Programming Manual Elektor Proton Robot - ELEKTOR.se

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The hobby servo’s we use – are not more than a DC motor and gearbox with an output shaft- withsome kind of feedback from the position of the shaft (usually a potentiometer). An internal electroniccircuit will move the shaft in the asked position and keep it in this position. Because these hobbyservo’s are quite powerful – and only need a low power logic level signal to position them – they areideal components to be driven by a microcontroller.Typical connection of a hobby-servo to a microcontroller.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 58
Although the signal for the positioning of the servo is not that hard to generate with amicrocontroller – driving 4 Servo’s together would keep the main microcontroller quite busy. This iswhy we have chosen for a separate microcontroller to drive these servo’s. This separate Servocontroller is pre-programmed to act as an I2C Slave device.Servo I2C Slave address = 0xAAIndex Write Read Max functionValue0 Servo’s on - off x 0/1/2/3 0= all off; 1= head on; 2= grip on; 3= all on1 Servo pos. head 1 x 0-255 Position 0 - 2552 Servo pos. head 2 x 0-255 Position 0 - 2553 Servo pos. Grip 1 x 0-255 Position 0 - 2554 Servo pos. Grip 2 x 0-225 Position 0 - 2555 Offset head1 x 0-225 Offset value (standard = 128)6 Offset head2 x 0-225 Offset value (standard = 128)7 Offset Grip 1 x 0-225 Offset value (standard = 128)8 Offset Grip 2 x 0-225 Offset value (standard = 128)Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 59
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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 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: This robot can be equipped with up
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 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 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
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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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