3.5 Circuit Layout
Figure 3.6 PIC16F876 hardware interface connections
Figure 3.7 PIC16F876 hardware interface board
The previous figure shows the connection between the PIC microcontroller and the hardware components such as the stepper motors, D.C motors, light and so on. A crystal of 10MHz is connected to the CLKIN pin to generate the clock of the PIC. The data from the RF is received through the RA3 pin (pin5). Every one of the three D.C motors need three lines for direction and speed control(Enable,IN1,IN2) and the stepper motor needs two lines for direction control(Enable,(CW/CCW)). The output control lines of the microcontroller in this table shown below:
| RB0 | ENABLE (PWM) | |
| RB1 | IN 1 | D.C motor 1 |
| RB2 | IN2 | |
| RB3 | ENABLE (PWM) | |
| RB4 | IN1 | D.C motor 2 |
| RB5 | IN2 | |
| RB6 | ENABLE | |
| RB7 | IN1 | D.C motor 3 |
| RC0 | IN2 | |
| RC1 | ENABLE | Stepper |
| RC2 | CW\CCW | motor |
Table 3.1 Output control lines of the microcontroller
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