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MSP430-based Robot Applications

Book Description

This book provides a careful explanation of the basic areas of electronics and computer architecture, along with lots of examples, to demonstrate the interface, sensor design, programming and microcontroller peripheral setup necessary for embedded systems development. With no need for mechanical knowledge of robots, the book starts by demonstrating how to modify a simple radio-controlled car to create a basic robot. The fundamental electronics of the MSP430 are described, along with programming details in both C and assembly language, and full explanations of ports, timing, and data acquisition. Further chapters cover inexpensive ways to perform circuit simulation and prototyping.

Key features include:

  • Thorough treatment of the MSP430’s architecture and functionality along with detailed application-specific guidance
  • Programming and the use of sensor technology to build an embedded system
  • A learn-by-doing experience

With this book you will learn:

  • The basic theory for electronics design
    •                  - Analog circuits

                       - Digital logic

                           - Computer arithmetic

                               - Microcontroller programming

                  • How to design and build a working robot
                  • Assembly language and C programming
                  • How to develop your own high-performance embedded systems application using an on-going robotics application


                  Teaches how to develop your own high-performance embedded systems application using an on-going robotics application

                  • Thorough treatment of the MSP430’s architecture and functionality along with detailed application-specific guidance.

                  • Focuses on electronics, programming and the use of sensor technology to build an embedded system

                  • Covers assembly language and C programming

          Table of Contents

          1. Cover image
          2. Title page
          3. Table of Contents
          4. Copyright
          5. Dedication
          6. Preface
          7. Chapter 1. Introduction
            1. Expected reader background
            2. The parts of a robot
            3. Where to get help
            4. Tools you will need
            5. Components
          8. Chapter 2. Mechanical and Electrical Disassembly of the RC Car
            1. Mechanical disassembly
            2. Electrical inspection
            3. Electrical disassembly
          9. Chapter 3. Beginning Electronics – Resistors, Capacitors, and Inductors
            1. Some basic laws
            2. Resistors, capacitors, and inductors
            3. Chapter wrap-up
            4. Bibliography
          10. Chapter 4. Basic Electronics – Semiconductors
            1. P–n junctions
            2. The diode
            3. The bipolar transistor
            4. Metal oxide semiconductor field-effect transistor (MOSFET)
            5. The operational amplifier
            6. The H-bridge
            7. Semiconductor wrap-up
            8. Bibliography
          11. Chapter 5. DC Motors
            1. Learning by doing
            2. Beakman’s motor
            3. Improving on Beakman’s motor
            4. Is a DC motor also a DC generator?
            5. Powering the motor
            6. The analog DC motor drive
            7. Brakeable and reversible PWM motor drive
            8. Gears
            9. Bibliography
          12. Chapter 6. Inexpensive Ways to Perform Circuit Simulation
            1. Circuit simulation history
            2. Modern circuit simulation programs
            3. Simulations wrap-up
          13. Chapter 7. Computer Logic
            1. The birth of integrated circuits
            2. The advent of logic
            3. Why is it called logic?
            4. Some algebraic identities
            5. Logic optimization
            6. Advanced topics in computer logic
            7. Electronic implementation of logic
            8. A logic example – the adder
            9. The Exclusive-Or gate
            10. The multiple-bit adder
            11. Flip-flops and registers
            12. Logic chapter wrap-up
            13. Bibliography
          14. Chapter 8. Computer Arithmetic
            1. Getting started with binary
            2. Converting from binary to decimal
            3. Converting from decimal to binary
            4. Addition
            5. Fractional numbers
            6. Negative numbers
            7. Overflow
            8. Subtraction
            9. Multiplication
            10. Division
            11. Hexadecimal and octal
            12. Floating-point arithmetic
            13. Bibliography
          15. Chapter 9. Introducing the MSP430 Microcontroller
            1. What is a central processing unit and how does it work?
            2. What does an MSP430 instruction look like?
            3. How does the microcontroller talk to the peripherals?
            4. Interrupts
            5. Is there more than one type of MSP430 and what are the differences?
            6. What is the MSP430 launchpad?
            7. Which MSP430 types does this book focus on?
            8. Choosing the programming language
            9. Clocks
            10. Bibliography
          16. Chapter 10. Getting Started with MSP430 Assembler
            1. The TI MSP430x2xx family user’s guide
            2. The MSP430 datasheets
            3. Registers and memory
            4. Addressing memory and registers in assembly language
            5. Instruction set
            6. Bibliography
          17. Chapter 11. Running Assembly Language Programs
            1. Getting started
            2. A second programming example – the software multiply
            3. Bibliography
          18. Chapter 12. Programming the MSP430 in C
            1. The multiply program in C
            2. C programming wrap-up
            3. Bibliography
          19. Chapter 13. System Clocking for the MSP430
            1. Back to hardware!
            2. System clocking in a computer
            3. Bibliography
          20. Chapter 14. Parallel and Serial Input/Output Ports
            1. Parallel I/O
            2. Serial I/O
            3. Digital I/O wrap-up
            4. Bibliography
          21. Chapter 15. Timers and Counters
            1. Capture – timestamping events
            2. Timer compare mode
            3. Timers and counters wrap-up
            4. Bibliography
          22. Chapter 16. Data Acquisition
            1. Digital-to-analog converters
            2. Using superposition to analyze D/A circuits
            3. Analog-to-digital conversion
            4. Successive approximation guessing
            5. Bibliography
          23. Chapter 17. Circuit Building
            1. Types of circuit construction
            2. Where to buy parts
            3. Bibliography
          24. Chapter 18. Using Sensors to Avoid Collisions
            1. Ultrasonic generation and detection
            2. Optical generation and detection
            3. Combining sensors for improved avoidance decisions
            4. Bibliography
          25. Chapter 19. Measuring Speed
            1. Ways to measure vehicle speed
            2. Other optical methods for measuring speed
            3. Reducing the effect of ambient lighting
            4. Speed measurement example
            5. Bibliography
          26. Chapter 20. Creating High Voltage
            1. The charge pump
            2. Inductor-based boost circuits
            3. Negative feedback maintains the proper output voltage
            4. Bibliography
          27. Chapter 21. Remote Controls
            1. RF remote controls
            2. Optical remote controls
            3. Improving interference immunity through modulation
            4. Robot remote transmitter
            5. Robot remote receiver
            6. Remote control wrap-up
            7. Bibliography
          28. Chapter 22. Troubleshooting
            1. Learning to troubleshoot is invaluable
            2. Strategies for troubleshooting
            3. Specific troubleshooting tips
            4. Troubleshooting wrap-up
            5. Bibliography
          29. Chapter 23. Creating a Real-Time Operating System
            1. Juggling multiple tasks using a real-time operating system
            2. Scheduling
            3. RTOS wrap-up
            4. Bibliography
          30. Chapter 24. Putting it all Together
            1. Final hardware
            2. One remaining software task: high-level control
            3. The complete program
            4. Programming and circuit wrap-up
            5. Future robot peripherals
            6. Learn and enjoy!
          31. Appendix – Program Listing
          32. Index