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Before we move on, let s look at one more case. A 12V stepper motor has a phase (coil) resistance of 6 ohms. The current drawn by this motor is 12 V/6 ohms 2 A. This is above the UCN-5804 maximum current rating. To use this stepper motor, you must add the rx and ry resistors. The rx and ry resistor values should be equal to each other, so each phase will have the same torque. The values chosen for these resistors should limit the current drawn to 1.25 A or less. In this case the resistors should be at least 4 ohms [5 to 10 watts (W)]. With the resistors in place the current drawn is 12 V/10 ohms 1.20 A. The inputs to the UCN-5804 are compatible with complementary metal-oxide semiconductor (CMOS) and transistor-transistor logic (TTL). This means we can connect the outputs from our PIC microcontroller directly to the UCN-5804 and expect it to function properly. The step input (pin 11) to the UCN-5804 is generated by the PIC microcontroller. The output enable pin when held low enables the stepper motor; when brought high, it disables (stops) the stepper motor. Pins 10 and 14 on the UCN-5804 are controlled by switches that bring the pins to a logic high or low. Pin 10 controls whether the output to the stepper motor will be full-step or half-step, and pin 14 controls direction. If we want, these options may also be put under the PIC control. The pins are brought to a logic high or low to activate the options just like the output enable pin.

Stepper motor with UCN-5804 Symbol TRISB = 134 Symbol PortB = 6 Poke TRISB,0 low1 start: pulsout 0, 10000 goto start Send 10-ms pulse to UCN-5804 Do again Initialize TRISB to 134 Initialize portb to 6

As already stated, this can be tricky, but you can find new ways to distribute as long as you don t upset your

In this case I again wrote a simple core program to show how easy it is to get the stepper motor running. You can, of course, add options to the program to change the pulse frequency, connect the direction and step mode pins, etc.

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(1) 16F84 microcontroller (2) 22-picofarad (pF) capacitors (1) 4.0-MHz crystal (1) 4.7K-ohm, 1/4-W resistor (1) 555 timer (1) UCN-5804B stepper motor controller chip (1) Stepper motor [unipolar (six-wire)] (1) Step-down wall transformer (6) 1N914 diodes (4) TIP 120 NPN transistors (1) Voltage regulator (7805, 7812) (1) Rectifier 50V, 1 A (1) 150- F capacitor (1) 4050 hex buffer chip Miscellaneous: Solderless breadboard Parts are available from: Images Company, James Electronics, JDR MicroDevices, and Radio Shack. See Suppliers at the end of the book.

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existing distribution arrangements or your image. Here are some examples: In 2009, a private equity firm bought the bankrupt Linens N Things business and transformed it into an Internet-only operation. It still offers 200,000 products for the home, but now its overhead costs are lower as it competes with brick-and-mortar players like Bed Bath & Beyond. Nuprin was an also-ran brand of ibuprofen until it went the private-label route. The name was sold to the CVS pharmacy chain, which is now its exclusive retailer. Tupperware was a party-only player for decades. But now that more and more households have two adults working outside the home, Tupperware has to party a little harder. Its storage containers are now available in Target stores. Ditto for Avon cosmetics, which is now calling on customers in department stores. Even the venerable Fred Rogers, creator of the kids TV show Mister Rogers Neighborhood, found a new way to distribute his gentle message. He introduced an interactive program on the PBS Web site and a series of children s stories for www.mister rogers.org. Hey, it s a beautiful day in the cyberhood.

WALKERS ARE A CLASS OF ROBOTS THAT IMITATE THE locomotion of animals and insects. Essentially, walker robots use legs for locomotion. Locomotion by legs is hundreds of millions of years old. In contrast to this, wheels are relatively a new science, being only 7000 to 10,000 years old. Wheels are good, but they require a relatively smooth surface to ride upon. Just look at an aerial photograph of any city or suburb to see the highways and streets crisscrossing the landscape.

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