Programming Manual Elektor Proton Robot - ELEKTOR.se

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Activating the servo’sWriting a value in index 0 will activate the servo’s. 0 = all servo’s off / 1 = only servo’s of head areactive / 2 = only servo’s of gripper are active / 3 = all 4 servo’s are activePositioning the servo’sWriting a value to Index 1-4 will determine the position of each individual servo. This can be a valuebetween 0-255.The servo will move as fast as possible to the new position – and will keep the servo fixed in thisposition.TIP: If you want to slow down the movement of the servo’s – then you can do this by writing newincremented position values to the servo controller - with delay’s in between. This will result in quiteheavy I2C traffic – but that is no problem.OffsetA servo in position 128 should take the centre position. If this is not exactly so – then you couldchange the offset value for this specific servo so that it will position in the centre position.Vibrating headWhen the head moves quite fast to a new position – in some cases the head starts vibrating. Thereason for this is the electronic circuit in the servo – that always will try to keep the servo in thedesired position - and the quite heavy load of the head on the servo.The internal position measuring unit measures thatthe head has moved a bit over the desired position.The internal electronic circuit of the servo wants tocompensate this error and moves the servo back .Now again – the servo – due to its heavy load of thehead – moves a bit over the desired positionThe internal electronic circuit of the servo wants tocompensate this error and moves the servo back.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 60
The head with ldr’s, RGB-led’s and 8 led’s in the mouthSends an ever changing PWM value to the RGB led’s in the head, reads the LDR values and displays thesevalues on the LCDPIC16F887Demoprogram Flowcode PIC V4PROTDEM_FCPIC_HEAD.fcfDemoprogram Hitech C lite for PIC#include ATMEGA32Demoprogram Flowcode AVR V4PROTDEM_FCAVR_HEAD.fcf_avrDemoprogram WinAVR C for AVR#include #include "PIC_PROTON_LIB.h"#define _XTAL_FREQ 19660800__CONFIG(0x2ff2); // set HS Xtal etc__CONFIG(0x3fff);void DELAYSEC (void){for (char i = 0; i < 10 ; i++) __delay_ms(100);}void main(){// init AD & Option regANSEL = 0;ANSELH = 0;OPTION = 0xC0;// end of init__delay_ms(250);__delay_ms(250); //wait for stable power supplyI2C_INIT(); // initialize I2C - LCD03 is a I2C LCDvolatile unsigned char LDR_L = 0, LDR_R =0, R= 0, G=7,B=13;while (1){LDR_L = I2C_RECEIVE_MESSAGE(0x10,8);LDR_R = I2C_RECEIVE_MESSAGE(0x10,9);I2C_SEND_MESSAGE(0x10,1,B);I2C_SEND_MESSAGE(0x10,2,G);I2C_SEND_MESSAGE(0x10,3,R);I2C_SEND_MESSAGE(0x10,4,R);I2C_SEND_MESSAGE(0x10,5,G);I2C_SEND_MESSAGE(0x10,6,B);B = B + 3;G = G + 7;R = R + 13;LCD03_CLEAR_SCREEN();LCD03_SET_CURSOR(23);LCD03_WRITE_BYTE(LDR_L);LCD03_SET_CURSOR(33);LCD03_WRITE_BYTE(LDR_R);__delay_ms(30);#define F_CPU 19660800UL#include #include "AVR_PROTON_LIB.h"#include "AVR_PROTON_LIB.c"void DELAYSEC (void){for (volatile char i = 0; i < 10 ; i++) _delay_ms(100);}int main ( void ){_delay_ms(250);_delay_ms(250); //wait for stable power supplyI2C_INIT(); // initialize I2C - LCD03 is a I2C LCDvolatile unsigned char LDR_L = 0, LDR_R =0, R= 0,G=7, B=13;while (1){LDR_L = I2C_RECEIVE_MESSAGE(0x10,8);LDR_R = I2C_RECEIVE_MESSAGE(0x10,9);}I2C_SEND_MESSAGE(0x10,1,B);I2C_SEND_MESSAGE(0x10,2,G);I2C_SEND_MESSAGE(0x10,3,R);I2C_SEND_MESSAGE(0x10,4,R);I2C_SEND_MESSAGE(0x10,5,G);I2C_SEND_MESSAGE(0x10,6,B);B = B + 3;G = G + 7;R = R + 13;LCD03_CLEAR_SCREEN();LCD03_SET_CURSOR(23);LCD03_WRITE_BYTE(LDR_L);LCD03_SET_CURSOR(33);LCD03_WRITE_BYTE(LDR_R);_delay_ms(30);}Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 61
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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 and 58: This robot can be equipped with up
Page 59: Although the signal for the positio
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
Page 109 and 110: Playback StatusDescriptionThis show
Page 111 and 112:
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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