Robotics Technologies microBus-Cam II Manual de usuario descargar pdf (Pagina 14)

Mobile Robots – Current Trends

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information as shown in Fig. 23. In order to microcontroller can work on the I

C bus system, it

must be specified in I

C format. Now gyroscope with microcontroller works as slave device.

This module can read information from gyroscope and send to master device.

Fig. 23. Gyroscope with microcontroller worked on I

C bus as slave

5.2.1.3 Temperature sensor (DS1621)

The DS1621 as shown in Fig. 24 supports I

C bus and data transmission protocol. A device

sends data onto the bus defined as a transmitter, and a device receiving data as a receiver.

The device controls the message called a master and devices are controlled by the master

called slaves. The bus must be controlled by a master device which generates the serial clock

(SCL), controls the bus access, and generates the START and STOP conditions. The DS1621

operates as a slave on the 2-wire bus. Connections to the bus are made via the open-drain

I/O lines SDA and SCL. A control byte is the first byte received following the START

condition from the master device. The control byte consists of a 4-bit control code set as 1001

binary for read and write operations.

Fig. 24. DS1621 temperature sensor

The next 3 bits of the control byte are the device select bits (A2, A1, A0). They are used by the

master device to select which of eight devices are to be accessed. These bits are in effect the 3

least significant bits of the slave address. The last bit of the control byte (R/ W) defines the

operation to be performed. When set to a “1” a read operation is selected, when set to a “0” a

write operation is selected. Following the START condition the DS1621 monitors the SDA bus

checking the device type identifier being transmitted. Upon receiving the 1001 code and

appropriate device select bits, the slave device outputs an acknowledge signal on the SDA line.

5.3 Software development for AMRO

A software is developed based on PC application which now manually controls AMRO. The

control window contains three sections, Wireless Serial Connection, Manual Control and

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Robotics Technologies microBus-Cam II Manual de usuario Pagina 14