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Microchip technology has developed a line of reduced instruction set computer (RISC) microprocessors called the programmable interface controller (PIC) The PIC uses what is known as Harvard architecture Harvard uses two memories and separate busses The first memory is used to store the program, and the other is to store data The advantage of this design is that instructions can be fetched by the CPU at the same time that RAM is being accessed This greatly speeds up execution time The architecture commonly used for most computers today is known as Von Neumann architecture This design uses the same memory for control and RAM storage, and slows down processing time We will be using the PIC 16F84, shown in Figure 31, as the processor for the robots in the book This device can be reprogrammed over and over because it uses flash read-only memory for program storage This makes it ideal for experimenting because the chip does not need to be erased with an ultraviolet light source every time you need to tweak the code or try something new The PIC 16F84 is an 18-pin device with an 8-bit data bus and registers We will be using a 4-MHz crystal for the clock speed This is very fast for our application when you consider that it is run-

ning machine code at 4 million cycles per second The PIC 16F84 is equipped with two input/output (I/O) ports, port A and port B Each port has two registers associated with it The first register is the TRIS (Tri State) register The value loaded into this register determines if the individual pins of the port are treated as inputs or outputs The other register is the address of the port itself Once the ports have been configured using the TRIS register, data can then be written or read to the port using the port register address Port B has eight I/O lines available and Port A has five I/O lines For example, the first robot project in the book details the construction and programming of a robotic frog This project will use the same main controller circuit board as the hexapod robot featured in the book Insectronics so that readers who have built the Insectronic robot will be able to jump right into this project The frog will be using all eight I/O lines of Port B and all five lines of Port A, as shown in Figure 32

Preservation includes several categories Adaptive reuse is when architects provide a new function for older structures that would otherwise be demolished For example, a defunct mill is converted into an of ce building or a college Architectural conservation involves using special techniques to halt further deterioration of building materials Restoration, which may be called historical restoration, involves the meticulous return of a building to its former appearance at a particular period in history Rehabilitation or renovation involves altering or upgrading existing buildings and structures

newspaper ads and publications such as Old Cars, Special Interest Autos, and especially Collector Car & Truck Prices and Hemmings Motor News to see which cars are commanding what prices Ask questions of old-car owners A good way to do this is to find a vintage car show and attend Speak with the enthusiastic owners who love to talk about their cars and can provide some useful tips and guidance Know your budget beforehand Determine what you can pay for the vehicle and for any restoration Get basic information such as hourly rates from several restorers as a benchmark; you can t get a firm estimate until the restorer sees the actual car and probably not even then Have cash ready When you go to see a car, this can give you leverage to make a better deal But don t be rushed into buying something you don t want just because you have the money at hand Decide how much work to invest If you have the skills and tools to do some or all of your own work, you can bank your savings accordingly Have garage space You ll need this to work on your car, to store it, or both This is essential for preserving what you buy and insuring it at the low rates for limited use offered by specialized insurers Pay a good mechanic It s always a good idea to have a professional check over any car you re seriously considering even if you have knowledge of cars yourself Join the owners club for the car you buy You won t find a better source of parts, technical aid, or camaraderie (Hint: Join the club for the car of your choice before you start