Programming Manual Elektor Proton Robot - ELEKTOR.se

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J12 AD2 Connected to the Right Sharp IR distance sensor. Connectedto pin AD2 of the uC. To read the analogue voltage from theIR sensor.J13J14J15J16J17J18J19J20J21J22AD0AD1AD2AD3AD4AD5AD6AD7/CSSCKMSIMSOMRXMTXSCLSDAMTXMRXGNDGNDAD35VSWBSWBSCLSDAGNDGNDAD45VGNDSCLSDA12VAD5AD6AD7GND5V8 pin connector that connects the uC add-on to themotherboard. It connects to 8 Analogue input pins of the uC.AT this moment, only 3 of the 8 pins are used, all the othersare spare.The 3 pins used read the analogue voltage from the 3 sharpIR distance sensors.These 8 AD pins can also be used as normal logic IO pins.8 pin connector that connects the uC add-on to themotherboard. This is the communications connector:SPI comms : /CS,SCK,MOSI,MISOI2C comms : SCL; SDARS232 comms : MRX, MTXSPI MISO line with PIC can be selected by jumperSpare RS232 Connector. Use this for your own RS232projects. Be aware that the Audio module is also on theseRS232 lines. As this audio module needs quite specificinstruction strings, the chance is not big that it would reactstrange if other modules are also connected to these lines.The voltage levels are TTL (0V-5V) and not -12 and +12!Spare I/O + analogue pin. Can be used as AD or as Digital IOpin.To connect the black push button to. No polarity. Connectsto pin SWB of uCConnect to MD25 motor driver PCB. The MD25 moduleworks with I2C commands.Spare I/O + analogue pin. Can be used as AD or as Digital IOpin.Connect to the 4 pin connector of the head. The head has itsown I2C slave pre-programmed uC and it takes a few easyI2C commands to read from of write to the different modulesof the head.3 Spare I/O + analogue pins. Can be used as AD or as DigitalIO pins.To provide power to the microcontroller ADD-ON PCB.J23 +-Connect directly (via main switch) to 12V Battery. Be awareof the polarity!J24 GND Test pin to connect your GND to when you want to measureanything on the PCB.J25 MPWR Motor power. 12V connection to the MD25 motor driverA2-AD2A0A1A2A3A4E0E1E2C0C1C2-C4C5C7C6C3C4C6C7A3B5SCLSDAA4SCLSDAE0E1E2A2-AD2A0A1A2A3A4A5A6A7B4B5B6B7D0D1C0C1D0D1A3D3SCLSDAA4SCLSDAA5A6A7Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 14
J26J27J28J29 +-J30J31J33J34J35GND12VMTXMRXGNDGND5VGNDRGTSV16VGNDSV26VGNDSV36VGNDSV46VGNDSWRSWRmodule. Be aware of the polarity!!Spare 12V output for your own projects.RS232 communication + 5V power supply for the audiomodule.Mono output of the audio module. This signal goes to theaudio amplifier on the motherboard and then to the speakerand the head.To speaker. 8ohm resistance. Signal comes from the audioamplifier IC. J29 to speaker is in parallel with J4 to head.Polarity not important.Servo output to pan & tilt kit servo in head. Comes from I2Ccontrolled Servo driver IC.Servo output to pan & tilt kit servo in head. Comes from I2Ccontrolled Servo driver IC.Servo output to gripper kit at the front of the proton. Comesfrom I2C controlled Servo driver IC.Servo output to gripper kit at the front of the proton. Comesfrom I2C controlled Servo driver IC.To connect the red push button to. No polarity. Connects topin SWR of uCTXRXB4TXRXD2Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 15
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 and 12: Servo moduleSCL-SDAHeadSCL-SDAUS di
Page 13: List of all the connectors on the m
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
Page 65 and 66:
Proton robot developer’s notes:Th
Page 67 and 68:
When a ranging command in cm is giv
Page 69 and 70:
address of a sonar currently at 0xE
Page 71 and 72:
The MD25 motor driver moduleThis pr
Page 73 and 74:
Page 75 and 76:
The MD25 has 17 registers numbered
Page 77 and 78:
ultimate speed, the MD25 has a regi
Page 79 and 80:
Changing the I2C Bus AddressTo chan
Page 81 and 82:
The line sensor module with 3 IR li
Page 83 and 84:
Photo of the 3 line follow sensorsT
Page 85 and 86:
Analogue to digital conversion expl
Page 87 and 88:
}}Proton robot developer’s notes:
Page 89 and 90:
RS232 communication explainedRS-232
Page 91 and 92:
Page 93 and 94:
• Supportso MMC, SDC, SDHC card f
Page 95 and 96:
Communications ProtocolDescriptionT
Page 97 and 98:
Prompt CharacterSetting name: PThis
Page 99 and 100:
BoostSetting name: BSets the defaul
Page 101 and 102:
Input/Output Interface SettingsInpu
Page 103 and 104:
SettingsDescriptionNon-volatile set
Page 105 and 106:
Play NextDescriptionThis plays the
Page 107 and 108:
StopDescriptionStops playback.Forma
Page 109 and 110:
Playback StatusDescriptionThis show
Page 111 and 112:
Play ToneDescriptionThis command pl
Page 113 and 114:
Reset AudioDescriptionResets the au
Page 115 and 116:
Loop CountDescriptionGets or sets t
Page 117 and 118:
1 1 0001 1 +1.5 dB2 2 0010 2 +3 dB3
Page 119 and 120:
This command will copy data from an
Page 121 and 122:
CloseDescriptionCloses an open file
Page 123 and 124:
Parameters• path is the absolute
Page 125 and 126:
InfoDescriptionGives the file posit
Page 127 and 128:
Card InfoDescriptionGets card speci
Page 129 and 130:
List DirectoryDescriptionThe List D
Page 131 and 132:
L /PICTURES/*.JPG«sp»----A 2008/0
Page 133 and 134:
RenameDescriptionRenames/moves a fi
Page 135 and 136:
O 1 R /LOGS/JANUARY/JAN03.LOGOpen a
Page 137 and 138:
DescriptionYou can read up to 512 b
Page 139 and 140:
Read LineDescriptionThe Read Line c
Page 141 and 142:
WriteDescriptionYou can write up to
Page 143 and 144:
E /LOG.TXTO 1 RW /LOG.TXTS E0I 10/0
Page 145 and 146:
Table of SettingsCommunication Sett
Page 147 and 148:
Input/Output Interface SettingsSett
Page 149 and 150:
Proton main program for PIC in C:/*
Page 151 and 152:
void UART_STRING_RECEIVE(char *rece
Page 153 and 154:
}SSPBUF=Data;//Send bytewhile((PIR1
Page 155 and 156:
}}// Writes an integer value to the
Page 157 and 158:
s++;}}//bit STRING_IN( const char *
Page 159 and 160:
eturn;}}}}}/***********************
Page 161 and 162:
Proton main program for AVR in C:/*
Page 163 and 164:
char STR_PREFIX( const char *p, con
Page 165 and 166:
}TWCR = (1
Page 167 and 168:
LCD_WRITE_STRING(String);alsoLCD_WR
Page 169 and 170:
n--;}}//bit char_in( char c, const
Page 171 and 172:
}} else {_delay_us( 100 );t++;if( t
Page 173 and 174:
Cheat sheet C - for Hitech C compil
Page 175:
Version changes summary09/04/2011 v
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