Programming Manual Elektor Proton Robot - ELEKTOR.se

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}// returns a 8 bit result from an AD conversion from a certain ADC channel//Channels 0-13// A 8 bit result needs to be loaded in a BYTE variableunsigned char READ_ADC_BYTE_CHANNEL( unsigned char channel ){// Fosc/32; channel; ADONADCON0 = 0x41 + ( channel
Proton main program for AVR in C:/*************************************************************/ Main program for Elektor proton robot/ Used uC – ATMEGA32 - Xtal 19660800/ VDD = 5V - VSS = GND/ Written by Bart Huyskens - Jan 2011/*************************************************************/#include #define F_CPU 19660800UL#include #include "AVR_PROTON_LIB.h"#include "AVR_PROTON_LIB.c"int main ( void ){_delay_ms(250);_delay_ms(250); //wait for stable power supply}// write your code hereAVR_PROTON_LIB.h/*************************************************************************I2C/TWI FUNCTIONS - I2C/TWI FUNCTIONS - I2C/TWI FUNCTIONS - I2C/TWI FUNCTIONS**************************************************************************///Initialise PIC16F887 for Hardware I2C operationvoid I2C_INIT();// send a start bit sequencevoid I2C_START();// send a repeated start bit sequencevoid I2C_RESTART();// send a stop bit sequencevoid I2C_STOP();// transmit a byte (this can be a devide adress - an index or just data - of 8 bit// if return = 1 : No ack bit was received from the slave - if return = 0 = a correct acknowledge bit was receivedchar I2C_TRANSMIT_BYTE(char Data);//receive a byte of data - requested by the master and sent by the slave// returns a byte of incoming data// if last = 1 - last byte was received - If last = 0 - the master expects further I2C_RECEIVE_BYTE instructionschar I2C_RECEIVE_BYTE(char Last);//combination of all the I2C instructions to send a byte of date to a specific// index in a certain devicevoid I2C_SEND_MESSAGE(char Device_ID, char AddrH, char Data);Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 161
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V1.0Programming ManualElektor Proto
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Communications Protocol ...........
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Blok schematic:Bart Huyskens Manual
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Different modules on PCB levelBart
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AVR add-on board• The AVR board h
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Servo moduleSCL-SDAHeadSCL-SDAUS di
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List of all the connectors on the m
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J26J27J28J29 +-J30J31J33J34J35GND12
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char I2C_RECEIVE_BYTE(char Last);vo
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How to set up Flowcode 4 (PIC) for
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How to set up Flowcode 4 (AVR) for
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How to set op AVRSTUDIO - WINAVR /
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Click on the gear-logo “Edit curr
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Make sure that your fuses tab scree
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How to set up MPLAB - HITECH C Lite
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We choose not to add any file to th
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•Copy paste the “PIC_PROTON_LIB
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Bart Huyskens Manual Elektor Proton
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}{PORTD = 0x0F;__delay_ms(200);PORT
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PIC16F887Demoprogram Flowcode PIC V
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These are 2 normally open push butt
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• After the readbyte instruction
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READ DATA FROM THE SLAVEFor example
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void main(){// init AD & Option reg
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Experience: We use this LCD in I2C
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Commands to write in the command re
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Custom char generatorCustom charact
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The servo motors in the head and th
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This robot can be equipped with up
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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
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: eturn;}}}}}/***********************
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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