Cornerstone Robotics, Gainesville FL

PICBASIC PRO PROGRAMS FOR 16F88:
Beginning Programs
Servo and Motor Control Programs
Stepper Motor Programs
Reading Sensor Programs
Serial Communications Programs
Visual Basic.NET Programs
Robotics Programs
DS1620 Thermometer Programs
Making Music with PIC16F88

PICBASIC PRO PROGRAMS FOR 16F877A:
Beginning Programs
Servo and Motor Control Programs
Stepper Motor Programs
Reading Sensor Programs

PICBASIC PRO PROGRAMS FOR 18F4331:
Encoder Programs

These fundamental PicBasic Pro programs were written to introduce new statements that periodically would be combined into a program with a robotic application. Most of the programs are very short, focusing on one new command or a new application of a command. Check Technical Lessons for Year 2 for more background information.

The microcontroller used for the most part is the PIC16F88-I/P from Microchip Technology,
http://microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=64. The data sheet is available at: http://ww1.microchip.com/downloads/en/devicedoc/30487c.pdf. Jameco stocks the PIC16F88-I/P at a cost of $3.25 each for quantities less than 10. Microchipdirect lists the PIC16F88-I/P at $2.60 each for quantities less than 26.

Some of the programs have adapted to the PIC16F877A.

The programs are written in PicBasic Pro from micro-Engineering Labs, Inc., melabs.com. We use the melabs U2 Programmer. The cost for both the PicBasic Pro Compiler 3.0 and the U2 Programmer with Accessories ranges from $174.90 to $394.90 USD depending upon which version of PicBasic Pro Compiler 3.0 purchased.

16F88 Beginning Programs:

Program Name	Program Description	New PICBASIC PRO Statements	Schematic for Code	Code as .pdf file	Download PicBasic Pro Code as .pbp File
blink1	LED flashes on and off one time per second.	PAUSE, GOTO, END	Schematic 5 v Voltage Regulator	Code PDF file	blink1.pbp
blink2	LED flashes on and off one time per half second using different commands.	HIGH, LOW	Schematic	Code PDF file	blink2.pbp
railroad	Two LEDs flash like a railroad crossing.		Schematic	Code PDF file	railroad.pbp
blink3	Turns one LED on and off 5 times.	FOR..NEXT	Schematic	Code PDF file	blink3.pbp
led_piezo	Many patterns of flashing		Schematic	Code pdf file	led_piezo.pbp
bounce1	Eight LED's scroll on from the right then to the left then back again.		Schematic	Code PDF file	bounce1.pbp
bounce2	Eight LED's scroll off from the right then to the left.		Schematic	Code PDF file	bounce2.pbp
count1	Eight LEDs count in binary from 1 to 255		Schematic	Code PDF file	count1.pbp
count2	Display 8-bit number as decimal, hexadecimal, binary number on LCD		Schematic	Code PDF file	count2.pbp
LCD1	Prints simple message to LCD.	LCDOUT	Schematic	Code PDF file	LCD1.pbp
LCD2	Demonstrates several commands to move LCD cursor.		Schematic	Code PDF file	LCD2.pbp
LCD3	Display resistance readings from a potentiometer.	POT	Schematic	Code PDF file	LCD3.pbp
pic_as_source	PIC acts as a source output to light an LED		Schematic	Code PDF file	pic_as_source
pic_as_sink	PIC acts as a sink output to light an LED		Schematic	Code PDF file	Pic_as_sink
active_high	LED turns on when active high switch is pressed		Schematic	Code PDF file	active_high
active_low	LED turns on when active low switch is pressed		Schematic	Code PDF file	active_low
array1	Set up two 6 element arrays		Schematic	Code PDF file	array1
array2	Find max value in 7 element array		Schematic	Code PDF file	array2
fiber-optic1	Sends simple signal through fiber-optic cable		Schematic	Code PDF file	fiber_optic1
shift1	Use shift operator << to shift value to left	Shift Operator	Schematic	Code PDF file	shift1.pbp
signed_num1	Display signed numbers		Schematic	Code PDF file	signed_num1

16F88 Servo and Motor Control Programs:

Program Name	Program Description	New PICBASIC PRO Statements	Schematic for Code	Code as .pdf file	Download PicBasic Pro Code as .pbp File
servo1	Rotates servo cwise and ccwise using PULSOUT	PULSOUT	Schematic	Code PDF file	servo1.pbp
servo2	Rotates servo cwise and ccwise using PAUSEUS	PAUSEUS	Schematic	Code PDF file	servo2.pbp
servo3	Rotates servo cwise and ccwise in incremental steps		Schematic	Code PDF file	servo3.pbp
servo4	Servo position determined by switch inputs		Schematic	Code PDF file	servo4.pbp
h_bridge	PIC drives SN754410 1.5 A driver		Schematic Photo of Breadboard (large pdf file)	Code PDF file	h_bridge_ sn754410_ 1.pbp
pwm1	Drives dc motors at different speeds. Jameco motor1 motor2	PWM	Schematic	Code PDF file	pwm1.pbp
hpwm1	Shows HPWM working in program background	HPWM	Schematic	Code PDF file	hpwm1.pbp
hpwm2	Changes speeds using HPWM		Schematic	Code PDF file	hpwm2.pbp
pwm_ hpwm1	Runs PWM and HPWM commands together		Schematic	Code PDF file	pwm_hpwm1
pwm_ sn754410	Uses PAUSEUS command to create PWM signal to drive SN754410 1.5 A h-bridge driver		Schematic Photo of Breadboard (large pdf file)	Code PDF file	pwm_ sn754410_1

16F88 Stepper Motor Programs:

Program Name	Program Description	New PICBASIC PRO Statements	Schematic for Code	Code as .pdf file	Download PicBasic Pro Code as .pbp File
step_mot1	Drives stepper motor		Schematic	Code PDF file	step_mot1.pbp
step_mot_ hi_torque	Generates 1.4 times the torque as step_mot1		Schematic	Code PDF file	step_mot_ hi_torque.pbp
step_mot_ half_step	Drives stepper motor with twice the steps as step_mot1		Schematic	Code PDF file	step_mot_ half_step.pbp
step_mot_ one_rev	Drives stepper motor to rotate one revolution cw and ccw then stop	LOOKUP	Schematic	Code PDF file	step_mot_ one_ revolution.pbp

16F88 Reading Sensor Programs:

Program Name	Program Description	New PICBASIC PRO Statements	Schematic for Code	Code as .pdf file	Download PicBasic Pro Code as .pbp File
switch1	Turn on/off LED's with button switch.	IF..THEN	Schematic	Code PDF file	switch1.pbp
switch2	Switch drives LED and servo.	IF..THEN.. ELSE	Schematic	Code PDF file	switch2.pbp
switch_ limit1	Uses limit switches to reverse motor See Video		Schematic	Code PDF file	switch_limit1
adc1	8-Bit Analog-to-Digital conversion	ADCIN	Schematic	Code PDF file	adc1.pbp
adc2	10-bit Analog-to-Digital conversion		Schematic	Code PDF file	adc2.pbp
adc3	Converts 10-Bit data to voltage		Schematic	Code PDF file	adc3.pbp
bend_sensor1	Use flex sensor to rotate hobby servo See Video		Schematic	Code PDF file	bend_sensor1
read_voltage	Reads and displays 0 to +15 volts		Schematic	Code PDF file	read_voltage
sonar1	Displays SRF04 sonar readings to LCD.	PULSIN	Schematic	Code PDF file	sonar1
sonar2	LED's light up as sonar is brought close to an object.		Schematic	Code PDF File	sonar2
dinsmore1	Reads Dinsmore 1490 Digital Compass		Schematic	Code PDF File	dinsmore1
MPX4250	Measures water depth with MPX4250AP sensor		Schematic	Code PDF File	mpx4250

16F88 Serial Communications:

Program Name	Program Description	New PICBASIC PRO Statements	Schematic for Code	Code as .pdf file	Download PicBasic Pro Code as .pbp File
serout2_hello	Display hello on PC terminal program	SEROUT2	Schematic	Code PDF file	serout2_hello
serout2_ potentiometer_ 8bit	Display 8-bit potentiometer reading on PC terminal program		Schematic	Code PDF file	serout2_ potentiometer_ 8bit
serout2_ potentiometer_ 10bit	Display 10-bit potentiometer reading on PC terminal program		Schematic	Code PDF file	serout2_ pontentiometer_ 10bit
serin2_led_on_ off	PC controls LEDs on PIC	SERIN2 SELECT CASE	Schematic	Code PDF file	serin2_led_on_off
serin2_pwm	PC controls motor speed	SERIN2 with Timeout, Label	Schematic	Code PDF file	serin2_pwm
serin2_pwm_ wait	PC controls motor speed	SERIN2 with WAIT () Modifier	Schematic	Code PDF file	serin2_pwm_wait
multiplex_tx1 & multiplex_rx1	Control 4 LEDs over fiber-optic cable using 4 variables	HSEROUT HSERIN	Schematic	tx1.pdf rx1.pdf	multiplex_tx1 multiplex_rx1
multiplex_tx2 & multiplex_rx2	Control 4 LEDs over fiber-optic cable using 1 variable		Schematic	tx2.pdf rx2.pdf	multiplex_tx2 multiplex_rx2
multiplex_tx3 & multiplex_rx3	Control 2 motors' speed over fiber-optic cable. One tx PIC, two rx PICs		Schematic	tx3.pdf rx3x.pdf rx3y.pdf	multiplex_tx3 multiplex_rx3x multiplex_rx3y

16F877A Beginning Programs:

Program Name	Program Description	New PICBASIC PRO Statements	Schematic for Code	Code as .pdf file	Download PicBasic Pro Code as .pbp File
blink1	LED flashes on and off one time per second.	PAUSE, GOTO, END	Schematic 5 v Voltage Regulator	Code PDF file	blink1.pbp
blink2	LED flashes on and off one time per half second using different commands.	HIGH, LOW	Schematic	Code PDF file	blink2.pbp
railroad	Two LED's flash like a railroad crossing.		Schematic	Code PDF file	railroad.pbp
blink3	Turns one LED on and off 5 times.	FOR..NEXT	Schematic	Code PDF file	blink3.pbp
bounce1	Eight LED's scroll on from the right then to the left then back again.		Schematic	Code PDF file	bounce1.pbp
bounce2	Eight LED's scroll off from the right then to the left.		Schematic	Code PDF file	bounce2.pbp
count1	Eight LEDs count in binary from 1 to 255		Schematic	Code PDF file	count1.pbp
LCD1	Prints simple message to LCD.	LCDOUT	Schematic	Code PDF file	LCD1.pbp
LCD2	Demonstrates several commands to move LCD cursor.		Schematic	Code PDF file	LCD2.pbp
LCD3	Display resistance readings from a potentiometer.	POT	Schematic	Code PDF file	LCD3.pbp

16F877A Servo and Motor Control Programs:

Program Name	Program Description	New PICBASIC PRO Statements	Schematic for Code	Code as .pdf file	Download PicBasic Pro Code as .pbp File
servo1	Rotates servo cwise and ccwise using PULSOUT	PULSOUT	Schematic	Code PDF file	servo1.pbp
servo2	Rotates servo cwise and ccwise using PAUSEUS	PAUSEUS	Schematic	Code PDF file	servo2.pbp
servo3	Rotates servo cwise and ccwise in incremental steps		Schematic	Code PDF file	servo3.pbp
servo4	Servo position determined by switch inputs		Schematic	Code PDF file	servo4.pbp
h_bridge	PIC drives SN754410 1.5 A driver		Schematic	Code PDF file	h_bridge_ sn754410_ 1.pbp
pwm1	Drives dc motors at different speeds. Jameco motor1 motor2	PWM	Schematic	Code PDF file	pwm1.pbp
hpwm1	Shows HPWM working in program background	HPWM	Schematic	Code PDF file	hpwm1.pbp
hpwm2	Changes speeds using HPWM		Schematic	Code PDF file	hpwm2.pbp
pwm_ sn754410	Uses PAUSEUS command to create PWM signal to drive SN754410 1.5 A h-bridge driver		Schematic	Code PDF file	pwm_ sn754410_1

16F877A Stepper Motor Programs:

Program Name	Program Description	New PICBASIC PRO Statements	Schematic for Code	Code as .pdf file	Download PicBasic Pro Code as .pbp File
step_mot1	Drives stepper motor		Schematic	Code PDF file	step_mot1.pbp
step_mot_ hi_torque	Generates 1.4 times the torque as step_mot1		Schematic	Code PDF file	step_mot_ hi_torque.pbp
step_mot_ half_step	Drives stepper motor with twice the steps as step_mot1		Schematic	Code PDF file	step_mot_ half_step.pbp
step_mot_ one_rev	Drives stepper motor to rotate one revolution cw and ccw then stop	LOOKUP	Schematic	Code PDF file	step_mot_ one_ revolution.pbp

16F877A Reading Sensor Programs:

Program Name	Program Description	New PICBASIC PRO Statements	Schematic for Code	Code as .pdf file	Download PicBasic Pro Code as .pbp File
switch1	Turn on/off LED's with button switch.	IF..THEN	Schematic	Code PDF file	switch1.pbp
switch2	Switch drives LED and servo.	IF..THEN.. ELSE	Schematic	Code PDF file	switch2.pbp
adc1	8-Bit Analog-to-Digital conversion	ADCIN	Schematic	Code PDF file	adc1.pbp
adc2	10-bit Analog-to-Digital conversion		Schematic	Code PDF file	adc2.pbp
adc3	Converts 10-Bit data to voltage		Schematic	Code PDF file	adc3.pbp
sonar1	Displays SRF04 sonar readings to LCD.	PULSIN	Schematic	Code PDF file	sonar1