Programming Manual Elektor Proton Robot - ELEKTOR.se

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Connector explanationBart Huyskens Manual Elektor Proton V1.0 3 April 2011 12
List of all the connectors on the motherboard + functionalityConnector Pins Description PIC AVRJ1 /CSSCKMOSIMISOSpare SPI communication connector. SPI is not used on theProton at this moment, but as SPI is a popular protocol, itmight be used in future designs and projects.C0C1C2/C4C5B4B5B6B7J2J3GNDSDASCL5V5VLFTCNTRGTGNDSpare I2C communication connector. I2C is the main bus inthe Proton robot. There are already 2 pull-up resistors of 1K8on the 2 lines of this bus.Line follow PCB connector. It provides power to the 3 LFsensors and receives logical values of the 3 LF sensors.J4 -+Send audio to the head. The polarity does not matter.Parallel with J29 to speaker.J5 AD0 Connected to The Left Sharp IR distance sensor. Connectedto pin AD0 of the uC. To read the analogue voltage from theIR sensor.J6J7J8J95VIO1IO2IO3GNDSWBSWRIO3IO2IO1RGTCNTLFTLD0LD1LD2LD3LD4LD5LD63 spare digital I/O pins to use for your own projects. Beaware that the Piezo sounder is also on IO3 and can bedisconnected with Jumper J7To disconnect the Piezo sounder from IO3 – see J68 pin connector that connects the uC add-on to themotherboard. It connects to the 2 push buttons, to the Piezo,to the line follow sensor and to the J6- IO expander.8 pin connector that connects the uC add-on to themotherboard. It connects directly to 8 led’s, next toconnector J9.LD7J10 AD1 Connected to The front-centre Sharp IR distance sensor.Connected to pin AD1 of the uC. To read the analoguevoltage from the IR sensor.J115VSCLSDAGNDTo connect the I2C LCD to the uC. This LCD uses I2Ccommando’s.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 13C4C3B0B1B2A0-AD0B6B7A4B5B4A4B7B6B2B1B0D0D1D2D3D4D5D6D7A1-AD1SDASCLC1C0D4D5D6A0-AD0C3C2D7D3D2D7C2C3D6D5D4B0B1B2B3B4B5B6B7A1-AD1SDASCL
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 and 10: AVR add-on board• The AVR board h
Page 11: Servo moduleSCL-SDAHeadSCL-SDAUS di
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
Page 61 and 62: The head with ldr’s, RGB-led’s
Page 63 and 64:
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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Page 75 and 76:
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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