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BallBot/Part4

This website contains an archive of files for the Acorn Electron, BBC Micro, Acorn Archimedes, Commodore 16 and Commodore 64 computers, which Dominic Ford has rescued from his private collection of floppy disks and cassettes.

Some of these files were originally commercial releases in the 1980s and 1990s, but they are now widely available online. I assume that copyright over them is no longer being asserted. If you own the copyright and would like files to be removed, please contact me.

Tape/disk: Home » Personal collection » Acorn ADFS disks » Electron » EUG_submission.ADF
Filename: BallBot/Part4
Read OK: ✔
File size: 1803 bytes
Load address: 50206576
Exec address: 34747261
Duplicates

There is 1 duplicate copy of this file in the archive:

File contents
The electronic circuit which will be used to convert the analogue a.c.
signal from the reciever into a binary signal for the computer to
interpret is still being designed. The easiest way to form a code of 0s
where there are troffs and 1s where there are peaks is to rectify the a.c.
signal into a constant d.c. voltage using an 'Ideal' rectifier (see
diagram), and then set a threshold which is slightly above the average
level of the wave. When the d.c. voltage exceeds this threshold, a 
positive signal is sent to the computer, and when it does not a negative
signal is sent.

The problem with this is that the voltage input decreases with distance,
and so as time progresses the input will become smaller. Therefore a
trigger voltage which is useful over one distance will almost certainly be
completely useless over a different distance. In order for this system to
work, the amplitude of the trigger voltage must decrease with the input
signal in order to ensure that it works over all distances. In the case of
our sonar system, this can be converted to meaning a trigger voltage which
decreses with time, as time and distance are proportional to each other.
The easiest way to produce a voltage which falls with time is using a
capacitor.

Capacitors, however, discharge with exponential decay, and will be of
little use in this situation. This is where the Volt-metre values are
helpful. We have shown that the product of input voltage and a linear
rising value is a constant which is unaffected by distance. Therefore if
we could make a capacitor charge up and produce a voltage which rises in a
linear fashion, and multiply this by the input amplitude, this would solve
our problem. The linear rising voltage can be produced with a simple
'Constant-current source' as shown below. The output from this can then be
multiplied by the input signal voltage using an analogue multiplier:

Clearly this circuit set-up relies upon the capacitor being fully
discharged when the ultrasonic blip is transmitted, and that the capacitor
begins charging simultaneously as the noise is created. This is the
purpose of the NPN transistor which is wired between the positive pole of
the capacitor and the ground line from the power supply. This is used to
discharge the capacitor when a positive signal is sent to its base from a
'discharge' output line. This line is set negative simultaneously as the
'blip' line is set positive to turn on the speaker.

The result of this is a signal which has constant amplitude, and is not
affected by the distance over which the signal has travelled. This can be
compared to our constant trigger voltage using a comparator. The trigger
voltage itself is created using a potential divider:

The output of the comparitor is tied to the positive 5V logic rail from
the computer by means of a resistor to make it TTL compatible before being
passed to the computer input circuitry. The rest of the processing is
purely pattern recognition, and is performed by software, not hardware.

For an ultrasonic scanning system to be of use in BallBot, it most have a
known range of vision, so that we know what areas of the court are covered
by which sensors, and the AI can be programmed accordingly. In this
particular experiment, I set up an echo system, with a reciever and
transmitter together and facing in the same direction, and placed an
object in front of the pair to create echoes. Using a protractor, I moved
the object around different angles relative to the sensors, and measured
the response. The results I obtained were as follows:

This indicates a good range of vision. The sensors are supposed to have a
range of roughly 30 degrees, and these results suggest that the final
system will probably have a range roughly equal to this. When the input
signal falls below around 50% of the maximum signal amplitude, it will not
rise above the trigger voltage sufficiently for it to be recognised.
Therefore the useful view of the sensors is +/- 15 degrees.

The BallBot Computer Controller

At the moment plans are a little unclear as to exactly what form the
BallBot computer will take. Original plans were to have a 6502
microprocessor connected to a 6522VIA to maximise compatibility with the
BBC (this connection is identical to that made in the BBC's hardware).
Such a computer would also require a small static RAM chip in which to
store variables, and an EPROM in which to store the program code. A static
RAM is chosen as opposed to a dynamic RAM, because it is simpler for the
beginner to use, as it does not need refreshing on a regular basis. A
diagram of such a computer design is shown below:

An address decoder is required to control the transfer the information
between the chips. The 6502 outputs the address of the memory location it
wants to access as a 16 bit binary number, and the decoder must use this
number to work out which chip the address is controlled by. The request
must then be directed to that chip.

Alternatively, a 7070 control board may be used. This has the immediate
advantage that it is already built, and is designed to operate projects
such as BallBot. The board may be connected to the back of a PC and
programmed by the user to perform whatever task is required, either in
FORTH, or in machine code itself.

Depending upon what hardware is used in the control board, however, it may
be easier to stick to the old 6502 design for BallBot, and revert to the
ready-built control board for any later projects. It may be the case that
all of the work done so far would have to be drastically altered to work
with a 7070 board. The main area which could cause problems would be the
input and output circuitry.

Computer Run-Time Allocation

The amount of time required by the sonar system per each scan of the court
can be calculated by the time taken for sound to travel the length of a
tennis court (roughly 10m) and come back. This is the time after which the
last echoes from objects on the other side of the court are recieved. It
is independent of the speed of the processor being used. In this case it
can be calculated as follows:

The artificial intelligence module

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00000320  6d 70 6c 65 74 65 6c 79  20 75 73 65 6c 65 73 73  |mpletely useless|
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00000390  67 65 20 6d 75 73 74 20  64 65 63 72 65 61 73 65  |ge must decrease|
000003a0  20 77 69 74 68 20 74 68  65 20 69 6e 70 75 74 0d  | with the input.|
000003b0  73 69 67 6e 61 6c 20 69  6e 20 6f 72 64 65 72 20  |signal in order |
000003c0  74 6f 20 65 6e 73 75 72  65 20 74 68 61 74 20 69  |to ensure that i|
000003d0  74 20 77 6f 72 6b 73 20  6f 76 65 72 20 61 6c 6c  |t works over all|
000003e0  20 64 69 73 74 61 6e 63  65 73 2e 20 49 6e 20 74  | distances. In t|
000003f0  68 65 20 63 61 73 65 20  6f 66 0d 6f 75 72 20 73  |he case of.our s|
00000400  6f 6e 61 72 20 73 79 73  74 65 6d 2c 20 74 68 69  |onar system, thi|
00000410  73 20 63 61 6e 20 62 65  20 63 6f 6e 76 65 72 74  |s can be convert|
00000420  65 64 20 74 6f 20 6d 65  61 6e 69 6e 67 20 61 20  |ed to meaning a |
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00000600  6f 75 6c 64 20 6d 61 6b  65 20 61 20 63 61 70 61  |ould make a capa|
00000610  63 69 74 6f 72 20 63 68  61 72 67 65 20 75 70 20  |citor charge up |
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000006c0  70 72 6f 64 75 63 65 64  20 77 69 74 68 20 61 20  |produced with a |
000006d0  73 69 6d 70 6c 65 0d 27  43 6f 6e 73 74 61 6e 74  |simple.'Constant|
000006e0  2d 63 75 72 72 65 6e 74  20 73 6f 75 72 63 65 27  |-current source'|
000006f0  20 61 73 20 73 68 6f 77  6e 20 62 65 6c 6f 77 2e  | as shown below.|
00000700  20 54 68 65 20 6f 75 74  70 75 74 20 66 72 6f 6d  | The output from|
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00000720  65 0d 6d 75 6c 74 69 70  6c 69 65 64 20 62 79 20  |e.multiplied by |
00000730  74 68 65 20 69 6e 70 75  74 20 73 69 67 6e 61 6c  |the input signal|
00000740  20 76 6f 6c 74 61 67 65  20 75 73 69 6e 67 20 61  | voltage using a|
00000750  6e 20 61 6e 61 6c 6f 67  75 65 20 6d 75 6c 74 69  |n analogue multi|
00000760  70 6c 69 65 72 3a 0d 0d  43 6c 65 61 72 6c 79 20  |plier:..Clearly |
00000770  74 68 69 73 20 63 69 72  63 75 69 74 20 73 65 74  |this circuit set|
00000780  2d 75 70 20 72 65 6c 69  65 73 20 75 70 6f 6e 20  |-up relies upon |
00000790  74 68 65 20 63 61 70 61  63 69 74 6f 72 20 62 65  |the capacitor be|
000007a0  69 6e 67 20 66 75 6c 6c  79 0d 64 69 73 63 68 61  |ing fully.discha|
000007b0  72 67 65 64 20 77 68 65  6e 20 74 68 65 20 75 6c  |rged when the ul|
000007c0  74 72 61 73 6f 6e 69 63  20 62 6c 69 70 20 69 73  |trasonic blip is|
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00000800  67 69 6e 67 20 73 69 6d  75 6c 74 61 6e 65 6f 75  |ging simultaneou|
00000810  73 6c 79 20 61 73 20 74  68 65 20 6e 6f 69 73 65  |sly as the noise|
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00000830  73 20 69 73 20 74 68 65  0d 70 75 72 70 6f 73 65  |s is the.purpose|
00000840  20 6f 66 20 74 68 65 20  4e 50 4e 20 74 72 61 6e  | of the NPN tran|
00000850  73 69 73 74 6f 72 20 77  68 69 63 68 20 69 73 20  |sistor which is |
00000860  77 69 72 65 64 20 62 65  74 77 65 65 6e 20 74 68  |wired between th|
00000870  65 20 70 6f 73 69 74 69  76 65 20 70 6f 6c 65 20  |e positive pole |
00000880  6f 66 0d 74 68 65 20 63  61 70 61 63 69 74 6f 72  |of.the capacitor|
00000890  20 61 6e 64 20 74 68 65  20 67 72 6f 75 6e 64 20  | and the ground |
000008a0  6c 69 6e 65 20 66 72 6f  6d 20 74 68 65 20 70 6f  |line from the po|
000008b0  77 65 72 20 73 75 70 70  6c 79 2e 20 54 68 69 73  |wer supply. This|
000008c0  20 69 73 20 75 73 65 64  20 74 6f 0d 64 69 73 63  | is used to.disc|
000008d0  68 61 72 67 65 20 74 68  65 20 63 61 70 61 63 69  |harge the capaci|
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000008f0  69 76 65 20 73 69 67 6e  61 6c 20 69 73 20 73 65  |ive signal is se|
00000900  6e 74 20 74 6f 20 69 74  73 20 62 61 73 65 20 66  |nt to its base f|
00000910  72 6f 6d 20 61 0d 27 64  69 73 63 68 61 72 67 65  |rom a.'discharge|
00000920  27 20 6f 75 74 70 75 74  20 6c 69 6e 65 2e 20 54  |' output line. T|
00000930  68 69 73 20 6c 69 6e 65  20 69 73 20 73 65 74 20  |his line is set |
00000940  6e 65 67 61 74 69 76 65  20 73 69 6d 75 6c 74 61  |negative simulta|
00000950  6e 65 6f 75 73 6c 79 20  61 73 20 74 68 65 0d 27  |neously as the.'|
00000960  62 6c 69 70 27 20 6c 69  6e 65 20 69 73 20 73 65  |blip' line is se|
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00000980  72 6e 20 6f 6e 20 74 68  65 20 73 70 65 61 6b 65  |rn on the speake|
00000990  72 2e 0d 0d 54 68 65 20  72 65 73 75 6c 74 20 6f  |r...The result o|
000009a0  66 20 74 68 69 73 20 69  73 20 61 20 73 69 67 6e  |f this is a sign|
000009b0  61 6c 20 77 68 69 63 68  20 68 61 73 20 63 6f 6e  |al which has con|
000009c0  73 74 61 6e 74 20 61 6d  70 6c 69 74 75 64 65 2c  |stant amplitude,|
000009d0  20 61 6e 64 20 69 73 20  6e 6f 74 0d 61 66 66 65  | and is not.affe|
000009e0  63 74 65 64 20 62 79 20  74 68 65 20 64 69 73 74  |cted by the dist|
000009f0  61 6e 63 65 20 6f 76 65  72 20 77 68 69 63 68 20  |ance over which |
00000a00  74 68 65 20 73 69 67 6e  61 6c 20 68 61 73 20 74  |the signal has t|
00000a10  72 61 76 65 6c 6c 65 64  2e 20 54 68 69 73 20 63  |ravelled. This c|
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00000a30  6f 20 6f 75 72 20 63 6f  6e 73 74 61 6e 74 20 74  |o our constant t|
00000a40  72 69 67 67 65 72 20 76  6f 6c 74 61 67 65 20 75  |rigger voltage u|
00000a50  73 69 6e 67 20 61 20 63  6f 6d 70 61 72 61 74 6f  |sing a comparato|
00000a60  72 2e 20 54 68 65 20 74  72 69 67 67 65 72 0d 76  |r. The trigger.v|
00000a70  6f 6c 74 61 67 65 20 69  74 73 65 6c 66 20 69 73  |oltage itself is|
00000a80  20 63 72 65 61 74 65 64  20 75 73 69 6e 67 20 61  | created using a|
00000a90  20 70 6f 74 65 6e 74 69  61 6c 20 64 69 76 69 64  | potential divid|
00000aa0  65 72 3a 0d 0d 54 68 65  20 6f 75 74 70 75 74 20  |er:..The output |
00000ab0  6f 66 20 74 68 65 20 63  6f 6d 70 61 72 69 74 6f  |of the comparito|
00000ac0  72 20 69 73 20 74 69 65  64 20 74 6f 20 74 68 65  |r is tied to the|
00000ad0  20 70 6f 73 69 74 69 76  65 20 35 56 20 6c 6f 67  | positive 5V log|
00000ae0  69 63 20 72 61 69 6c 20  66 72 6f 6d 0d 74 68 65  |ic rail from.the|
00000af0  20 63 6f 6d 70 75 74 65  72 20 62 79 20 6d 65 61  | computer by mea|
00000b00  6e 73 20 6f 66 20 61 20  72 65 73 69 73 74 6f 72  |ns of a resistor|
00000b10  20 74 6f 20 6d 61 6b 65  20 69 74 20 54 54 4c 20  | to make it TTL |
00000b20  63 6f 6d 70 61 74 69 62  6c 65 20 62 65 66 6f 72  |compatible befor|
00000b30  65 20 62 65 69 6e 67 0d  70 61 73 73 65 64 20 74  |e being.passed t|
00000b40  6f 20 74 68 65 20 63 6f  6d 70 75 74 65 72 20 69  |o the computer i|
00000b50  6e 70 75 74 20 63 69 72  63 75 69 74 72 79 2e 20  |nput circuitry. |
00000b60  54 68 65 20 72 65 73 74  20 6f 66 20 74 68 65 20  |The rest of the |
00000b70  70 72 6f 63 65 73 73 69  6e 67 20 69 73 0d 70 75  |processing is.pu|
00000b80  72 65 6c 79 20 70 61 74  74 65 72 6e 20 72 65 63  |rely pattern rec|
00000b90  6f 67 6e 69 74 69 6f 6e  2c 20 61 6e 64 20 69 73  |ognition, and is|
00000ba0  20 70 65 72 66 6f 72 6d  65 64 20 62 79 20 73 6f  | performed by so|
00000bb0  66 74 77 61 72 65 2c 20  6e 6f 74 20 68 61 72 64  |ftware, not hard|
00000bc0  77 61 72 65 2e 0d 0d 46  6f 72 20 61 6e 20 75 6c  |ware...For an ul|
00000bd0  74 72 61 73 6f 6e 69 63  20 73 63 61 6e 6e 69 6e  |trasonic scannin|
00000be0  67 20 73 79 73 74 65 6d  20 74 6f 20 62 65 20 6f  |g system to be o|
00000bf0  66 20 75 73 65 20 69 6e  20 42 61 6c 6c 42 6f 74  |f use in BallBot|
00000c00  2c 20 69 74 20 6d 6f 73  74 20 68 61 76 65 20 61  |, it most have a|
00000c10  0d 6b 6e 6f 77 6e 20 72  61 6e 67 65 20 6f 66 20  |.known range of |
00000c20  76 69 73 69 6f 6e 2c 20  73 6f 20 74 68 61 74 20  |vision, so that |
00000c30  77 65 20 6b 6e 6f 77 20  77 68 61 74 20 61 72 65  |we know what are|
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000017b0  20 49 6e 20 74 68 69 73  20 63 61 73 65 20 69 74  | In this case it|
000017c0  0d 63 61 6e 20 62 65 20  63 61 6c 63 75 6c 61 74  |.can be calculat|
000017d0  65 64 20 61 73 20 66 6f  6c 6c 6f 77 73 3a 0d 0d  |ed as follows:..|
000017e0  54 68 65 20 61 72 74 69  66 69 63 69 61 6c 20 69  |The artificial i|
000017f0  6e 74 65 6c 6c 69 67 65  6e 63 65 20 6d 6f 64 75  |ntelligence modu|
00001800  6c 65 0d                                          |le.|
00001803
BallBot/Part4.m0
BallBot/Part4.m1
BallBot/Part4.m2
BallBot/Part4.m4
BallBot/Part4.m5

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