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the number of generations is twenty ve. The program calculates the mean tness of the population, wbar, as p2(w11) 2pq(w12) q2(w22); it then calculates the new allelic frequencies after one generation of se1.0 0.9 0.8 0.7 0.6

shifts the current value up by 1 bit and then lls in the least signi cant bit with the most signi cant bit and another XORed together. This seems unbelievably simple (and it is), but it does a very good job of randomizing the data as a very simple linear feedback shift register. The two 74LS374s are wired as synchronous serial shift registers. I use this format for a variety of different applications to shift data serially out to a parallel I/O. To shift the data out, notice that I perform a shift on the data with the carry up from the lower byte being used as the LSB of the upper (the lower bytes LSB is the pseudorandom value discussed earlier). The xmax040.asm application code is in the code/Xmas folder. If you decide to put in your own tune, then change the name of the le so that you don t overwrite the original application.

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lection (the new proportion of aa homozygotes plus half the proportion of heterozygotes). The program then repeats this process twenty- ve times, storing each new q in the array q(i). The graphic output shown in g-

In this chapter I present two different robot features that can be controlled by a PIC. This section will show you how to use the PIC microcontroller with a TV remote control to send commands to a tracked vehicle. At the end of this chapter I ll go through a programmable servo controller. The genesis of this project was an article in Electronics Now. In the preceding project I made the observation that hobbyist magazines always have Christmas decorations in their November December issues. On the other hand, you ll notice a number of different robot designs throughout the year. The magazine project presented a simple

differentially driven robot that could be controlled by a TV remote control. After looking through the article, I decided to build my own robot (Fig. 21.23) because there were a few things that I could improve on. The project in the article used a single infrared (IR) receiver (typically used with TV remote controls) to control the robot. Two motors (for the robot s left and right sides) were switched on and off by an H bridge motor control made out of discrete transistors. The magazine robot used a PIC 16C5x for control. I felt that by using a mid-range part, I would have the advantage of interrupts to handle the incoming commands (which I ll refer to as data packets). Most (if not all) IR TV remotes use a space-width encoding scheme in which the data bits are embedded in the packet by varying the lengths of certain data levels. This can be seen in Fig. 21.24 from a theoretical perspective and from the practical (oscilloscope output of a TV remote control IR receiver) in Fig. 21.25. The normal signal coming from an IR receiver circuit is high when nothing is coming (line idle) and then goes low with a leader signal to indicate that data is coming in. The data consists of a bit Synch, whose value, when complete, is transmitted as the

ure 2 results. As you can see, q is approaching 0.6. If you would like to see the values generated by the program, appropriate print statements can be added.

=SUM('Order Details'[Quantity]) =CALCULATE([QuantitySum], Customers[Country]="Austria" || Customers[Country]="Mexico", Orders[Year]=1996)

Figure 21.24 The output of a TV remote-control receiver consists of a number of pulses that are separated by different-length spaces that are used to encode data.

Figure 2 Graphical output of the computer program from gure 1, with axis labels drawn in. The frequency of the a allele, q, begins at 0.1 and asymptotes toward 0.6.

length of time before the next bit Synch. The IR robot is designed for Sony TV remotes, which have 12 data bits and a 40-kHz carrier. The timings are listed in Table 21.9 (and use a base timing T of 550 s). To read the incoming signal, I used the following state machine code in an interrupt handler that differentiated between TMR0 over ows and PORTB change on interrupt:

(20.25)

interrupt IRTankInt() { if (INTCON.T0IF != 0) { // TMR0 Over ow Timeout Indicating Invalid // Data Being Received // Handle Incoming IR Serial Data

// // // //

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