Programming Manual Elektor Proton Robot - ELEKTOR.se

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Content:Blok schematic: ........................................................................................................................................ 5Different modules on chassis level .......................................................................................................... 6Different modules on PCB level ............................................................................................................... 7PIC add-on board ..................................................................................................................................... 8AVR add-on board ................................................................................................................................... 9Summary of the different modules, their connection and functionality: ............................................. 10Connector explanation .......................................................................................................................... 12List of all the connectors on the motherboard + functionality ............................................................. 13How to choose your programming language ........................................................................................ 16How to set up Flowcode 4 (PIC) for usage with PICKIT2 and proton: ................................................... 19How to set up Flowcode 4 (AVR) for usage with AVRISPMK2 and proton: ........................................... 21How to set op AVRSTUDIO – WINAVR / AVRISP for Proton: ................................................................ 23How to set up MPLAB – HITECH C Lite / PICKIT2 for Proton: ................................................................ 298 led’s on the motherboard.................................................................................................................. 36Piezo-electric sounder on the motherboard ......................................................................................... 38Two push buttons (red and black) on the body .................................................................................... 40The I2C communication protocol explained ......................................................................................... 42The blue LCD with 4 lines of 20 characters ........................................................................................... 46Ascii table: ......................................................................................................................................... 52The servo motors in the head and the gripper modules ....................................................................... 55The head with ldr’s, RGB-led’s and 8 led’s in the mouth ...................................................................... 61The Ultrasonic sensor in the nose (SRF02)............................................................................................ 64The MD25 motor driver module ........................................................................................................... 71The two EMG30 DC motors with encoders ........................................................................................... 80The line sensor module with 3 IR line sensors ...................................................................................... 81Analogue to digital conversion explained ............................................................................................. 85The 3 infra red SHARP distance sensors GP2Y0A21YK .......................................................................... 86RS232 communication explained .......................................................................................................... 89The Audio module with MP3 and WAV capability ................................................................................ 90Description ........................................................................................................................................ 91Features ............................................................................................................................................. 92Example application .......................................................................................................................... 92Connectors ........................................................................................................................................ 94Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 2
Communications Protocol ................................................................................................................. 95Command Format.............................................................................................................................. 95Command Listing Format .............................................................................................................. 95Command Response Format ......................................................................................................... 95Settings .............................................................................................................................................. 96Communication Settings ................................................................................................................... 96Serial Bitrate .................................................................................................................................. 96Prompt Character .......................................................................................................................... 97Response Delay ............................................................................................................................. 97Non-volatile Playback Settings .......................................................................................................... 98Volume .......................................................................................................................................... 98Loop Count .................................................................................................................................... 98Boost .............................................................................................................................................. 99Input/Output Interface Settings ...................................................................................................... 101Input Style.................................................................................................................................... 101Hardware Busy Indicator ............................................................................................................. 101Command set .................................................................................................................................. 102General commands ......................................................................................................................... 102Version ......................................................................................................................................... 102Settings ........................................................................................................................................ 103Playback commands ........................................................................................................................ 104Play File ........................................................................................................................................ 104Play Next ...................................................................................................................................... 105Jump ............................................................................................................................................ 106Stop .............................................................................................................................................. 107Pause ........................................................................................................................................... 108Playback Status ............................................................................................................................ 109Playback Information .................................................................................................................. 110Play Tone ..................................................................................................................................... 111Playback Speed Change ............................................................................................................... 112Reset Audio ................................................................................................................................. 113Volume ........................................................................................................................................ 114Loop Count .................................................................................................................................. 115Audio Boost ................................................................................................................................. 116Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 3
Page 1: V1.0Programming ManualElektor Proto
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 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
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
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ultimate speed, the MD25 has a regi
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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
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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
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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
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Parameters• path is the absolute
Page 125 and 126:
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
Page 145 and 146:
Table of SettingsCommunication Sett
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Input/Output Interface SettingsSett
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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
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s++;}}//bit STRING_IN( const char *
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eturn;}}}}}/***********************
Page 161 and 162:
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
Page 173 and 174:
Cheat sheet C - for Hitech C compil
Page 175:
Version changes summary09/04/2011 v
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