Programming Manual Elektor Proton Robot - ELEKTOR.se

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Summary of the different modules, their connection and functionality:8 Red led’sLD0-LD7PiezosounderIO3Red andBlack ButtonSBR - SWB3 LinesensorsRGT-CNT-LFTIR DistancesensorsAD0-AD1-AD2Motor drivermoduleSCL-SDA8 led’s – on the motherboard8 Digital outputs / 1 = led on / 0 = led offConnected to 8 bit port of uCFunction: first programming steps - debuggingConnected to one pin of the uCDigital output –driven by frequency of square waveCan produce any frequency in audio spectrumFunction: Beep sounds – alarms – RingtonesJ7 can disconnect the Piezo from the IO3 line. IO3 is alsoconnected to the j6 extra IO connector.2 push buttons – normally openConnected to the pins of the uCDigital inputwill give a ‘high’ signal to 2 pins of the uC when pushedFunction: choice of programs / options3 IR TCRT5000 line sensors of VishayConnected to 3 lines of the uC3 Digital inputsBlack Surface = 1 / White surface = 0Functionality:• Follow white or black line• Detect edge of table or play field3 sensors : GP2Y0A21 from SharpThese sensors can measure distances from 10-80cmSensors give an analogue value between 0-5V to the uCConnected to 3 A/D inputs of the uCMD25 motor driver moduleConnected to the uC via I2C BusStandard I2C Slave address: 0xB0Functionality:• Drive 2 DC motors (Speed – Acceleration rate - ….)• Feedback from encoders in motors for accuratepositioning up to 1° wheel position• Feedback from battery voltage• Feedback from Motor currentPICD0-D7A4Red: B4Black: B5LFT:B0CNT:B1RGT:B2LFT:ADC0CNT:ADC1RGT:ADC2I2C Slaveaddress:0xB0AVRB0-B7D7Red: D2Black: D3LFT:D4CNT:D5RGT:D6LFT:ADC0CNT:ADC1RGT:ADC2I2C Slaveaddress:0xB0LCDSCL-SDALCD03 Serial I2C LCD module4 lines of 20 charactersConnected to uC via I2C BusStandard I2C Slave address: 0xC6Functionality:• Display measured values• Display text-messages• Ideal for Debugging purposesI2C Slaveaddress:0xC6I2C Slaveaddress:0xC6Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 10
Servo moduleSCL-SDAHeadSCL-SDAUS distancesensorSCL-SDAAudio playerMRX-MTXExpansionportsCan drive up to 4 servo’sConnected to the uC via I2C BusStandard I2C Slave address: 0xAA2 servo’s for the pan/tilt module to position the head2 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 individuallyConnected to uC via I2C BusStandard I2C Slave address: 0x10Functionality:• 5 RGB led’s in left eye – separately driven by 3 PWMvalues to make any colour• 5 RGB led’s in right eye – separately driven by 3 PWMvalues to make any colour• 8 led’s in moutho Separately driven by 8 bit register oro VU function reaction on sound level producedby the audio module.• 2 Photo transistors to measure light intensity anddetect light sourcesSRF02 ultrasonic distance sensorThis sensor can measure distances from 18-250cmConnected to uC via I2C BusStandard I2C Slave address: 0xE0uMP3 Audio moduledriven by RS232 Commando’sFunctionality:• 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 filesThe motherboard has extra expansion ports – for your ownprojects. 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 TransmitterI2CSlaveaddress:0xAAI2CSlaveaddress:0x10I2CSlaveaddress:0xE0RS232TXRXI2CSlaveaddress:0xAAI2CSlaveaddress:0x10I2CSlaveaddress:0xE0RS232TXRXBart Huyskens Manual Elektor Proton V1.0 3 April 2011 11
Page 1 and 2: V1.0Programming ManualElektor Proto
Page 3 and 4: Communications Protocol ...........
Page 5 and 6: Blok schematic:Bart Huyskens Manual
Page 7 and 8: Different modules on PCB levelBart
Page 9: AVR add-on board• The AVR board h
Page 13 and 14: List of all the connectors on the m
Page 15 and 16: J26J27J28J29 +-J30J31J33J34J35GND12
Page 17 and 18: char I2C_RECEIVE_BYTE(char Last);vo
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_LIB
Page 35 and 36: Bart Huyskens Manual Elektor Proton
Page 37 and 38: }{PORTD = 0x0F;__delay_ms(200);PORT
Page 39 and 40: PIC16F887Demoprogram Flowcode PIC V
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 SLAVEFor example
Page 47 and 48: void main(){// init AD & Option reg
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 generatorCustom charact
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 = 0x10Index
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Proton robot developer’s notes:Th
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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 moduleThis pr
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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 AddressTo chan
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The line sensor module with 3 IR li
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Photo of the 3 line follow sensorsT
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Analogue to digital conversion expl
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}}Proton robot developer’s notes:
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RS232 communication explainedRS-232
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• Supportso MMC, SDC, SDHC card f
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Communications ProtocolDescriptionT
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Prompt CharacterSetting name: PThis
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BoostSetting name: BSets the defaul
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Input/Output Interface SettingsInpu
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SettingsDescriptionNon-volatile set
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Play NextDescriptionThis plays the
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StopDescriptionStops playback.Forma
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Playback StatusDescriptionThis show
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Play ToneDescriptionThis command pl
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Reset AudioDescriptionResets the au
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Loop CountDescriptionGets or sets t
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1 1 0001 1 +1.5 dB2 2 0010 2 +3 dB3
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This command will copy data from an
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CloseDescriptionCloses an open file
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Parameters• path is the absolute
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InfoDescriptionGives the file posit
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Card InfoDescriptionGets card speci
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List DirectoryDescriptionThe List D
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L /PICTURES/*.JPG«sp»----A 2008/0
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RenameDescriptionRenames/moves a fi
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O 1 R /LOGS/JANUARY/JAN03.LOGOpen a
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DescriptionYou can read up to 512 b
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Read LineDescriptionThe Read Line c
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WriteDescriptionYou can write up to
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E /LOG.TXTO 1 RW /LOG.TXTS E0I 10/0
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Table of SettingsCommunication Sett
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Input/Output Interface SettingsSett
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Proton main program for PIC in C:/*
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void UART_STRING_RECEIVE(char *rece
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}SSPBUF=Data;//Send bytewhile((PIR1
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}}// Writes an integer value to the
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s++;}}//bit STRING_IN( const char *
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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);alsoLCD_WR
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n--;}}//bit char_in( char c, const
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}} else {_delay_us( 100 );t++;if( t
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Cheat sheet C - for Hitech C compil
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Version changes summary09/04/2011 v
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