Programming Manual Elektor Proton Robot - ELEKTOR.se

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Summary of the different modules, their connection and functionality: 8 Red led’s LD0-LD7 Piezo sounder IO3 Red and Black Button SBR - SWB 3 Line sensors RGT-CNT-LFT IR Distance sensors AD0-AD1- AD2 Motor driver module SCL-SDA 8 led’s – on the motherboard 8 Digital outputs / 1 = led on / 0 = led off Connected to 8 bit port of uC Function: first programming steps - debugging Connected to one pin of the uC Digital output – driven by frequency of square wave Can produce any frequency in audio spectrum Function: Beep sounds – alarms – Ringtones J7 can disconnect the Piezo from the IO3 line. IO3 is also connected to the j6 extra IO connector. 2 push buttons – normally open Connected to the pins of the uC Digital input will give a ‘high’ signal to 2 pins of the uC when pushed Function: choice of programs / options 3 IR TCRT5000 line sensors of Vishay Connected to 3 lines of the uC 3 Digital inputs Black Surface = 1 / White surface = 0 Functionality: • Follow white or black line • Detect edge of table or play field 3 sensors : GP2Y0A21 from Sharp These sensors can measure distances from 10-80cm Sensors give an analogue value between 0-5V to the uC Connected to 3 A/D inputs of the uC MD25 motor driver module Connected to the uC via I2C Bus Standard I2C Slave address: 0xB0 Functionality: • Drive 2 DC motors (Speed – Acceleration rate - ….) • Feedback from encoders in motors for accurate positioning up to 1° wheel position • Feedback from battery voltage • Feedback from Motor current PIC D0-D7 A4 Red: B4 Black: B5 LFT:B0 CNT:B1 RGT:B2 LFT:ADC0 CNT:ADC1 RGT:ADC2 I2C Slave address: 0xB0 AVR B0-B7 D7 Red: D2 Black: D3 LFT:D4 CNT:D5 RGT:D6 LFT:ADC0 CNT:ADC1 RGT:ADC2 I2C Slave address: 0xB0 LCD SCL-SDA LCD03 Serial I2C LCD module 4 lines of 20 characters Connected to uC via I2C Bus Standard I2C Slave address: 0xC6 Functionality: • Display measured values • Display text-messages • Ideal for Debugging purposes I2C Slave address: 0xC6 I2C Slave address: 0xC6 Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 10
Servo module SCL-SDA Head SCL-SDA US distance sensor SCL-SDA Audio player MRX-MTX Expansion ports Can drive up to 4 servo’s Connected to the uC via I2C Bus Standard I2C Slave address: 0xAA 2 servo’s for the pan/tilt module to position the head 2 servo’s for the gripper set to grab object – size of a tin can. Functionality: • Switch separate servo’s on or off • position the 4 servo’s individually Connected to uC via I2C Bus Standard I2C Slave address: 0x10 Functionality: • 5 RGB led’s in left eye – separately driven by 3 PWM values to make any colour • 5 RGB led’s in right eye – separately driven by 3 PWM values to make any colour • 8 led’s in mouth o Separately driven by 8 bit register or o VU function reaction on sound level produced by the audio module. • 2 Photo transistors to measure light intensity and detect light sources SRF02 ultrasonic distance sensor This sensor can measure distances from 18-250cm Connected to uC via I2C Bus Standard I2C Slave address: 0xE0 uMP3 Audio module driven by RS232 Commando’s Functionality: • Plays mp3, wav, … files directly from SD card • Stores data on SD card • Produces nice data for equalizer functionality • Makes the robot speak with prerecorded audio files The motherboard has extra expansion ports – for your own projects. Idea’s for expansion projects could be: • Voice recognition / reaction to voice commands • Camera sensors implementation • Can bus implementation • Wireless communication between robots (RFID – Bluetooth – Zigbee – IRDA – WIFI…) • Remote control via PC or Transmitter I2C Slave address: 0xAA I2C Slave address: 0x10 I2C Slave address: 0xE0 RS232 TX RX I2C Slave address: 0xAA I2C Slave address: 0x10 I2C Slave address: 0xE0 RS232 TX RX Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 11
Page 1 and 2: V1.0 Programming Manual Elektor Pro
Page 3 and 4: Communications Protocol ...........
Page 5 and 6: Blok schematic: Bart Huyskens Manua
Page 7 and 8: Different modules on PCB level Bart
Page 9: AVR add-on board • The AVR board
Page 13 and 14: List of all the connectors on the m
Page 15 and 16: J26 J27 J28 J29 + - J30 J31 J33 J34
Page 17 and 18: char I2C_RECEIVE_BYTE(char Last); v
Page 19 and 20: How to set up Flowcode 4 (PIC) for
Page 21 and 22: How to set up Flowcode 4 (AVR) for
Page 23 and 24: How to set op AVRSTUDIO - WINAVR /
Page 25 and 26: Click on the gear-logo “Edit curr
Page 27 and 28: Make sure that your fuses tab scree
Page 29 and 30: How to set up MPLAB - HITECH C Lite
Page 31 and 32: We choose not to add any file to th
Page 33 and 34: • Copy paste the “PIC_PROTON_LI
Page 35 and 36: Bart Huyskens Manual Elektor Proton
Page 37 and 38: } { PORTD = 0x0F; __delay_ms(200);
Page 39 and 40: PIC16F887 Demoprogram Flowcode PIC
Page 41 and 42: These are 2 normally open push butt
Page 43 and 44: • After the readbyte instruction
Page 45 and 46: READ DATA FROM THE SLAVE For exampl
Page 47 and 48: void main() { // init AD & Option r
Page 49 and 50: Experience: We use this LCD in I2C
Page 51 and 52: Commands to write in the command re
Page 53 and 54: Custom char generator Custom charac
Page 55 and 56: The servo motors in the head and th
Page 57 and 58: This robot can be equipped with up
Page 59 and 60: Although the signal for the positio
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The head with ldr’s, RGB-led’s
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Head I2C Slave address = 0x10 Index
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Proton robot developer’s notes: T
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When a ranging command in cm is giv
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address of a sonar currently at 0xE
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The MD25 motor driver module This p
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The MD25 has 17 registers numbered
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ultimate speed, the MD25 has a regi
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Changing the I2C Bus Address To cha
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The line sensor module with 3 IR li
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Photo of the 3 line follow sensors
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Analogue to digital conversion expl
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} } Proton robot developer’s note
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RS232 communication explained RS-23
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• Supports o MMC, SDC, SDHC card
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Communications Protocol Description
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Prompt Character Setting name: P Th
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Boost Setting name: B Sets the defa
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Input/Output Interface Settings Inp
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Settings Description Non-volatile s
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Play Next Description This plays th
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Stop Description Stops playback. Fo
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Playback Status Description This sh
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Play Tone Description This command
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Reset Audio Description Resets the
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Loop Count Description Gets or sets
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1 1 0001 1 +1.5 dB 2 2 0010 2 +3 dB
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This command will copy data from an
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Close Description Closes an open fi
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Parameters • path is the absolute
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Info Description Gives the file pos
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Card Info Description Gets card spe
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List Directory Description The List
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L /PICTURES/*.JPG «sp»----A 2008/
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Rename Description Renames/moves a
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O 1 R /LOGS/JANUARY/JAN03.LOG Open
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Description You can read up to 512
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Read Line Description The Read Line
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Write Description You can write up
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E /LOG.TXT O 1 RW /LOG.TXT S E 0 I
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Table of Settings Communication Set
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Input/Output Interface Settings Set
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Proton main program for PIC in C: /
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void UART_STRING_RECEIVE( char *rec
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} SSPBUF=Data; //Send byte while((P
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} } // Writes an integer value to t
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s++; } } //bit STRING_IN( const cha
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eturn; } } } } } /*****************
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Proton main program for AVR in C: /
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char STR_PREFIX( const char *p, con
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} TWCR = (1
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LCD_WRITE_STRING(String); also LCD_
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n--; } } //bit char_in( char c, con
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} } else { _delay_us( 100 ); t++; i
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Cheat sheet C - for Hitech C compil
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Version changes summary 09/04/2011
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