazine. It's a very
cheap chassis (~10 euros) because it's just necessary to buy the two firsts issues to
get motors, reductors and whells. It's still possible to buy these magazine (in europe)
on there website

The prototype

Here is a picture of my current prototype (not yet fully working).

Home -> See this page in French/Version francaise <-
· Linux on Fujitsu stylistic 1200
· How-to build a web server for Little autonomous robot
30Euros with ENC28J60
· Little autonomous robot Overview
· A new autonomous robot project
My first little robot (a new project based on PIC microcontroler is here)
For more informations, please contact: Sylvain

Featuring:

● Comfile PICBASIC 3B microcontroller (it's a PIC 16f876 with a bootloader, a

debuger and an integrated basic language interpreter [unfortunately it's an
hideous language])
● Motors drive by SN754410 H-bridge (Texas Instruments)
● Sharp GP2D02 distance measuring sensor mounted on servomotor for sweeping
● 3 microswitchs for chocs detection
● HP48 with terminal emulator for display and commands
● Cybot chassis (motors and wheels)

Schematic

Click to enlarge
The Motor control board

The motor board is based on the SN754410 H-bridge (Texas Instruments). It's drived
by PWM signal from the MCU. To lines come from the MCU board for PWM signal, and
2 lines for direction control.

Software

Coming soon... (currently a bit too much dirty)

Picture
 PICBASIC2000 series
PICBASIC Products
PICBASIC2000 is single board controller, which is programmable in PICBASIC language instead
PICBASIC Module of C/Assembly language commonly used in programming microprocessors. PICBASIC language
Accessaries supports not only basic instructions such as IF, THEN, GOTO, FOR and NEXT etc but also
Package Products dedicated instructions such as ADIN, PWM, SEROUT, LCDINIT etc.
PICBASIC2000 has several advantages over all previous PICBASIC. It has faster execution
PROTO Board
speed, larger program memory and easier debugging method. It also has lots of new features in
TinyPLC Products hardware such as 34 I/O lines, 64K FLASH, 8¡-32K RAM, 8¡-32 EEPROM, AD/DA converter, PWM
output, Real Time Clock (RTC), full-duplex RS232C, SIN/COS operations etc.
PICmicro MDS PICBASIC studio is Integrated Development Environment for PICBASIC modules (including
PICBASIC2000). You can edit/download/emulate your source program in environment of
Serial Display
PICBASIC studio through parallel communication with ease. It is compatible with all MS Windows
Remote Control family and provides interface similar as common word processors.
After downloading your source program into PICBASIC module, it operates in stand-alone
Other Products because that the downloaded source program is stored in EEPROM inside of PICBASIC module.
EEPROM can retain its contents without electric power.

Click here to see PICBASIC introduction & Online databook.

 40 pins PICBASIC2000 module
- Bidirectional I/O port: 32
- Program memory: 64K byte
- Data memory: SRAM 8K,EEPROM 8K
- Clock: 20 MHz
- Built-in 10bit-A/D converter: 8 channels
- 8 bit-D/A converter: 16 channels (DACOUT)
- Hardware 10bit-PWM output: 2 : hardware
- Full-duplex buffering RS232C port
:Receiving interrupt is available
- 40 pins DIP type plastic package
[Dimension]

40pins PICBASIC2000 module

- Bidirectional I/O port: 34
- Program memory: 64K byte
- Data memory: SRAM 32K, EEPROM 32K
- Clock: 20MHz
- Built-in 10bit-A/D converter : 8 channels
- Built-in 12 bit-A/D converter : 2 channels
- 8 bit-D/A converter: 16 channels (DACOUT)
- Hardware 10bit-PWM output: 2
- Built-in RTC and Super condenser
- Full duplex buffering RS232C port
: Receiving interrupt is available
- 40 pins DIP type plastic package
[Dimension]
 40pins PICBASIC module
- Single chip controller in PICBASIC
- IDE compatible with MS Windows
: PICBASIC studio
- 3 lines connection to parallel port of PC
- 8 bit-PWM output: 2³
- 29 channels of RS232C are available
- 10bit-A/D converter
- 16 bit-counter input port
[Dimension]

28 pins PICBASIC module

- Single chip controller in PICBASIC
- IDE compatible with MS Windows
: PICBASIC studio
- 2 lines connection to parallel port of PC
- 8 bit-PWM output: 2
- 18 channels of RS232C are available
- 10bit-A/D converter
- 16 bit-counter input port
[Dimension]

22 pins PICBASIC module

- Bidirectional I/O port: 16

- Program memory: 2K byte
- Data memory: 96 bytes
- 8 bit-A/D converter: 5 channels
- 8 bit-PWM output: 2
- 16 channels of RS232C is available
- 22 pins SIP package
[Dimension]
 22 pins PICBASIC module
- Bidirectional I/O port: 16
- Program memory: 4K byte
- Data memory: 96 bytes
- 8 bit-A/D converter: 5 channels
- 8 bit-PWM output: 2
- 16 channels of RS232C is available
- 22 pins SIP package
- 4.19MHz of system clock
[Dimension]

34 pins PICBASIC module

- Bidirectional I/O port: 27
- Program memory: 8K byte
- Data memory: 96 bytes
- 8 bit-A/D converter: 8channels
- 8 bit-PWM output: 2
- 27 channels of RS232C is available
- 34 pins DIP package
- 4.19MHz of system clock
[Dimension]

34 pins PICBASIC module

 - Bidirectional I/O port: 27
- Program memory: 16K byte
- Data memory: 96 bytes
- 8 bit-A/D converter: 8channels
- 8 bit-PWM output: 2
- 27 channels of RS232C is available
- 34 pins DIP package
- Counter input: 16 bit
- 20 MHz of system clock
[Dimension]

PICBASIC USB Download Cable

- Dedicated cable for PICBASIC module
- Available with both PB and PBM series

Copyright ¨Ï 2000 COMFILE Technology All rights reserved.

104-5, Guro 5-dong, Guro-ku, Seoul, 152-842, South Korea
Tel.: +82-2-711-2592 Fax: +82-2-711-2593
 all searches

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TI Home > Semiconductors > Standard Linear > Interface > Peripheral Drivers & Actuators >

View RoHS SN754410, Status:ACTIVE

Compliant Devices Quadruple Half-H Drivers

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Datasheet - Analog & Mixed-Signal:

Peripheral Drivers & Actuators
Quadruple Half-H Driver (Rev. B) (sn754410.pdf, 167 KB)
01 Nov 1995 Download
Support
Product Information
- KnowledgeBase
Features
- Contact Technical Support

● 1-A Output-Current Capability Per Driver - TI Cross Reference

● Applications Include Half-H and Full-H Solenoid Drivers and Motor Drivers - Training

● Designed for Positive-Supply Applications - Part Marking Lookup

● Wide Supply-Voltage Range of 4.5 V to 36 V

● TTL- and CMOS-Compatible High-Impedance Diode-Clamped Inputs
● Separate Input-Logic Supply
● Thermal Shutdown
● Internal ESD Protection
● Input Hysteresis Improves Noise Immunity
● 3-State Outputs
● Minimized Power Dissipation
● Sink/Source Interlock Circuitry Prevents Simultaneous Conduction
● No Output Glitch During Power Up or Power Down
● Improved Functional Replacement for the SGS L293
 Description

The SN754410 is a quadruple high-current half-H driver designed to provide bidirectional drive currents up to 1 A at voltages from
4.5 V to 36 V. The device is designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as
other high-current/high-voltage loads in positive-supply applications.

All inputs are compatible with TTL-and low-level CMOS logic. Each output (Y) is a complete totem-pole driver with a Darlington
transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs with drivers 1 and 2 enabled by 1,2EN and drivers 3
and 4 enabled by 3,4EN. When an enable input is high, the associated drivers are enabled and their outputs become active and in
phase with their inputs. When the enable input is low, those drivers are disabled and their outputs are off and in a high-impedance
state. With the proper data inputs, each pair of drivers form a full-H (or bridge) reversible drive suitable for solenoid or motor
applications.

A separate supply voltage (VCC1) is provided for the logic input circuits to minimize device power dissipation. Supply voltage VCC2 is
used for the output circuits.

The SN754410 is designed for operation from -40°C to 85°C.

Pricing/Packaging/CAD Design Tools/Samples

Price Packaging CAD Design Tools Samples

Budget Price Industry Standard

Device Status Temp (oC) ($US) | QTY (TI Pkg) | Pins Top Side Marking Standard Pack Quantity Symbols Footprints Samples

SN754410NE ACTIVE -40 to 85 1.35 | 1KU PDIP (NE) | 16 View 25 View View Contact TI Distributor or
Sales Office
SN754410NEE4 ACTIVE -40 to 85 1.35 | 1KU PDIP (NE) | 16 View 25 View View Contact TI Distributor or
Sales Office

Inventory

TI Inventory Status Reported Distributor Inventory View all Distributors

SN754410NE As of 8:05 AM GMT, 9 Oct 2006 As of 8:05 AM GMT, 9 Oct 2006

In Stock In Progress QTY | Date Lead Time Region Company In Stock Purchase

0* >10k | 27 Nov 7 Weeks Americas Arrow 1k

Avnet >1k

DigiKey >1k

Mouser 758
Electronics
Europe Avnet-SILICA 625

EBV >1k
Elektronik
 Rutronik >1k

Spoerle 737

SN754410NEE4 As of 8:05 AM GMT, 9 Oct 2006 As of 8:05 AM GMT, 9 Oct 2006

In Stock In Progress QTY | Date Lead Time Region Company In Stock Purchase
0* >10k | 27 Nov 7 Weeks Americas Avnet 850

* Our information is updated daily, so please check back with us soon if this does ** Lead time information is not available at this time. However, our information is
not meet your needs. You may also contact your TI Authorized Distributor , updated daily so please check back with us soon. Please contact your preferred TI
including those listed above, for real time stock information. Authorized Distributor for additional information.

Quality & Lead (Pb)-Free Data

Product Content DPPM / MTBF / FIT Rate

Device Eco Plan* Lead / Ball Finish MSL Rating / Peak Reflow Details Details

SN754410NE Pb-Free (RoHS) CU NIPDAU N/A for Pkg Type View View

SN754410NEE4 Pb-Free (RoHS) CU NIPDAU N/A for Pkg Type View View

* The planned eco-friendly classification: Pb-Free (RoHS) or Pb-Free (RoHS If the information you are requesting is not available online at this time, contact
Exempt) or Green (RoHS & no Sb/Br) - please click on the Product Content Details one of our Product Information Centers regarding the availability of this
"View" link in the table above for the latest availability information and additional information.
product content details.

Technical Documents
Datasheets

Quadruple Half-H Driver (Rev. B) (sn754410.pdf, 167 KB)

01 Nov 1995 Download

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 Embedded Secure Document
The file http://mechatronics.mech.northwestern.edu/downloads/gp2d02.pdf is a secure document that
has been embedded in this document. Double click the pushpin to view.
 HP 48 Terminal Emulation
Programs
The first size listed is the downloaded file size and the second size
listed is the size on the calculator.

There are 13 files totaling 74KB in this category.

ANSI (details) 9KB/9KB

ANSI is a VT100 terminal emulator.
By Gasper Fele-Zorz. 1997/08/21

ANSI 1.5B (details) 16KB/5KB

Extended terminal emulator written in assembly language and System
RPL.

By Gasper Fele-Zorz and J. A. Bezemer (H). 1999/03/26

DTE48 (details) 4KB/1KB

DTE48 is a Dumb Terminal Emulator program for the HP48SX.
By Kevin Jessup. 1997/08/21

DTERM 1.0 (details) 4KB/1KB

DTERM is a dumb terminal emulator for the HP48.
By Glenn G. Bruckno. 1997/08/21

HPMinitel (details) 3KB/3KB

Minitel driver and Minitel Line Editor library.
By Amaury Jacquot. 1997/08/21

IR Samp (details) 6KB/3KB

Fast & dumb MLDISP/TERM2 terminal emulator.
By Bjorn Rhoads (Gahm) (H). 1997/08/21
TERM 1.0 (details) 3KB/2KB
TERM 1.0 is a terminal emulator for the HP48.
By Bill Gribble. 1997/08/21

TermHP (details) 5KB/1KB

Fast assembly language terminal emulator. Requires the MetaKernel.
By Jean-Yves Avenard (H). 1998/05/20

Terminal (details) 6KB/10KB

Terminal is a fast SysRPL terminal emulator.
By Andrew Cass (H). 1997/08/21

VT100 (details) 3KB/6KB

VT100 terminal emulator (preview). Includes source code.
By Alexandre Raclot (H). 1998/11/17

VT23 (details) 6KB/6KB

VT23 is a DEC VT52 terminal emulator for the HP48.
By Mark Power. 1997/08/21

VT52 (details) 5KB/6KB

This is a DEC VT52 terminal emulator for the HP48. (same as above, but with slower RPL
code).
By David D. Jansen. 1997/08/21

VT52 2.0 (details) 4KB/6KB

This is a DEC VT52 terminal emulator for the HP48. (same as above, but with adjustable font
size).
By David D. Jansen. 1997/08/21

Part of the HP Calculator Archive,

Copyright 1997-2006 Eric Rechlin.
Cybernetic Intelligence Research Group (CIRG)

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Cybot is the result of a

Other Research Groups year-long partnership
between The University of
● API
Reading and Eaglemoss
● CIRG Publications. Designed by
● IRG a team of robotics
researchers in CIRG (the Cybernetics Intelligence Research Group) at the
● ISP
University, Cybot uses many of the techniques used in the research robots at
● ISRG the University as well as incorporating a range of new features designed
● PEDAL especially for the magazine and kit collection.

The Seven Dwarves

School/University
● Systems Engineering
● University of Reading
Search
The design of Cybot is based on that of the University's Seven Dwarf Robots.
The Dwarves were originally developed to introduce school and college
students to robotics and used a simple sonar system (similar to that found on
Cybot) which allowed them to avoid and follow solid objects. Later versions of
the Dwarves were given the capacity to learn for themselves, how to move
around in their environment and the ability to share this information with each
other either directly or over the Internet.

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