Programming Manual Elektor Proton Robot - ELEKTOR.se

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}}Proton robot developer’s notes:The head gives the robot a bit a human-like interface. Program it so that the led’s of themouth follow the audio level – this gives observers the feeling that the sound actuallycomes from the mouth of the robot. Change the color of the eyes end use the US sensor tolocate persons. If you have the chance – observe how children get fascinated and start tocommunicate with this robot.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 62
Head I2C Slave address = 0x10Index Write Read Value function0 x x 0-255 No function1 PWM L BLUE x 0-255 PWM value of RGB led’s – Left Eye Blue2 PWM L GRN x 0-255 PWM value of RGB led’s – Left Eye Green3 PWM L RED x 0-255 PWM value of RGB led’s – Left Eye Red4 PWM R RED x 0-255 PWM value of RGB led’s – Right Eye Red5 PWM R GRN x 0-255 PWM value of RGB led’s – Right EyeGreen6 PWM R BLUE x 0-255 PWM value of RGB led’s – Right Eye Blue7 8 LED MOUTH x 0-255 Depends on value in register [index 11]If [index 11] = 0 – then the 8 bit value of[index7] will be displayed on the led’s ofthe mouthIf[index11] is not zero – then the sound –produced by the MP3 module – will bedisplayed on the led’s of the mouth inkind of a VU meter mode. The exact valuein [index11] will determine the sensitivityof the led’s to the sound.8 x Light sensor L 0-255 Light sensor in left eye – A/D value 0-2559 x Light sensor R 0-255 Light sensor in right eye – A/D value 0-25510 x Sound MP3 0-255 A/D measurement of sound pressure –coming from the MP3 sound module.11 Sensitivity x 0-255 Sensitivity of the led’s of the mouth tosound. How larger this value – how moresensitive it will be – usually a value of 50is a good starting value.This sensitivity can also be changes by apotentiometer on the PCB of the head.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 63
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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
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: The head with ldr’s, RGB-led’s
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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